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Moreover, a controller switch is applied to ensure that the extreme joint angle is appropriate.
As such they make reference to a context controller switch to handle varying IO sources, but do not elaborate on whether any optimization is being made on this IO interface on a per accelerator application case basis.
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The experimental results also demonstrate that the proposed scheme provides better performance than a discrete-time sliding mode control method with controller switching method.
The controller switches into airborne control mode and applies balancing torque generated through the rotating wheels.
Next they are overcome thanks to a force-position control scheme involving a controller switching mechanism so that the integrating action is only active in contact free motion.
To avoid a degraded transient after controller switching, a bumpless transfer scheme is designed and incorporated into this hybrid control approach.
At time (t=2.55) s, landing is detected and the controller switches back to ground balance mode.
Upon landing impact detection through onboard sensors, the controller switches to ground balance mode to maintain balance.
In addition, there exists the asynchronous switching between the system switching modes and the controller switching modes.
In addition, the considered switching instants have asynchronous phenomena between the system switching modes and the controller switching modes.
Then a mode controller switches between the swing-up controller and stabilizing controller near the upright position.
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