SMC framework in motion control systems
نویسندگان
چکیده
منابع مشابه
SMC Framework in Motion Control Systems
Design of a motion control system should take into account both the unconstrained motion performed without interaction with environment or other system, and the constrained motion where system is in contact with environment or has certain functional interaction with another system. In this paper control systems design approach, based on siding mode methods, that allows selection of control for ...
متن کاملMotion Control-A SMC Approach
1. Abstract Motion control involves many diversified control problems of complex nonlinear systems. In this paper we will be addressing the SMC approach for multi-body mechanical systems control. The main feature of the SMC is constraint of the system motion into manifold in system state space. It will be shown that usage of the SMC methods is a natural way of addressing problems in motion cont...
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Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
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Motion control technology is allowing development applications beyond structured environment of industrial plant and is making its way into unstructured world inhabited by people. Real-world haptics interactions associated with accurate models is becoming important technology with potential for application in many different fields like surgery, teleoperation, cooperative work, microsystems, edu...
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ژورنال
عنوان ژورنال: International Journal of Adaptive Control and Signal Processing
سال: 2007
ISSN: 0890-6327,1099-1115
DOI: 10.1002/acs.968