http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Brahim Brahmi,Ibrahim El Bojairami,Maarouf Saad,Mark Driscoll,Samir Zemam,Mohamed Hamza Laraki 대한전기학회 2021 Journal of Electrical Engineering & Technology Vol.16 No.1
This paper presents the design and validation of a new adaptive variable gain reaching law, integrated with sliding mode control (SMC), to control perturbed and unperturbed nonlinear systems. The novelty behind this law stems from its capability to overcome the main limitations involved with SMC. In contrast to existing reaching laws, system’s performance can be substantially enhanced via this law, with signifi cant reduction in the chattering phenomenon, along ensuring rapid convergence time of system’s trajectories towards equilibrium. The designed law not only integrates the features of both the exponential reaching law (ERL) and the power rate reaching law (PRL), but also overcomes their limitations. Simulation and comparison studies against ERL and PRL were carried out to validate the eff ectiveness and advantages of the proposed reaching law scheme (Proposed-RL). Furthermore, controlled experimental investigations were conducted using an exoskeleton robot (ETS-MARSE) to validate the scheme in real-time.