The paper deals with the design and the implementation of a robust path-following feedback controller, based on the dynamic model of a four-wheel skidsteering robot, performing high speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main object of this paper is to elaborate a sliding mode controller, proved to be robust enough to avoid the knowledge of t...

This paper discussed the problem of trajectory tracking control for the nonholonomic mobile robot’s kinematic model with the angular speed of two actuated wheels as its control input. Based on the backstepping control algorithm, a sliding-mode variable structure switching function is designed, in order to improve the quality of motion control, fuzzy logic is used to adjust sliding-mode reaching...

An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in order to fulfill velocity, workspace and C-space constraints, respectively. The proposed method only requires a few program lines and simplifies the robot user interface since...

In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which is compatible with the robot input constraints (joint speeds). Some distinctive features of the ...

To solve the problem that conventional vector control system of permanent magnet synchronous motor is susceptible to parameters and load disturbances, a sliding mode predictive current strategy with cascaded variable rate speed controller based on extended state observer (ESO) proposed, which improves dynamic static performance system. First, designed novel exponential reaching law, ESO used es...

In recent years it has become apparent that control system design based on conventional linear transfer function or state-variable feedback suffers from several serious disadvantages including: i) It requires an accurate model, which cannot be attained by current identification procedures ii) The control is not robust to unstructured uncertainties such as additive or multiplicative parameter va...

Induction Motors have been used as the workhorse in the industry for a long time due to its easy build, high robustness, and generally satisfactory efficiency. However, they are significantly more difficult to control than DC motors. One of the problems which might cause unsuccessful attempts for designing a proper controller would be the time varying nature of parameters and variables which mi...

Counting the number of flows present in network traffic is not trivial, given that the naive approach of using a hash table to track the active flows is too slow for the current backbone network speeds. Several algorithms have been proposed in the recent literature that can calculate an approximate count using small amount of memory and few memory accesses per packet. Fewer works have addressed...