In this paper, a two-surfaces sliding mode controller (TSSMC) is proposed for the voltage tracking control of a two input DC-DC converter in application of electric vehicles (EVs). The imperialist competitive algorithm (ICA) is used for tuning TSSMC parameters. The proposed controller significantly improves the transient response and disturbance rejection of the two input converters while p...

Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical ...

In this paper, a chattering-free sliding-mode control is mainly proposed in a second-order discrete-time system. For achieving this purpose, firstly, a suitable control law would be derived by using the discrete-time Lyapunov stability theory and the sliding-mode concept. Then the input constraint is taken into account as a saturation function in the proposed control law. In order to guarantee ...

A closed loop self-tuning 256kb 6T SRAM with 0.38V-1.2V extended operating range using combined read and write assists and canary-based VMIN tracking is presented. 337X and 4.3X power reductions are achieved using multiple assists and VMIN tracking, respectively; combining both saves 1444X in active power and 12.4X in leakage at the 0.38V. Keywords—self-tuning SRAM; combined assists; canary SRA...

This paper deals with the tracking control for nonlinear systems described by uncertainty Takagi-Sugeno (T-S) fuzzy models. An H∞ robust observer based control is proposed for guaranteeing tracking performances of closed loop nonlinear systems. The design conditions obtained using Lyapunov approach are given in terms of solvability as a set of Linear Matrix Inequities (LMIs). To illustrate the ...

Abstract. A reactive tracking control law and a flexible local navigation method for non-holonomic mobile vehicles are presented. The tracking controller enables noise tolerant trajectory following and collision avoidance with a feedback control loop through raw sensor data (laser scanner, sonars, IR). The controller needs no knowledge about absolute robot coordinates. Based on the tracking con...

This paper addresses the problem of designing robust tracking controls for nonlinear chaotic Chua’s circuits involving plant uncertainties and external disturbances. A hybrid adaptive-robust tracking control scheme which is based upon a combination of the tracking theory, variable structure system (VSS) control algorithm, and adaptive fuzzy control is developed such that all the states and sign...

Natural scene features stabilize and extend the tracking range of augmented reality (AR) pose-tracking systems. We develop robust computer vision methods to detect and track natural features in video images. Point and region features are automatically and adaptively selected for properties that lead to robust tracking. A multistage tracking algorithm produces accurate motion estimates, and the ...

We propose a system for markerless pose estimation and tracking of a robot manipulator. By tracking the manipulator, we can obtain an accurate estimate of its position and orientation necessary in many object grasping and manipulation tasks. Tracking the manipulator allows also for better collision avoidance. The method is based on the notion of virtual visual servoing. We also propose the use ...

A novel on-axis general sun-tracking formula has been integrated in the algorithm of an open-loop sun-tracking system in order to track the sun accurately and cost effectively. Sun-tracking errors due to installation defects of the 25 m(2) prototype solar concentrator have been analyzed from recorded solar images with the use of a CCD camera. With the recorded data, misaligned angles from ideal...