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Discrete-time based sliding-mode control of robot manipulators

International Journal of Intelligent Computing and Cybernetics 2012年第3期5卷 340-358页

作者： Sajjad Shoja Majidabad heydar toosian shandiz Department of Electrical Engineering and Robotic Shahrood University of TechnologyShahroodIran

Purpose-The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete-time domain for robot ***/methodology/approach–First,a discrete linear sliding mode controller is designed to an n-link robot based on Gao’s reaching *** the second step,a discrete terminal sliding mode controller is developed to design a finite time and high precision *** stability analysis of both controllers is presented in the presence of model uncertainties and external ***,sampling time effects on the continuous-time system outputs and sliding surfaces are ***–Computer simulations on a three-link SCARA robot show that the proposed controllers are robust against model uncertainties and external *** was also shown that the sampling time has important effects on the closed loop system stability and *** implications-The proposed controllers are low cost and easily implemented in practice in comparison with continuous-time ***/value-The novelty associated with this paper is the development of an approach to finite time and robust control of n-link robot manipulators in discrete-time ***,obtaining an upper bound for the sampling time is another contribution of this work.

关键词： Sampling time Discrete-time sliding mode Terminal sliding mode Linear and nonlinear manifolds N-link robot manipulator Robots Control technology Control systems

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Diabetic diagnose test based on PPG signal and identification system

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Journal of Biomedical Science and Engineering 2009年第6期2卷 465-469页

作者： Hadis Karimipour heydar Toossian shandiz Edmond Zahedi 不详

In this paper, photoplethysmogram (PPG) signals from two classes consisting of healthy and diabetic subjects have been used to estimate the parameters of Auto-Regressive Moving Average (ARMA) models. The healthy class consists of 70 healthy and the diabetic classes of 70 diabetic patients. The estimated ARMA parameters have then been averaged for each class, leading to a unique representative model per class. The order of the ARMA model has been selected as to achieve the best classification. The resulting model produces a specificity of %91.4 and a sensitivity of, %100. The proposed technique may find applications in determining the diabetic state of a subject based on a non-invasive signal.

关键词： PPG Signal Diabetic Identification ARMA Model

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Nonlinear Control for Synchronization Scheme to Chaotic Fractional Order Chen-Lee Systems

Nonlinear Control for Synchronization Scheme to Chaotic Frac...

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第二十六届中国控制会议

作者： Toossian shandiz heydar Hajipoor Ahmad Shahrood University of Technology Electrical Engineering Faculty7 Th Tir Square P.o.Box 36155-316ShahroodIRAN

In this work nonlinear control theory is successfully extended to fractional-order Chen-Lee systems to achieve *** analytical results are derived based on the Laplace transformation ***,numerical simulations are shown... 详细信息

关键词： Chaos synchronization Fractional-order system Chen-Lee chaotic system Nonlinear control

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