This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...

MODEL-BASED IDENTIFICATION AND CONTROL OF A ONE-LEGGED HOPPING ROBOT Hasan Eftun Orhon M.S. in Electrical and Electronics Engineering Advisor: Ömer Morgül January 2018 Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion...

In this paper we present a sliding mode based vehicle control strategy, which includes anti-lock braking and anti-spin acceleration. This strategy uses the slip velocity as controlled variable instead of wheel slip. The sliding mode control is integrated with an adaptation process for the unknown and varying adhesion coefcient of the tire/road interface. The proposed control method is veried ...

Abstract This paper presents a new Sliding Mode Control (SMC) method based on Model Predictive Control (MPC) algorithm for the slip suppression of EVs. The proposed method focusses on improving the acceleration performance and low energy consumption of EVs by controlling the slip ratio of wheel under driving. In this paper, the extended SMC method is proposed to improve the control performance ...

The doubly-fed induction generator (DFIG) is widely used in variable speed wind energy conversion systems (WECS). This paper presents a review on various topologies, configuration, power converters and control schemes used with the operation of the DFIG. The operation of DFIG based on both slip ring and brushless arrangement has been discussed. The grid integration of DFIG and its influence on ...

This paper describes an experiment eliciting spoonerisms by using the so-called SLIP technique. The purpose of the experiment was to provide a further test of the hypothesis that self-monitoring of inner speech is a major source of lexical bias ([1; 10; 11; 14]. This is a follow-up on an earlier experiment in which subjects were explicitly prompted after each response to make a correction in ca...

In recent years, there has been considerable interest in investigating the effects of fretting, a common problem of significant practical importance that can affect a wide range of electrical equipment incurring costly component replacement and expensive equipment downtime. Fretting is defined as accelerated surface damage occurring at the interface of contacting materials subjected to small os...

This paper details the online-identification-based adaptive design of a stick/slip minimization algorithm and top-drive servo control for Rotary Steerable System (RSS) directional drilling tools. Stick/slip in this context refers to the downhole angular velocity variation of the bit about a nominal value. The basic pole placement controller designs are SISO linear but recursively evaluated base...