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actuator ,” in 2018 3rd International Conference on Control and Robotics Engineering (ICCRE) , Nagoya, Japan , 2018 , pp. 274 – 279 . https://doi.org/10.1109/ICCRE.2018.8376479 . [10] M. Damircheli and B. Eslami , “ Design of V-shaped cantilevers

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Abstract

This paper deals with the disturbance rejection, parameter uncertainty cancelation, and the closed-loop stabilization of the water level of the four-tank nonlinear system. For the four-tank system with relative degree one, a new structure of the active disturbance rejection control (ADRC) has been presented by incorporating a tracking differentiator (TD) in the control unit to obtain the derivate of the tracking error. Thus, the nonlinear-PD control together with the TD serves as a new nonlinear state error feedback. Moreover, a sliding mode extended state observer is presented in the feedback loop to estimate the system's state and the total disturbance. The proposed scheme has been compared with several control schemes including linear and nonlinear versions of ADRC techniques. Finally, the simulation results show that the proposed scheme achieves excellent results in terms of disturbance elimination and output tracking as compared to other conventional schemes. It was able to control the water levels in the two lower tanks to their desired value and exhibits excellent performance in terms of Integral Time Absolute Error (ITAE) and Objective Performance Index (OPI).

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hybrid system becomes stable and has zero dynamics. The controllers are modeled by utilizing the adaptive control methods [ 23 ]. In the robotic application as well as the semi-active suspension system, the sliding mode control (SMC) is utilized to make

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.5, Element reference, BEAM188 . [8] Robot-Autodesk Documentation, V2014 , Computer and structures, tutorial-seismic simulation analysis . [9

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Pollack Periodica
Authors:
Shanmugasundaram Suresh
,
Jeeva Poornaselvan
, and
Chidambaram Divyapreya

Merchant-Cruz E. A., Morris A. S. Fuzzy-GA-based trajectory planner for robot manipulators sharing a common workspace, IEEE Tr. Robotics , Vol. 22, No. 4, 2006, pp. 613

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Robotics, Programming, Simulation and Applications , ARS/PLV, Germany, December 2006, pp. 493–514. Giardini C. Industrial Robotics, Programming, Simulation

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Pollack Periodica
Authors:
Richard Honti
,
Ján Erdélyi
, and
Alojz Kopáčik

. , Le B. 3D point cloud segmentation: A survey , 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM), Manila, Philippines, 12-15 November 2013 , pp. 225 ‒ 230 . [12

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, pp. 508–516. Tick J. Convergence of programming development tools for autonomous mobile research robots, Proceedings of the 4th Serbian-Hungarian Joint Symposium on Intelligent Systems, SISY 2006 29–30 September 2006

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, pp. 197–202. Szabó L., Ruba M., Fodorean D., Simple converter structure for fault tolerant motors, Proceedings of the 2008 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR’ 2008) THETA 16

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–70. Vedaldi A., Zisserman A. Image classification practical, 2011, http://www.robots.ox.ac.uk/~vgg/share/practical-image-classification.htm (last visited 11 December 2012) Vedaldi A., Fulkerson B., Feat V. L. An open and

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