Results 1 to 10 of about 39,069 (308)
Fault-Tolerant Control of Multi-Joint Robot Based on Fractional-Order Sliding Mode
Applied Sciences, 2022 In this paper, the problem of fault-tolerant control of actuators for multi-joint robots is studied. Aiming at the jitter problem in the design of fault-tolerant control law for conventional sliding mode controllers (SMC), a controller design method ...
Jinghui Pan, Lili Qu, Kaixiang Peng
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Ain Shams Engineering Journal, 2018 The article focuses on the issues of dynamic modelling and control of manipulators which have elastic joints. An adaptive hybrid PID (proportional, integral, derivative) control scheme is proposed. For each joint two PID controllers have been implemented.
Khalil Ibrahim, Abdel Badie Sharkawy
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A Variable-Length Rational Finite Element Based on the Absolute Nodal Coordinate Formulation
Machines, 2022 The variable-length arbitrary Lagrange–Euler absolute nodal coordinate formulation (ALE-ANCF) finite element, which employs nonrational interpolating polynomials, cannot exactly describe rational cubic Bezier curves such as conic and circular curves. The
Zhishen Ding, Bin Ouyang
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Shear sliding of rough-walled fracture surfaces under unloading normal stress
Journal of Rock Mechanics and Geotechnical Engineering, 2023 Through high-precision engraving, self-affine sandstone joint surfaces with various joint roughness coefficients (JRC = 3.21–12.16) were replicated and the shear sliding tests under unloading normal stress were conducted regarding various initial normal ...
Qian Yin +7 more
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Energies, 2022 This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from
Mojtaba Ahmadieh Khanesar, David Branson
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Applied Sciences, 2020 With increasing of the size of spatial truss structures, the beam component will be subjected to the overall motion with large deformation. Based on the local frame approach and the geometrically exact beam theory, a beam finite element, which can ...
Zhipei Wu +6 more
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On Joint Unknown Input and Sliding Mode Estimation
2022 European Control Conference (ECC), 2022 We address state estimation in the presence of faults and unknown disturbances combining unknown input observers (UIOs) and sliding mode observers. We consider a well-established UIO design for linear time-invariant systems and augment it with a nonlinear sliding mode action.
Barboni, Angelo +3 more
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Mathematics, 2023 This study delves into the implementation of Fast Finite Time Fractional-Order Adaptive Sliding Mode Control (FFOASMC) for knee joint orthosis (KJO) in the presence of undisclosed dynamics.
Aydin Azizi +3 more
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3-D Numerical Simulation of Seismic Response of the Induced Joint of a Subway Station
Buildings, 2023 In recent times, induced joints have been set along the length of subway stations in order to avoid disordered cracking of the main structures occurring due to temperature stress, concrete shrinkage, creep, or uneven foundation settlement.
Dengzhou Quan +4 more
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Dynamics Modeling and Simulation of a Net Closing Mechanism for Tether-Net Capture
International Journal of Aerospace Engineering, 2021 Tether-net is a promising active debris removal technique, and a closing mechanism can ensure the reliable wrapping of space debris by using tether-net. This study focuses on the dynamics model of the split closing mechanism and the sliding joint between
Jiyue Si +3 more
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