this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

the problem of observer design for nonlinear systems has got great attention in the recent literature. the nonlinear observer has been a topic of interest in control theory. in this research, a modified robust sliding-mode observer (smo) is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. the observer has a simple ...

This paper presents the dynamic modeling and control of a two-link flexible robot manipulator. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods. The most problems of a two-link flexible manipulator are vibration of flexible link and unpredictable payload additional. Previous researchers have discussed control methods for this system; few presen...

In this paper a modular, computationally efficient and numerically stable method is presented, which allows to obtain the dynamic model of a robot constituted by flexible links having varying cross-section and subjected to generic ending forces and torques and to the gravity actions. This method is based on the use of admissible deformation functions of wavelet type, obtained by using the Insta...

in this paper, full scale load test of a horizontally curved steel box-girder bridge is carried out in order to detect structural defects, which reportedly result in unwanted vibrations in nearby buildings. the bridge is tested under the passage of six heavy vehicles at different speeds, so as to determine its static and dynamic responses. a total number of one hundred and two (102) sensors are...

For the parallel computation of partial differential equations, one key is the grid partitioning. It requires that each process owns the same amount of computations, and also, the partitioning quality should be proper to reduce the communications among processes. When calculating the partial differential equations using adaptive finite element methods, the grid and the basis functions adjust in...