This note describes a logic-based hybrid controller for the well-studied nonholonomic integrator. Our controller provides Lyapunov stability and is designed so that the control signals remain uniformly bounded and have at most a nite number of discontinuities in any nite interval. In particular, no \chattering" occurs. Two alternative controllers, which use only partial state information, are a...

We study a modiied version of the well known Markov-Dubins problem, in which the control is angular acceleration rather than angular velocity. We show that an optimal trajectory cannot contain a junction of a bang-bang and a singular piece, and use results of Zelikin and Borisov to show that there are Pontryagin extremals involving innnite chattering.

In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework singular perturbation theory, objective system is decoupled into two typical aims a slow subsystem fast subsystem. Then, considering lumped uncertainties (including dynamics external...

Routing mechanisms for stochastic networks are often designed to produce state space collapse (SSC) in a heavy-traffic limit, i.e., to confine the limiting process to a lower-dimensional subset of its full state space. In a fluid limit, a control producing asymptotic SSC corresponds to an ideal sliding mode control that forces the fluid trajectories to a lower-dimensional sliding manifold. With...

OBJECTIVE The goal was to determine whether withdrawal from sugar can cause signs of opioid dependence. Because palatable food stimulates neural systems that are implicated in drug addiction, it was hypothesized that intermittent, excessive sugar intake might create dependency, as indicated by withdrawal signs. RESEARCH METHODS AND PROCEDURES Male rats were food-deprived for 12 hours daily, i...

To improve the dynamic quality of PMSM servo system, a generalized super-twisting sliding mode control strategy based on sinusoidal saturation function is proposed in this paper. Firstly, mathematical model established. Then, variable structure speed controller designed algorithm. weaken chattering phenomenon, used instead sign function. Finally, effectiveness was verified by MATLAB/Simulink si...

Routing mechanisms for stochastic networks are often designed to produce state space collapse (SSC) in a heavy-traffic limit, i.e., to confine the limiting process to a lower-dimensional subset of its full state space. In a fluid limit, a control producing asymptotic SSC corresponds to an ideal sliding mode control that forces the fluid trajectories to a lower-dimensional sliding manifold. With...