Results 1 to 10 of about 213,761 (204)
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
doaj +3 more sources
Joint torque control of flexible joint robots based on sliding mode technique [PDF]
International Journal of Advanced Robotic Systems, 2019 For robots with flexible joints, the joint torque dynamics makes it difficult to control. An effective solution is to carry out a joint torque controller with fast enough dynamic response.
Gen-Liang Xiong +3 more
doaj +2 more sources
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
doaj +3 more sources
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
doaj +1 more source
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
doaj +1 more source
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
doaj +1 more source
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
doaj +1 more source
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
openaire +2 more sources
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
doaj +1 more source
Evaluation of maximum rockfall dimensions based on probabilistic assessment of the penetration of the sliding planes into the slope [PDF]
, 2020 There is intrinsic difficulty in the investigation of the largest volume of rockfalls that is expected in an area, which lies in the small number of large events, in registrable times.
Corominas Dulcet, Jordi +1 more
core +3 more sources