The subject of this paper is the design and implementation of a robust dynamic feedback controller, based on the dynamic model of the four-wheel skidsteering RobuFAST A robot, undergoing high-speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main objective of this paper is to formulate a sliding mode controller, robust enough to obviate the knowledge of...

Using both a recent calculation by Bruch of the damping of the motion of a monolayer nitrogen film oscillating harmonically on a metallic surface due to Ohm's law heating and a Thomas-Fermi approximation treatment of the Ohm's law heating mechanism, which accounts for the nonzero thickness of the surface region of a metal, it is argued that this mechanism for friction is able to account for rec...

In this note, we determine the stability boundary for the thermoelastic contact of a rectangular elastic block sliding against a rigid wall in the presence of a pressure-dependent thermal contact resistance. This geometry can be seen as intermediate between the idealized ‘Aldo’ rod model and continuum solutions for the elastic half-plane. The solution is obtained by comparing the expression for...

In this paper a sliding-mode torque and flux control is designed for encoderless synchronous reluctance motor drive. The sliding-mode plus PI controllers are designed in the stator-flux field oriented reference frame which is able to track the mentioned reference signals with a minimum pulsations in the state condition. In addition, with these controllers a fast dynamic response is also achieve...

This paper proposes the use of sliding mode control to improve the performance of fieldoriented speed controllers of induction motors. The integral sliding mode control provides means to obtain an accurate estimate for disturbances and plant parameter perturbations. This estimator is used as an auxiliary control loop to reject these disturbances and parameter perturbations while avoiding chatte...

Based on the mathematical model of the permanent magnet synchronous motor (PMSM), a novel sliding mode variable structure input-output feedback linearization controller is proposed. A precision linearization method is employed to achieve input-output linearization and decoupling control of the motor, which is decoupled into a second-order linear speed subsystem and a first-order linear d-axis c...

The present paper will impose a driving strategy for a particular nonlinear system, for example for a robot consists of a single segment, which has a flexible hinge. Transmission is more accurate, with a line size of the input provided by engine torque. Because of the robot arm speed can not be measured accurately one estimate the desired state through an Observer system. System that is intende...

The goal of this article is to develop practical descriptions of the relationship between forces and motions in sliding manipulation. We begin by reviewing the limit surface, a concept from the mechanics of sliding bodies that uses kinematic analysis to find the force and moment required to produce any given sliding motion. Next we provide experimental results showing that the limit surface onl...

A technique using augmented sliding mode control for robust, real-time control of flexible multiple link robots is presented. For the purpose of controller design, the n-link, n-joint robot is subdivided into n single joint, single link subsystems. A sliding surface for each subsystem is specified so as to be globally, asymptotically stable. Each sliding surface contains rigid-body angular velo...

Transcription factors (TFs) are able to associate to their binding sites on DNA faster than the physical limit posed by diffusion. Such high association rates can be achieved by alternating between three-dimensional diffusion and one-dimensional sliding along the DNA chain, a mechanism-dubbed facilitated diffusion. By studying a collection of TF binding sites of Escherichia coli from the Regulo...