In order to solve the problem of low control accuracy marine ecological protection robot in route planning process during positioning, a new sliding method is proposed. First, obtain position information robot, use dynamic measurement information, and extract tracking information. According needs positioning target path tracking, combined with method, global designed. Experiments show that this...

In this paper, a chattering free sliding mode control (SMC) for a robot manipulator including PID part with a fuzzy tunable gain is designed. The main idea is that the robustness property of SMC and good response characteristics of PID are combined with fuzzy tuning gain approach to achieve more acceptable performance. For this purpose, in the first stage, a PID sliding surface is considered su...

Basal sliding is one of the most important components in the dynamics of fastflowing glaciers, but remains poorly understood on a theoretical level. In this paper, the problem of glacier sliding with cavitation over hard beds is addressed in detail. First, a bound on drag generated by the bed is derived for arbitrary bed geometries. This bound shows that the commonly used sliding law, τb = Cub ...

In this paper, we have exploited the first-order sliding mode control method to track the ECG data of the human heart by three different nonlinear control laws. In order to lessen the intrinsic chattering of the classic sliding mode control system, smooth function approximations of the control input, by means of the hyperbolic tangent and the saturation function, were used. The fast Fourier tra...

A new nonlinear sliding mode, which can be expended and used in a large family nonlinear systems , is skillfully constructed for supersonic missile control with unknown control direction. Later, by using of the Nussbaum gain method, the unknown control direction problem is solved and also the appearance of control singularity was avoided. So the nonlinear sliding mode method and Nussbaum gain m...