in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...

In this paper a mesh-free model of the functionally graded material (FGM) plate is presented.  The piezoelectric material as a sensor and actuator has been distributed on the top and bottom of the plate, respectively. The formulation of the problem is based on the classical laminated plate theory (CLPT) and the principle of virtual displacements. Moreover, the Particle Swarm optimization (PSO) ...

. introduction if environmental hazards, including those with atmospheric origin and terrestrial origin cause economic and human life losses for human societies, they would be considered as disasters. terrestrial hazards, which mostly occur as catastrophic, may have economic and human life damages when they occur in a small scale but with high intensity. mass movements are among the most import...

in this paper, the effect of bedrock inclination on seismic performance of slopes is investigated. the study was conducted based on dynamic analysis of different slopes, evaluation of the earthquake acceleration in sliding mass, and calculating the permanent displacement of the slope, using newmark sliding block. the investigation indicates that variation of the bedrock inclination may cause th...

The nexin-dynein regulatory complex (N-DRC) is proposed to coordinate dynein arm activity and interconnect doublet microtubules. Here we identify a conserved region in DRC4 critical for assembly of the N-DRC into the axoneme. At least 10 subunits associate with DRC4 to form a discrete complex distinct from other axonemal substructures. Transformation of drc4 mutants with epitope-tagged DRC4 res...

In this paper, a new smooth second order sliding mode control is proposed. This algorithm is a modified form of Super Twisting algorithm. The Super Twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular Lyapunov function. The Proposed algorithm which is able to control nonlinear systems with matched structured u...

In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...