1,721,591 research outputs found
An improved second-order sliding mode control scheme robust against the measurement noise
No full textIn this note the second-order sliding-mode control problem is addressed and solved by explicitly taking into account the presence of measurement error with unknown upper bound δ. Under sensible assumptions regarding the uncertain dynamics of a broad class of nonlinear plants, a new switching controller is proposed guaranteeing a sliding accuracy of order O(τ2)+O(δ), τ being the sampling interval. Simulations highlight the effectiveness of the proposed approach and confirm the expected precision order
BLACK-BOX POSITION AND ATTITUDE TRACKING FOR UNDERWATER VEHICLES BY SECOND-ORDER SLIDING-MODE TECHNIQUE
No full textOn the parameter convergence properties of a combined VS/adaptive control scheme during sliding motion
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Effetto dell'ACC (Ciclopropano -ammino 1 carbossilato) sulla radicazione di talee di olivo
No full textA Summary of the Design and Realization of a Robotic Finger based on Innovative Concepts
No full textThe aim of this paper is that of summarizing the experience of design and realization of a `home-made' robotic finger based on some non-conventional ideas. The device which is presented in this paper is the exploitation of some concepts expressed in the context of an EC funded project called AMADEUS: the `elephant-trunk' principle is the basis and it is used for the implementation of an underwater gripper that we actuated by mean of high bandwidth electro-hydraulic devices working with oil at low pressure. The whole system is then controlled by a sliding mode based technique. The special manipulator based on the use of such fingers as described in this paper is devoted to delicate deep underwater sampling operations
Multi-input sliding mode control of a class of uncertain nonlinear systems
No full textAn effective way to extend to the multi-input case the variable structure control philosophy is based on a set of m +1 control vectors forming a simplex in Rm and on the corresponding switching of the controlled system from one to another of m +1different structures. Yet, some problems arise when uncertainties are present in certain matrices characterizing the controlled systems. In this paper, conditions are identified under which, even in the presence of uncertainty, the convergence to the sliding manifold is ensured via the application of a multi-input control strategy still based on a simplex of control vectors
The olive tree in a monsoon climate. First results in India on the performance of 12 cultivars
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