Adaptive Fuzzy Super-twisting Backstepping Control Design for MIMO Nonlinear Strict Feedback Systems

International Journal of Control, Automation and Systems - This paper presents a new backstepping control (BSC) combined with a super-twisting algorithm (STA) for multiple-input, multiple-output...     

Assumed model feedforward sliding mode control for a wheeled mobile robot with 3-DOF manipulator systems

In this paper, a three wheeled mobile platform with a 3-DOF manipulator was designed and its dynamic model has been constructed and a Sliding mode control (SMC) with the kinematic control is designed to follow the designed position trajectory for a mobile manipulator. Next, an assumed dynamic model of each system is used to design sliding mode controller in order to replace the modelbased control and adaptive estimation for unknown dynamic parameters. The stability of the proposed control scheme has been proved by Lyapunov theory. The effectiveness and accuracy of the proposed algorithm has been verified by simulations and practical experiments for the developed mobile manipulator system. And the simulation and experimental results have been compared to those of traditional PID algorithm to show the superiority of the proposed algorithm.

     

Small-area and compact CMOS emulator circuit for CMOS/nanoscale memristor co-design

In this paper, a CMOS emulator circuit that can reproduce nanoscale memristive behavior is proposed. The proposed emulator circuit can mimic the pinched hysteresis loops of nanoscale memristor memory''s current-voltage relationship without using any resistor array, complicated circuit blocks, etc. that may occupy very large layout area. Instead of using a resistor array, other complicated circuit blocks, etc., the proposed emulator circuit can describe the nanoscale memristor''s current-voltage relationship using a simple voltage-controlled resistor, where its resistance can be programmed by the stored voltage at the state variable capacitor. Comparing the layout area between the previous emulator circuit and the proposed one, the layout area of the proposed emulator circuit is estimated to be 32 times smaller than the previous emulator circuit. The proposed CMOS emulator circuit of nanoscale memristor memory will be very useful in developing hybrid circuits of CMOS/nanoscale memristor memory.