In this paper, a new sliding mode control (SMC) is applied to a physical nonlinear system. The novelty of this approach is related to the proposed reaching law by overcoming the main limitations of SMC. Unlike existing reaching laws, the suggested one can achieve high performance with significant reducing of a chattering problem and has a very fast convergence time of the system trajectories into the origin. This law benefits from the advantages and overcomes the limitations of both the exponential reaching law (ERL) and the conventional sliding mode control (SMC). Simulation results and comparison study with ERL and SMC are presented and applied on two degrees of freedom robot in order to show the advantage of the proposed adaptive reaching law. Experiments results are performed with electric cylinder (DC Motor) to confirm this proposition in real-time implementation.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1016/j.isatra.2019.08.010 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Technological Adjuncts to Streamline Patient Recruitment, Informed Consent, and Data Management Processes in Clinical Research: Observational Study.
JMIR Form Res
January 2025
Northwestern Medicine, Chicago, IL, United States.
Background: Patient recruitment and data management are laborious, resource-intensive aspects of clinical research that often dictate whether the successful completion of studies is possible. Technological advances present opportunities for streamlining these processes, thus improving completion rates for clinical research studies.
Objective: This paper aims to demonstrate how technological adjuncts can enhance clinical research processes via automation and digital integration.
Seeking consensus on dilemmas related to euthanasia in dementia based on an advance directive: a Delphi study from a medical, ethical and legal perspective.
J Med Ethics
January 2025
Medicine for Older People, AmsterdamUMC Location VUmc, Amsterdam, The Netherlands.
Euthanasia in dementia based on advance euthanasia directives (AEDs) is possible within the Dutch Euthanasia law. Yet, physicians struggle with the responsibility of interpreting the law's open norms in cases of advanced dementia, which includes the fulfilment of the due care criteria. This Delphi study aims to analyse arguments and seek consensus from medical, ethical and legal perspectives on ethical dilemmas in such cases.
View Article and Find Full Text PDFAnatomic variations in origin and coursing of the transverse cervical artery: morphogenesis and relation to the high arch-shaped subclavian artery.
Anat Sci Int
January 2025
Department of Anatomy, The Nippon Dental University School of Life Dentistry at Niigata, Niigata, Japan.
This case report presents an atypical transverse cervical artery with its detailed anatomy, morphogenesis, and association with the high arch-shaped subclavian artery. The atypical arteries, related arteries, and adjacent cervical and brachial plexuses were macroscopically examined in a 98-year-old Japanese female cadaver donated to The Nippon Dental University for medical education and research. The atypical deep branch of the transverse cervical artery originated from the internal thoracic artery and passed through between the C5 and C6 roots, in close contact with the C5 and C6 junction, to reach the dorsal side of the brachial plexus.
View Article and Find Full Text PDFWhile "complexity science" has achieved significant successes in several interdisciplinary fields such as economics and biology, it is only a very recent observation that legal systems -from the way legal texts are drafted and connected to the rest of the corpus, up to the level of how judges and courts reach decisions under a variety of conflicting inputs- share several features with standard Complex Adaptive Systems. This review is meant as a gentle introduction to the use of quantitative tools and techniques of complexity science to describe, analyse, and tame the complex web of human interactions that the Law is supposed to regulate. We offer an overview of the main directions of research undertaken so far as well as an outlook for future research, and we argue that statistical physicists and complexity scientists should not ignore the opportunities offered by the cross-fertilisation between legal scholarship and complex-systems modelling.
View Article and Find Full Text PDFCombined biochemical profiling and DNA sequencing in the expanded newborn screening for inherited metabolic diseases: the experience in an Italian reference center.
Orphanet J Rare Dis
January 2025
Department of Translational Medicine, University of Naples "Federico II", Naples, Italy.
Background: Newborn screening (NBS) programs have significantly improved the health and outcomes of patients with inherited metabolic disorders (IMDs). Methods based on liquid chromatography/mass spectrometry (LC-MS/MS) analysis are viewed worldwide as the gold standard procedure for the expanded NBS programs for these disorders. Advanced molecular technologies point to genomic sequencing as an alternative and feasible strategy for the screening of genetic diseases, including IMDs.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!