based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

based on the problems caused by today conventional vehicles, much attention has been put on the fuel cell vehicles researches. however, using a fuel cell system is not adequate alone in transportation applications, because the load power profile includes transient that is not compatible with the fuel cell dynamic. to resolve this problem, hybridization of the fuel cell and energy storage device...

In this paper a sliding mode controller (SMC) is designed for a permanent magnet direct current (PMDC) motor to enhance the motor performance in the presence of unwanted uncertainties. Both the electrical and mechanical signals are used as the inputs to the SMC. The complete motor control system is simulated on a personal computer with different design parameters and desirable system performanc...

An analysis of on-line autonomous robust tracking controller based on variable structure control is presented for an aerospace launch vehicle. Decentralized sliding-mode controller is designed to achieve the decoupled asymptotic tracking of guidance commands upon plant uncertainties and external disturbances. Development and application of the controller for an aerospace launch vehicle during a...

This paper develops a new method of integral sliding mode control redesign for a class of perturbed nonlinear dissipative switched systems by modifying the dissipativity-based control law that was designed for the unperturbed systems. The nominal model is considered affine with matched and unmatched perturbations. The redesigned control law includes an integral sliding-based control signal such...

in this paper, under the existence of system uncertainties, external disturbances, and input nonlinearity, global finite time synchronization between two identical attractors which belong to a class of second-order chaotic nonlinear gyros are achieved by considering a method of continuous smooth second-order sliding mode control (hoamsc). it is proved that the proposed controller is robust to m...

diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. therefore, tight control of blood glucose levels has gained significant attention over the decades. this paper proposes a method for blood glucose level regulation in type 1 diabetics. the control strategy is based on combining the fuzzy logic theory and si...

Most research on sleep awakenings caused by aircraft noise determines the percent of awakenings from an average person’s exposure to single aircraft events. Such research estimates the percent of people who would likely be awakened by a single aircraft of a given sound level, if everyone had average sensitivity to sleep awakening. However, such results do not show what percent of a composite po...