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Adaptive sliding mode for the control of a wheeled mobile robot |
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Smain Azzeddine Tchenderli-Braham(Centre for Development of Advanced Technologies, Algeria) |
This work deals with the trajectory tracking control problem for a kind of underactuated wheeled mobile robots: car with a double steering mode (Bis-Car). The control law is designed using an adaptive sliding mode control (ASMC) in order to achieve a robust control while avoiding the chatter effect engendered by sliding modes and the overestimation of the control gain. Among existing methods of ASMC, we use in this paper the equivalent control based adaptive gain method. Simulation results show the effectiveness of this method applied on a complex system.type 2 diabetes signs diabetes treatment lilly cialis coupons click free discount prescription cards lilly cialis coupon click drug coupon |
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Formation Control of Multi-Vehicle Systems using Cooperative Game Theory |
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Amin Aghajani, Ali Doustmohammadi(Amirkabir University of Technology (Tehran Polytechnic), Iran, Islamic Republic of) |
In this work the issue of team cooperation in a multi-vehicle system is discussed in the form of a formation problem, and control signals are designed for the vehicles in a framework of cooperative game theory. Considering each vehicle as a player, its individual cost as the payoff function, and its control input as the decision that it has to make, a differential game is defined. By using the concept of Pareto optimality and minimizing a team cost function, the common goal of all the agents i.e. forming and maintaining the team’s predefined formation is reached.discount prescription drug cards read drug coupons lilly cialis coupon click drug coupon prescription discounts cards drug coupons coupons for cialis 2016 coupons for cialis printable click new prescription coupons |
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Development of a Full Speed Range Path-following System for Autonomous Vehicle |
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Chang Il Kim, Moon-sik Kim, Kwang-soo Lee, Moon-hyung Song(Korea Automotive Technology Institute, Korea, Republic of ), Hyung-soo Jang, Tae-seok Park(Ssangyong Motor Company, Korea, Republic of ) |
In this paper, the full-speed range path following system is proposed regardless of side-slip angle caused by lateral and inertia force in the high speed driving environment. The back-stepping control algorithm is used for robustness about model parameter error. In order to have control performance in full speed range, both kinematic and dynamic model are used, and to avoid the frequent transition between kinematics and dynamics model based observers, the hysteresis loop is applied. The performance of the proposed algorithm is evaluated by simulation and real-car test in the proving ground.prescription discounts cards drug coupons coupons for cialis 2016 coupons for cialis printable click new prescription coupons |
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Adaptive sliding mode controller applied on an underactuated wheeled mobile robot |
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Smain Azzeddine Tchenderli-Braham(Centre for Development of Advanced Technologies, Algeria) |
In this paper we address the problem of a chatter attenuation caused by sliding mode controllers. For this purpose, an adaptive method is investigated in order to tune the gain of the sliding algorithm. The control method is designed for a four wheeled mobile robot in double steering mode (Bis-Car) in the case of a trajectory tracking task. Simulation results show the effectiveness of the proposed method.what is the generic name for bystolic open bystolic savings card program bystolic generic link bystolic coupons for free type 2 diabetes signs go diabetes treatment prescription discounts cards drug coupons coupons for cialis 2016 |
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Posture stabilization using a model free controller |
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Smain Azzeddine Tchenderli-Braham(Centre for Development of Advanced Technologies, Algeria) |
In this paper we deal with the problem of the posture stabilization control task for a wheeled mobile robot. The control approach developed in this work does not need any a-priori knowledge about the model of the robot. The controller uses errors between both the posture of the robot and the desired posture in order to compute virtual velocities (vx, vy) which are necessary to compute the control inputs: traction velocity and steering angle. These ones allow the convergence of the system toward the desired position. Simulation results show the applicability of the control method.prescription discounts cards drug coupons coupons for cialis 2016 prescription discounts cards read coupons for cialis 2016 prescription discounts cards drug coupons coupons for cialis 2016 aidamar click aida angebote |
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Development of FPGA-based system for control of an Unmanned Ground Vehicle with 5-DOF Robotic Arm |
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Abdullah Afaq, Mohammad Ahmed, Ahmed Kamal, Umar Masood, Muhammad Shahzaib, Nasir Rashid, Mohsin Tiwana, Javaid Iqbal, Asadullah Awan(National University of Sciences and Technology(NUST), Pakistan) |
This paper discusses the development of a customizable FPGA-based system for implementing control algorithms on an Unmanned Ground Vehicle and its 5 Degree of Freedom manipulator. The compact RIO-9012 is used as a controller which is a reconfigurable embedded control and acquisition system using LabVIEW as the programming platform. The developed system enables the control of UGV and its manipulator using a remote joystick controller via Wi-Fi communication.Different features of UGV like path tracker, variable speed modes,battery indicator,camera switch and selector etc. are also managed in GUItype 2 diabetes signs diabetes treatment pet prescription discount card click prescription drug coupons prescription discounts cards read coupons for cialis 2016 |
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