BACKGROUND The first step in practising Evidence Based Medicine (EBM) has been described as translating clinical uncertainty into a structured and focused clinical question that can be used to search the literature to ascertain or refute that uncertainty. In this study we focus on questions about treatments for schizophrenia posed by mental health professionals and patients to gain a deeper und...

This paper addresses a neural-network-based chattering free sliding mode control (SMC) for robot manipulators including structured and unstructured uncertainties in both manipulator and actuator dynamics by incorporating a PID outer loop. The main idea is that the robustness property of SMC and good response characteristics of PID are combined to achieve more acceptable performance. Uncertainti...

Abstract: In this paper, a novel control approach for tracking control of robot manipulators in the task space is developed which not only parametric uncertainties but also unstructured uncertainties such as friction, disturbances and un-modeled dynamics are considered. Disregarding the unstructured uncertainties may cause an unstable closed loop control system. A robust controller is designed ...