Sliding modes in electrical drives and motion control

In this paper application of Sliding Mode Control (SMC) to electrical drives and motion control systems is discussed. It is shown that in these applications simplicity in implementation makes concepts of SMC a very attractive design alternative. Application in electrical drives control is discussed for supply via different topologies of the supply converters. Motion control is discussed for single degree of freedom motion control systems as an extension of the control of mechanical coordinates in electrical drives. Extension to multi-body systems is discussed very briefly

Reliability and information content of tests with cardioleader in cyclic types of sports

Tests with cardioleader to control the physical, technical and tactical preparedness of athletes in cyclic types of sports are discussed. Ways of increasing the reliability and information content of the tests were studied

SMC framework in motion control systems

Design of a motion control system should take into account both the unconstrained motion performed without interaction with environment or other system, and the constrained motion where system is in contact with environment or has certain functional interaction with another system. In this paper control systems design approach, based on siding mode methods, that allows selection of control for generic tasks as trajectory and/or force tracking as well as for systems that require maintain some functional relation like bilateral or multilateral systems, establisment of virtual relation among mobile robots or control of haptic systems is presented. It is shown that all basic motion control problems - trajectory tracking, force control, hybrid position/force control scheme and the impedance control - can be treated in the same way while avoiding the structural change of the controller and guarantying stable behavior of the system In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks and bilateral control systems are presente

Droplet-shaped waves: Causal finite-support analogs of X-shaped waves

A model of steady-state X-shaped wave generation by a superluminal (supersonic) pointlike source infinitely moving along a straight line is extended to a more realistic causal scenario of a source pulse launched at time zero and propagating rectilinearly at constant superluminal speed. In the case of infinitely short (delta) pulse, the new model yields an analytical solution, corresponding to the propagation-invariant X-shaped wave clipped by a droplet-shaped support, which perpetually expands along the propagation and transversal directions, thus tending the droplet-shaped wave to the X-shaped one.Comment: 14 pages, 6 figure