Hi,
I have a 2nd order of sliding mode observer of the form:
\dot{\hat{x}} = \hat{f}(x,t) + \delta f + \Psi(u,y) +[ \frac{d \Omega}{dx}]^{-1} \upsilon
where ##\upsilon##:
\upsilon_1= \alpha_1 \lambda_1^{1/2} | y_1 -\hat{x}_1|^{1/2}*sign(y_1 -\hat{x}_1)
\upsilon_2= \alpha_2...
I only integrate the \dot{\omega}. can you explain more. Do you think negative values of ##\omega## are okej? I tried with higher torque and it worked. The problem is Matlab or any programming language doesn't know where it exists any forces. For example when the vehicle is standing still, there...
Now I'm confused, look at the reference here.
https://theses.lib.vt.edu/theses/available/etd-5440202339731121/unrestricted/CHAP3_DOC.pdf
From the figure and in order to have balance you have to have a ## T## and #Fx# is the traction force that is a function of ##\mu## that is the friction...
Hi,
I have a Driving wheel for which I'm trying to make an observer for. The abserver works very well however , since I don't have my background in mechanics something strange happens. I have to say that I don't know why I think it's strange and that's why I put my question here.
Lets assume we...
Hi,
I have designed a variable-based observer analytically on paper. Now it's time to implement it in Simulink/matlab.
Suppose we have followings in a tire model. The EOM says:
J\dot{\omega} = T-R_eF_x
m\dot{v}_x = F_x
where J is the inertia of the wheel, \omega is the angular velocity , m is...
You were right. I did following scheme:
The SMC is as following:
u = u_d - \frac{K}{b} sat(\frac{\sigma}{\theta})
I have actually problem with founding \theta . This is the boundry thickness. anyone with insights in SMC.
Thank you for your response.
As you see in the picture, the input should go to the dynamic. The dynamic of the slip is :
## \dot{\lambda} = (- \frac{g}{R\omega} + \frac{Rmg(\lambda -1)}{\omega J})\mu - \frac{(\lambda -1)}{\omega J}T##
So this is the case:
Reference value ---> SMC -----> dynamics...
For writing reports I would recommend TexStudio. and for articles and other than reports and books I would recommend Latexila on Linux. Latexila is a very lightweight and user friendly latex editor. I used it for many years until something strange happened with it and it wouldn't run auto...
Hi,
I've had obtained a mathematical model for the slip controller issue.
As you see I have the diffequation for the slip. and the input that force the system to zero error is provided as well. Now it's time to implement it in simulink or matlab.
I took a look at the example provided on...
Hi,
I was thinking of the slip that is defined as following:
$$
s = \frac{R\omega}{v_x} -1
$$
The definition of the effective radius according to Chand and Sandu [1]
$$
\begin{equation}
R_e = \left\{
\begin{array}{l l}
R - R \left(1- \frac{1...