sliding mode controller which combines adaptive control and sliding mode control to control a 2-link nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov
Words: 2637 - Pages: 11
1.0 Experiment 1: Effect of Controller Gain (P-value) Figure 1: Simulink setup for Experiment 1 Graph 1: Graph from value P = 0.005, I = 0.01 and D = 0 Graph 2: Graph from increasing value of P = 0.01 and fixed value of I = 0.01 and D = 0 Graph 3: Graph from increasing value of P = 0.02 and fixed value of I = 0.01 and D = 0 Graph 4: From combining Graph 1-3 to compare the result. From the simulation, the value of P in PID causes the graph change. Increasing the value of P makes the
Words: 1059 - Pages: 5
internal controls in place. The analysis and recommendations presented below are based on the internal control report. Question 1. Where is the theater’s control system lacking? Are the controls themselves weak or incomplete, or are the theater’s problems caused primarily because of lack of discipline in using the existing controls? Leo’s Four-Plex has four internal controls in place. These controls are presented in Table 1. Even though there are internal controls in place, the controls are not
Words: 903 - Pages: 4
LITERATURE REVIEW 1. INTRODUCTION Measured Signal PWM BASED SERVO PNEUMATIC SYSTEM Pneumatic System 1 Reference Signal Error Regulator PWM Valve Control Signal PWM based servo pneumatic systems are widely used nowadays especially in manufacturing industry. Research and studies are being investigated to further improve the performance of various applications of the PWM based servo pneumatic systems such as paint spraying system, production sorting system and etc which lead to cost
Words: 1056 - Pages: 5
Sept 27th He felt that was at conspiray against him, he didn’t trust in his boss. Prior to these 3 months ,you are probably at your best, spent enough time in the role to master and excel it, Yet moving from managing self to managing others and managing another assignment, different expectations and all that will make it difficult to the individual to perform 100% especially first 3 months of the job” I learn about the roggerian method, about talking out your feelings within the context
Words: 397 - Pages: 2
Question 1 – Do you think that to truly be effective it is possible for an international firm to have a common control system for any single activity? I do not think that to truly be effective it is possible for an international firm to have a common control system for any single activity because of the variety of cultures, institutional environments and financial costs associated with doing business in different countries. As the book illustrates in Chapter 3 companies that operate globally
Words: 457 - Pages: 2
Organisational control Control: track progress: -employees * Product * Strategies * Goals Control means reviewing, monitor, check * Managers monitor and regulate how efficiently and effectively an organisation and its members are performing the activities necessary to achieve organisational goals. * Managers keep an organisation on track, anticipate events, and change the organisation to respond to opportunities and threats Control systems Flexible because environment change
Words: 1250 - Pages: 5
Scheduling Modeling & Coordination Mechanism Based on MAS for Marine Equipment Project Researcher│China Natural Science Foundation Project Jun.2013 ~ Jun.2014 Built scheduling model and coordination mechanism based on Multi-agent System (MAS) theory. Developed a collaborative scheduling system using Oracle database and MyEclipse. Designed Improved Genetic Algorithm (IGA) for multi-objective scheduling under resource conflicts. Information Management Technology of Jack-up Drilling Platform
Words: 711 - Pages: 3
consumes. Suppose that both books and restaurant meals are perfectly divisible goods. The relative price of books in terms of restaurant meals is 0.4, i.e., buying a book costs 40% of the price of a restaurant meal. The nominal price of a restaurant meal is £20. John’s income is £1,000 per month
Words: 1038 - Pages: 5
Mr. Weber began working for the state as an Equipment Operator Journey II in Montana Creek on April 9, 2014 and continues to perform this job. Discipline on file: • There is no discipline on file. • There is no performance evaluation on file. Prior accidents/incidents on file: There’s an accident/incident noted in the Accident Review provided by John Clendenin, Regional Safety Officer. There is no note of Mr. Weber receiving any consultation or discipline regarding these. • 9/20/15 – Mr. Weber
Words: 1218 - Pages: 5
