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Singular Perturbation-Based Adaptive Integral Sliding Mode Control for Flexible Joint Robots
IEEE transactions on industrial electronics (1982. Print), 2023The flexible joint robot (FJR) typically experiences parametric variations, nonlinearities, underactuation, noise propagation, and external disturbances which seriously degrade the FJR tracking.
Raja Fawad Afsar Khan +3 more
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IEEE Transactions on Intelligent Vehicles, 2023
This article designs a jointly distributed adaptive sliding-mode controller (DASMC) and disturbance observer (DO) for a heterogeneous platoon of connected vehicles (CVs) subject to disturbance and acceleration failure of neighboring vehicles under the ...
Yongxin Zhu +7 more
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This article designs a jointly distributed adaptive sliding-mode controller (DASMC) and disturbance observer (DO) for a heterogeneous platoon of connected vehicles (CVs) subject to disturbance and acceleration failure of neighboring vehicles under the ...
Yongxin Zhu +7 more
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Design of Robust Terminal Sliding Mode Control for Underactuated Flexible Joint Robot
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021Flexible joint robot (FJR) manipulators can offer many attractive features over rigid manipulators, including light weight, safe operation, and high power efficiency.
Kamal Rsetam, Z. Cao, Z. Man
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A modeling of sliding joint on one-dimensional flexible medium
Multibody System Dynamics, 2011Gexue Ren
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Study on tangential stiffness nonlinear softening of bolted joint in friction-sliding process
, 2021This paper proposed a new friction mechanical model of joint interface to better describe the tangential stiffness softening. A new probability density function is obtained by analyzing the actual two-dimensional pressure distribution of bolted joint ...
Binbin Zhao +5 more
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Voltage based sliding mode control of flexible joint robot manipulators in presence of uncertainties
Robotics and Autonomous Systems, 2019In this paper, a voltage-based sliding mode control (SMC) is presented to control the position of n rigid-link flexible-joint (RLFJ) serial robot manipulator in the presence of structured and unstructured uncertainties.
Saeed Zaare +2 more
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Control of Sliding and Rolling at Natural Joints
Journal of Biomechanical Engineering, 1984The planar motion of the human knee joint is modeled, involving the relative motion of the geometry of the contacting surface between the tibia and the femur. The pure gliding motion and the pure rolling motion are formulated including the holonomic and nonholonomic constraints that must be satisfied.
C, Wongchaisuwat +2 more
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Research on macro-mesoscopic normal dynamic characteristics of sliding joint surface
Mechanical systems and signal processing, 2017The dynamic characteristics of the sliding surface will affect the dynamic properties of the mechanical structure in a great degree. For the sliding surface in lubricating condition, the normal equivalent stiffness and normal equivalent damping ...
Li Hua Wang +5 more
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Cascaded-Extended-State-Observer-Based Sliding-Mode Control for Underactuated Flexible Joint Robot
IEEE transactions on industrial electronics (1982. Print), 2020This article presents a new cascaded extended state observer (CESO)-based sliding-mode control (SMC) for an underactuated flexible joint robot (FJR).
Kamal Rsetam, Z. Cao, Z. Man
semanticscholar +1 more source