A surveillance camera algorithm based on the sliding mode approach with measurement's disturbance

Abstract

The sliding mode control (SMC) is a variable structure, widely spread control strategy thanks to its efficient features such as robustness, easy implementation and reliability regarding disturbances and nonlinear uncertainties. Firstly, SMC has been implemented on a robot manipulator with three degrees of freedom used for a surveillance camera system. Then, and in order to improve the robustness of the proposed approach, an additive measurement's noise has been introduced. Simulation results show the efficiency of the Sliding Mode Controller applied to a robot manipulator system in a motion control task, which is used to ensure the displacement of a surveillance camera.

A synchronizing second order sliding mode control applied to decentralized time delayed multi−agent robotic systems: Stability Proof

“…Sliding mode control is a robust nonlinear strategy [41,46,47]. Such Variable Structure Control (VSC) is considered as a discontinuous feedback approach where its design is divided into two parts: the reaching phase (system trajectories are forced to reach a specific surface in the state space then to remain on it) and the sliding phase ( Figure 1).…”

“…Using the Lagrangian formulation, the motion equation of a manipulator robot "i" can be written as: [46] …”

Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017); View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017); View Description Applic

“…Thence, this paper presents an extension of a research work originally presented in the 8 th International Conference on Modelling, Identification and Control [1]. Recently, several similar synchronization studies have been investigated in several complex mechanical systems, where flexibility and accuracy have been highly recommended [2], [3], [4], [5], [6]. There exist numerous samples of sophisticated technologies dedicated to modern life, such as material transporting [7], [8], advanced agriculture aggregation [9], building tasks [10], etc.…”