Integral sliding mode(ISM) based composite nonlinear feedback(CNF) tracking controller to track step signal is proposed. The proposed controller combines advantages of CNF controller like quick response without overshoot and robustness of ISM controller. Integral sliding mode is used along with CNF controller to reject disturbances and track nominal trajectory. Actuator saturation effect is con...

When a flow, discontinuous across a switching surface, points ‘inward’ so one cannot leave, it induces a unique flow within the surface, called the sliding mode. When several such surfaces intersect, one would seek a flow within the intersection, but some difficulties arise. We explore here the extent of the ambiguity involved in this situation and then show that for a certain form of ‘natural ...

For DiffServ network, an AQM controller is designed based on the nonlinear fluid flow model and the Integrated Dynamic Congestion Control (IDCC) scheme. Due to modeling uncertainties, time varying parameter fluctuations and external disturbances, we adopt a robust controller based on sliding mode control. The controller is designed for premium traffic service and ordinary traffic service respec...

Hector M. Gutierrez Florida Institute of Technology 18.1 Sliding Mode Controller Design–An Overview 18.2 The Sliding Mode Formulation of the Robot Manipulator Motion Control Problem 18.3 Equivalent Control and Chatter Free Sliding Control 18.4 Control of Robotic Manipulators by Continuous Sliding Mode Laws Sliding Mode Formulation of the Robotic Manipulator Motion Control Problem • Sliding Mode...

It is now well understood that ATP-driven active sliding between the doublet microtubules in the sperm axoneme generates flagellar movement. However, much remains to be learned about how this movement is controlled. Detailed analyses of the flagellar beating of the mammalian spermatozoa revealed that there were two beating modes at a constant rate of microtubule sliding: that is, a nearly const...

I . Introduction 11. Evidence of a Centrosomal Origin for Axonal Microtubules A. Axonal Microtubules Do Not Originate within the Axon B. Nucleation and Release of Microtubules from the Neuronal Centrosome C. Inhibition of Microtubule Nucleation at the Centrosome Compromises Axon Growth D. Centrosomal Microtubules Are Transported into the Axon Ill. Implications of a Centrosomal Origin for Axonal...

Cytoskeletal remodeling is essential to eukaryotic cell division and morphogenesis. The mechanical forces driving the restructuring are attributed to the action of molecular motors and the dynamics of cytoskeletal filaments, which both consume chemical energy. By contrast, non-enzymatic filament crosslinkers are regarded as mere friction-generating entities. Here, we experimentally demonstrate ...

The movement of eukaryotic flagella is characterized by its oscillatory nature. In sea urchin sperm, for example, planar bends are formed in alternating directions at the base of the flagellum and travel toward the tip as continuous waves. The bending is caused by the orchestrated activity of dynein arms to induce patterned sliding between doublet microtubules of the flagellar axoneme. Although...

Tetrahymena cilia contain a three-headed 22S (outer arm) dynein and a single-headed 14S dynein. In this study, we have employed an in vitro assay of microtubule translocation along dynein-coated glass surfaces to characterize the motile properties of 14S dynein, 22S dynein, and proteolytic fragments of 22S dynein. Microtubule translocation produced by intact 22S dynein and 14S dynein differ in ...

This paper studies theuncertain nonlinear dynamics of a MEMS optical switch addressing electrical, mechanical and optical subsystems. Recently, MEMS optical switch has had significant merits in reliability, control voltage requirements and power consumption. However, an inherent weakness in designing control for such systems is unavailability of switch position information at all times due to t...