This paper proposes a novel adaptive intelligent global sliding mode control for the tracking of DC-DC buck converter with time-varying uncertainties/disturbances. The proposed law is formulated using switching surface that eliminates reaching phase and ensures existence action from start. derived based on Lyapunov stability theory. effectiveness approach illustrated via high-fidelity simulatio...

Abstract The aim of the paper is to present a modular system, with help which it possible reveal structure and analysis mechatronic taking into account several disciplines that contribute system. planned system will include devices from different disciplines, operation coordination be observable. designed two-degree-of-freedom mechanism translational rotary joint. movement joints are obtained b...

This work deals with the design and validation of a combined control strategy to satisfy requirements for both soft switching Maximum Power Point Tracking (MPPT) Photo Voltaic based (PV-based) battery charging system. The proposed controller is employed two-stage parallel full-wave Zero Current Switching (ZCS) quasi resonant boost converter obtain maximum voltage using Perturb Observation (P&am...

An industrial linear stage is a device that commonly used in robotics. To be precise, an electro-mechanical system includes motor, electronics, flexible coupling, gear, ball screw, and precision bearing. A tight fit can provide better but also generates difficult-to-model friction highly nonlinear asymmetrical. Herein, this paper proposes advanced trajectory controller based on digital twin fra...

Abstract The principle of the electric power steering system is introduced in this paper, and simulation platform based on Simulink/Simscape established. mechanical structure gear, timing scheduling strategy, hardware control circuit, integration software algorithm are modeled verified detail. It proved that model reliable highly precise. used to analyze actual problems, propose an improvement ...

To improve the energy efficiency of mobile robots and increase their time operation, a comprehensive model is needed. Having such requires lot complex analysis design time. There has been research into optimizing power consumption but have not benefited from advantages languages to cyber-physical systems. In this work, we used Simscape ™ MATLAB ® environment simplify speed up an differential dr...

Autonomous mobile robots have recently become a centre of attention in the robotics community due to their ease design, modeling and implementation, making them very lucrative logistics, monitoring, mapping other purposes. Fundamentally, collision avoidance is major aspect an autonomous robot which requires assistance from aspects like sensor fusion, localization, path planning etc., contribute...

Yüksek maliyetli otomatik seri üretim makinelerinin sabit hız gerektiren işlemlerinde DC motor ile tahrik edilen dört çubuk mekanizmaları yaygın olarak kullanılmaktadır. Sabit hızlı mekanizmaların tasarımları zor olmalarının yanında farklı talepleri durumunda mekanizmanın boyutlarının değişmesi gerekmektedir. Alternatif mekanizmayı eden hızı kontrol edilerek bu talep gerçekleştirilebilmektedir....

Based on the analysis of physical and mechanical characteristics intensive fruit trees, technical requirements for a robotic manipulator harvesting have been developed. A computer simulation process removing fruits from crown tree was carried out to substantiate design parameters manipulator. kinematic scheme model in Simulink SimScape environment (V-REP robot simulator) Coordinate systems are ...