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The major contribution is the design of a set of residuals according to a variable structure state space model.
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The quasihomogeneous control synthesis is utilized to design a variable structure controller that drives the actuated link of the Pendubot to a periodic reference orbit in finite time.
Referred to as a variable structure neural network, a novel neural network architecture, is proposed and shown to be useful in approximating the unknown nonlinearities of dynamical systems.
As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system.
The nonlinear inversion-based controller acts as the main controller, and a neural network with an adaptive update law is designed to model the unknown system dynamics, a variable structure controller is employed to eliminate the effect of the neural network approximation errors and to ensure the system stability.
In the human, the G3 region has a variable structure due to alternative splicing of both EGF-like domains and the CRP-like domain (Grover and Roughley, [1993]).
It comprises of an adaptive controller augmented with a variable structure (VS) to remain efficient in the face of modeling errors and extraneous disturbances.
A variable structure controller is designed to guarantee that the system trajectory is convergent to the linear switching surface.
A variable structure observer is constructed to estimate the whole process state variables.
A variable structure approach is used to design and tune a fuzzy controller for a boost DC DC converter.
Then a variable structure attitude controller is used to track the optimized thrust direction.
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