sliding mode control for a pneumatic robot leg - Page Web SASV de

simulations shows that the proposed control algorithm can achieve satisfactory ... dynamic parameters used in the control law must match with real ones. Recent ...
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       f > F  F  F e > K  K  K e  P  P  P

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8

Ohppd 5 +Ehuqvwhlq Ohppd,1 Li {+w, lv d vprrwk dqg erxqghg vljqdo +m{+w,m  P, dqg kdv lwv iuhtxhqf| vshf0 wuxp edqg olplwhg   e| $ > wkhq  doo lwv ghulydwlyhv duh erxqghg vxfk dv     {+w,  +$  , P=

Frqfoxvlrq

Wklv sdshu frqvlghuhg wkh txhvwlrq ri frqwuro ri sqhx0 pdwlf ohjjhg urerw edvhg rq vwdwh ihhgedfn frqwuro dqg d



8

0.5

0.5

position1 error

0

0

-0.5

-0.5

-1 0 5

1

time(s)2

3

0 -5 -10 0 40 20

-1 0 5

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