Sökning: "Sliding mode"

Visar resultat 1 - 5 av 39 avhandlingar innehållade orden Sliding mode.

  1. 1. Minimum-time sliding mode control of robot manipulators

    Författare :Boyko Iliev; Ivan Kalaykov; Krzysztof Kozlowski; Örebro universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; minimum-time sliding mode control; sliding mode control; maximum-slope sliding lines; Takagi-Sugeno fuzzy systems; robot manipulators; reglerteknik; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Sammanfattning : Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. LÄS MER

  3. 2. High precision motion control based on a discrete-time sliding mode approach

    Författare :Yufeng Li; KTH; []
    Nyckelord :variable structure; sliding mode; discrete-time; high precision motion control; friction; flexibility; robust; electro-mechanical system;

    Sammanfattning : .... LÄS MER

  4. 3. Analysis and Design of Hybrid Control Systems

    Författare :Jörgen Malmborg; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Lyapunov theory; Mode switching; Multi-controllers; PID control; Simulation; Higher order sliding; Hybrid control; Sliding modes; Automation; robotics; control engineering; Automatiska system; robotteknik; reglerteknik;

    Sammanfattning : Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. LÄS MER

  5. 4. Minimum-time sliding mode control of robot manipulators

    Författare :Boyko Iliev; Örebro universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Sammanfattning : .... LÄS MER

  7. 5. Workpiece steels protecting cutting tools from wear : A study of the effects of alloying elements on material transfer and coating damage mechanisms

    Författare :Toshiharu Aiso; Staffan Jacobson; Urban Wiklund; Staffan Söderberg; Uppsala universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Metal cutting; Steel; Cutting tools; Transfer; Coating; Sliding; Teknisk fysik med inriktning mot tribomaterial; Engineering Science with specialization in Tribo Materials;

    Sammanfattning : The vision of this thesis is to improve the machinability of workpiece steels. Workpiece material frequently transfers to the cutting tools during machining, and the transfer layers then forming on the tools may give both good and bad effects on machining performance and tool life. LÄS MER