1,720,996 research outputs found
Sliding mode controller with filtered signal for robot manipulators using virtual plant controller
No full textA sliding mode control scheme that guarantees smoothness of the control signal and exponential error convergence is proposed for robot manipulators. The proposed method inserts a low pass filter (LPF) in front of the plant, and the virtual controller is designed for the virtual plant-the combination of the LPF and the robot manipulator. The virtual control signal contains high frequency components because of a switching function. The real control signal, however, always shows a smooth curve since it is an output of the LPF. In addition to the smoothness of the control signal always being assured, the overall system is in sliding mode at all times, i.e. its performance is always invariant under the existence of parameter uncertainties and external disturbances. The closed-loop system is shown to be globally exponentially stable. (C) 1997 Elsevier Science Ltd
A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators - Comments
No full textThere are two errors in the above paper.(1) The purpose of this note is to give correct versions of Remark 2.1 and Remark 3.3.(1
SMOOTH VARIABLE-STRUCTURE CONTROLLER FOR ROBOT MANIPULATOR USING VIRTUAL PLANT
No full textA new smooth variable structure control method is proposed for robot manipulators. Even though the proposed controller uses a switching function, the actual control signal shows a smooth curve. The closed-loop system is globally stable and shown to have a robust property against parameter uncertainties
Adaptive variable structure controller with decreasing gain for nonlinear uncertain systems
No full textA novel adaptive variable structure controller (AVSC) is proposed for a class of nonlinear uncertain systems. The proposed method guarantees the occurrence of the sliding mode after the state hits the sliding hyperplane for the first time, even though the conventional AVSC could not achieve this. Furthermore, precise a priori knowledge of the bounds for the parametric uncertainties and external disturbances is not needed
A Three-Level Resonant Converter Employing Hybrid Structure for Wide Input and Load Variation
No full textA New Series-output Dual Inductor-fed Boost Converter for High Power Step-up Application
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Going Beyond Counting First Authors in Author Co-citation Analysis
Get PDFThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Get PDF“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
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