Search results for: variable pay.
780 On Optimum Stratification
Authors: M. G. M. Khan, V. D. Prasad, D. K. Rao
In this manuscript, we discuss the problem of determining the optimum stratification of a study (or main) variable based on the auxiliary variable that follows a uniform distribution. If the stratification of survey variable is made using the auxiliary variable it may lead to substantial gains in precision of the estimates. This problem is formulated as a Nonlinear Programming Problem (NLPP), which turn out to multistage decision problem and is solved using dynamic programming technique.
Keywords: Auxiliary variable, Dynamic programming technique, Nonlinear programming problem, Optimum stratification, Uniform distribution.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1949
779 Conceptual Design of a Customer Friendly Variable Volume and Variable Spinning Speed Washing Machine
Authors: C. A. Akaash Emmanuel Raj, V. R. Sanal Kumar
In this paper using smart materials we have proposed a specially manufactured variable volume spin tub for loading clothes for negating the vibration to a certain extent for getting better operating performance. Additionally, we have recommended a variable spinning speed rotor for handling varieties of garments for an efficient washing, aiming for increasing the life span of both the garments and the machine. As a part of the conflicting dynamic constraints and demands of the customer friendly design optimization of a lucrative and cosmetic washing machine we have proposed a drier and a desalination system capable to supply desirable heat and a pleasing fragrance to the garments. We thus concluded that while incorporating variable volume and variable spinning speed tub integrated with a drier and desalination system, the washing machine could meet the varieties of domestic requirements of the customers cost-effectively.
Keywords: Customer friendly washing machine, drier design, quick cloth cleaning, variable tub volume washing machine, variable spinning speed washing machine.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 588
778 Variable Step-Size APA with Decorrelation of AR Input Process
Authors: Jae Wook Shin, Ju-man Song, Hyun-Taek Choi, Poo Gyeon Park
This paper introduces a new variable step-size APA with decorrelation of AR input process is based on the MSD analysis. To achieve a fast convergence rate and a small steady-state estimation error, he proposed algorithm uses variable step size that is determined by minimising the MSD. In addition, experimental results show that the proposed algorithm is achieved better performance than the other algorithms.
Keywords: adaptive filter, affine projection algorithm, variable step size.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1758
777 Development of Variable Stepsize Variable Order Block Method in Divided Difference Form for the Numerical Solution of Delay Differential Equations
Authors: Fuziyah Ishak, Mohamed B. Suleiman, Zanariah A. Majid, Khairil I. Othman
Abstract:This paper considers the development of a two-point predictor-corrector block method for solving delay differential equations. The formulae are represented in divided difference form and the algorithm is implemented in variable stepsize variable order technique. The block method produces two new values at a single integration step. Numerical results are compared with existing methods and it is evident that the block method performs very well. Stability regions of the block method are also investigated.
Keywords: block method, delay differential equations, predictor-corrector, stability region, variable stepsize variable order.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1350
776 LQR Control for a Multi-MW Wind Turbine
Authors: Trung-Kien Pham, Yoonsu Nam, Hyungun Kim, Jaehoon Son
Abstract:This paper addresses linear quadratic regulation (LQR) for variable speed variable pitch wind turbines. Because of the inherent nonlinearity of wind turbine, a set of operating conditions is identified and then a LQR controller is designed for each operating point. The feedback controller gains are then interpolated linearly to get control law for the entire operating region. Besides, the aerodynamic torque and effective wind speed are estimated online to get the gain-scheduling variable for implementing the controller. The potential of the method is verified through simulation with the help of MATLAB/Simulink and GH Bladed. The performance and mechanical load when using LQR are also compared with that when using PI controller.
Keywords: variable speed variable pitch wind turbine, multi-MW size wind turbine, wind energy conversion system, LQR control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3369
775 Binary Decision Diagrams: An Improved Variable Ordering using Graph Representation of Boolean Functions
Authors: P.W. C. Prasad, A. Assi, A. Harb, V.C. Prasad
This paper presents an improved variable ordering method to obtain the minimum number of nodes in Reduced Ordered Binary Decision Diagrams (ROBDD). The proposed method uses the graph topology to find the best variable ordering. Therefore the input Boolean function is converted to a unidirectional graph. Three levels of graph parameters are used to increase the probability of having a good variable ordering. The initial level uses the total number of nodes (NN) in all the paths, the total number of paths (NP) and the maximum number of nodes among all paths (MNNAP). The second and third levels use two extra parameters: The shortest path among two variables (SP) and the sum of shortest path from one variable to all the other variables (SSP). A permutation of the graph parameters is performed at each level for each variable order and the number of nodes is recorded. Experimental results are promising; the proposed method is found to be more effective in finding the variable ordering for the majority of benchmark circuits.
Keywords: Binary decision diagrams, graph representation, Boolean functions representation, variable ordering.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1947
774 Using Fractional Factorial Designs for Variable Importance in Random Forest Models
Authors: Ewa. M. Sztendur, Neil T. Diamond
Random Forests are a powerful classification technique, consisting of a collection of decision trees. One useful feature of Random Forests is the ability to determine the importance of each variable in predicting the outcome. This is done by permuting each variable and computing the change in prediction accuracy before and after the permutation. This variable importance calculation is similar to a one-factor-at a time experiment and therefore is inefficient. In this paper, we use a regular fractional factorial design to determine which variables to permute. Based on the results of the trials in the experiment, we calculate the individual importance of the variables, with improved precision over the standard method. The method is illustrated with a study of student attrition at Monash University.
Keywords: Random Forests, Variable Importance, Fractional Factorial Designs, Student Attrition.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1845
773 A Weighted Least Square Algorithm for Low-Delay FIR Filters with Piecewise Variable Stopbands
Authors: Yasunori Sugita, Toshinori Yoshikawa, Naoyuki Aikawa
Variable digital filters are useful for various signal processing and communication applications where the frequency characteristics, such as fractional delays and cutoff frequencies, can be varied. In this paper, we propose a design method of variable FIR digital filters with an approximate linear phase characteristic in the passband. The proposed variable FIR filters have some large attenuation in stopband and their large attenuation can be varied by spectrum parameters. In the proposed design method, a quasi-equiripple characteristic can be obtained by using an iterative weighted least square method. The usefulness of the proposed design method is verified through some examples.
Keywords: Weighted Least Squares Approximation, Variable FIR Filters, Low-Delay, Quasi-EquirippleProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1436
772 New Product-Type Estimators for the Population Mean Using Quartiles of the Auxiliary Variable
Authors: Amer Ibrahim Falah Al-Omari
In this paper, we suggest new product-type estimators for the population mean of the variable of interest exploiting the first or the third quartile of the auxiliary variable. We obtain mean square error equations and the bias for the estimators. We study the properties of these estimators using simple random sampling (SRS) and ranked set sampling (RSS) methods. It is found that, SRS and RSS produce approximately unbiased estimators of the population mean. However, the RSS estimators are more efficient than those obtained using SRS based on the same number of measured units for all values of the correlation coefficient.
Keywords: Product estimator, auxiliary variable, simple random sampling, extreme ranked set samplingProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1295
771 A Variable Stiffness Approach to Vibration Control
Authors: S. A. Alotaibi, M. A. Al-Ajmi
This work introduces a new concept for controlling the mechanical vibrations via variable stiffness coil spring. The concept relies on fitting a screw though the spring to change the number of active spring coils. A prototype has been built and tested with promising results toward an innovation in the field of vibration control.
Keywords: Variable stiffness, coil spring, vibration control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1966
770 Efficient Variable Modulation Scheme Based on Codebook in the MIMO-OFDM System
Authors: Yong-Jun Kim, Jae-Hyun Ro, Chang-Bin Ha, Hyoung-Kyu Song
Abstract:Because current wireless communication requires high reliability in a limited bandwidth environment, this paper proposes the variable modulation scheme based on the codebook. The variable modulation scheme adjusts transmission power using the codebook in accordance with channel state. Also, if the codebook is composed of many bits, the reliability is more improved by the proposed scheme. The simulation results show that the performance of proposed scheme has better reliability than the the performance of conventional scheme.
Keywords: MIMO-OFDM, variable modulation, codebook, channel state.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1486
769 Combining Variable Ordering Heuristics for Improving Search Algorithms Performance
Authors: Abdolreza Hatamlou, Yusef Farhang, Mohammad Reza Meybodi
Variable ordering heuristics are used in constraint satisfaction algorithms. Different characteristics of various variable ordering heuristics are complementary. Therefore we have tried to get the advantages of all heuristics to improve search algorithms performance for solving constraint satisfaction problems. This paper considers combinations based on products and quotients, and then a newer form of combination based on weighted sums of ratings from a set of base heuristics, some of which result in definite improvements in performance.
Keywords: Constraint Satisfaction Problems, Variable Ordering Heuristics, Combination, Search AlgorithmsProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1226
768 Dynamic Analysis of Composite Doubly Curved Panels with Variable Thickness
Authors: I. Algul, G. Akgun, H. Kurtaran
Dynamic analysis of composite doubly curved panels with variable thickness subjected to different pulse types using Generalized Differential Quadrature method (GDQ) is presented in this study. Panels with variable thickness are used in the construction of aerospace and marine industry. Giving variable thickness to panels can allow the designer to get optimum structural efficiency. For this reason, estimating the response of variable thickness panels is very important to design more reliable structures under dynamic loads. Dynamic equations for composite panels with variable thickness are obtained using virtual work principle. Partial derivatives in the equation of motion are expressed with GDQ and Newmark average acceleration scheme is used for temporal discretization. Several examples are used to highlight the effectiveness of the proposed method. Results are compared with finite element method. Effects of taper ratios, boundary conditions and loading type on the response of composite panel are investigated.
Keywords: Generalized differential quadrature method, doubly curved panels, laminated composite materials, small displacement.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 783
767 Variable Rough Set Model and Its Knowledge Reduction for Incomplete and Fuzzy Decision Information Systems
Authors: Da-kuan Wei, Xian-zhong Zhou, Dong-jun Xin, Zhi-wei Chen
Abstract:The information systems with incomplete attribute values and fuzzy decisions commonly exist in practical problems. On the base of the notion of variable precision rough set model for incomplete information system and the rough set model for incomplete and fuzzy decision information system, the variable rough set model for incomplete and fuzzy decision information system is constructed, which is the generalization of the variable precision rough set model for incomplete information system and that of rough set model for incomplete and fuzzy decision information system. The knowledge reduction and heuristic algorithm, built on the method and theory of precision reduction, are proposed.
Keywords: Rough set, Incomplete and fuzzy decision information system, Limited valued tolerance relation, Knowledge reduction, Variable rough set modelProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1481
766 Modeling of Random Variable with Digital Probability Hyper Digraph: Data-Oriented Approach
Authors: A. Habibizad Navin, M. Naghian Fesharaki, M. Mirnia, M. Kargar
Abstract:In this paper we introduce Digital Probability Hyper Digraph for modeling random variable as the hierarchical data-oriented model.
Keywords: Data-Oriented Models, Data Structure, DigitalProbability Hyper Digraph, Random Variable, Statistic andProbability.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1159
765 The Research and Application of M/M/1/N Queuing Model with Variable Input Rates, Variable Service Rates and Impatient Customers
Authors: Quanru Pan
Abstract:How to maintain the service speeds for the business to make the biggest profit is a problem worthy of study, which is discussed in this paper with the use of queuing theory. An M/M/1/N queuing model with variable input rates, variable service rates and impatient customers is established, and the following conclusions are drawn: the stationary distribution of the model, the relationship between the stationary distribution and the probability that there are n customers left in the system when a customer leaves (not including the customer who leaves himself), the busy period of the system, the average operating cycle, the loss probability for the customers not entering the system while they arriving at the system, the mean of the customers who leaves the system being for impatient, the loss probability for the customers not joining the queue due to the limited capacity of the system and many other indicators. This paper also indicates that the following conclusion is not correct: the more customers the business serve, the more profit they will get. At last, this paper points out the appropriate service speeds the business should keep to make the biggest profit.
Keywords: variable input rates, impatient customer, variable servicerates, profit maximization.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1844
764 The Riemann Barycenter Computation and Means of Several Matrices
Authors: Miklos Palfia
An iterative definition of any n variable mean function is given in this article, which iteratively uses the two-variable form of the corresponding two-variable mean function. This extension method omits recursivity which is an important improvement compared with certain recursive formulas given before by Ando-Li-Mathias, Petz- Temesi. Furthermore it is conjectured here that this iterative algorithm coincides with the solution of the Riemann centroid minimization problem. Certain simulations are given here to compare the convergence rate of the different algorithms given in the literature. These algorithms will be the gradient and the Newton mehod for the Riemann centroid computation.
Keywords: Means, matrix means, operator means, geometric mean, Riemannian center of mass.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1655
763 The Effect of Job Motivation, Work Environment and Leadership on Organizational Citizenship Behavior, Job Satisfaction and Public Service Quality in Magetan, East Java,Indonesia
Authors: Budiyanto, Hening Widi Oetomo
Abstract:Magetan area is going to be the object of this research which is located in East Java, Indonesia. The data were obtained from 270 civil servants working at the Magetan District government. The data were analyzed using the Structural Equation Modeling with Partial Least Square program. The research showed the following findings: (1) job motivation variable has a positive and significant effect on organizational citizenship behavior (OCB); (2) work environment has positive and significant effect on OCB; (3) leadership variable has positive and significant effect on OCB; (4) job motivation variable has no significant effect on job satisfaction; (5) work environment variable has no significant effect on job satisfaction; (6) leadership variable has no significant effect on job satisfaction; (7) OCB is positively and significantly associated with job satisfaction; (8) job satisfaction variable is positively and significantly correlated with quality of public service at the Magetan District government.
Keywords: Job Satisfaction, Leadership, OrganizationalCitizenship Behavior (OCB), Quality of Public ServiceProcedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3665
762 Thermal Fracture Analysis of Fibrous Composites with Variable Fiber Spacing Using Jk-Integral
Authors: Farid Saeidi, Serkan Dag
Abstract:In this study, fracture analysis of a fibrous composite laminate with variable fiber spacing is carried out using Jk-integral method. The laminate is assumed to be under thermal loading. Jk-integral is formulated by using the constitutive relations of plane orthotropic thermoelasticity. Developed domain independent form of the Jk-integral is then integrated into the general purpose finite element analysis software ANSYS. Numerical results are generated so as to assess the influence of variable fiber spacing on mode I and II stress intensity factors, energy release rate, and T-stress. For verification, some of the results are compared to those obtained using displacement correlation technique (DCT).
Keywords: Jk-integral, variable fiber spacing, thermoelasticity, t-stress, finite element method, fibrous composite.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 784
761 A Variable Structure MRAC for a Class of MIMO Systems
Authors: Ardeshir Karami Mohammadi
Abstract:A Variable Structure Model Reference Adaptive Controller using state variables is proposed for a class of multi input-multi output systems. Adaptation law is of variable structure type and switching functions is designed based on stability requirements. Global exponential stability is proved based on Lyapunov criterion. Transient behavior is analyzed using sliding mode control and shows perfect model following at a finite time.
Keywords: Adaptive control, Model reference, Variablestructure, MIMO system.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1468
760 Affine Projection Algorithm with Variable Data-Reuse Factor
Authors: ChangWoo Lee, Young Kow Lee, Sung Jun Ban, SungHoo Choi, Sang Woo Kim
This paper suggests a new Affine Projection (AP) algorithm with variable data-reuse factor using the condition number as a decision factor. To reduce computational burden, we adopt a recently reported technique which estimates the condition number of an input data matrix. Several simulations show that the new algorithm has better performance than that of the conventional AP algorithm.
Keywords: Affine projection algorithm, variable data-reuse factor, condition number, convergence rate, misalignment.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1428
759 Variable Rate Superorthogonal Turbo Code with the OVSF Code Tree
Authors: Insah Bhurtah, P. Clarel Catherine, K. M. Sunjiv Soyjaudah
When using modern Code Division Multiple Access (CDMA) in mobile communications, the user must be able to vary the transmission rate of users to allocate bandwidth efficiently. In this work, Orthogonal Variable Spreading Factor (OVSF) codes are used with the same principles applied in a low-rate superorthogonal turbo code due to their variable-length properties. The introduced system is the Variable Rate Superorthogonal Turbo Code (VRSTC) where puncturing is not performed on the encoder’s final output but rather before selecting the output to achieve higher rates. Due to bandwidth expansion, the codes outperform an ordinary turbo code in the AWGN channel. Simulations results show decreased performance compared to those obtained with the employment of Walsh-Hadamard codes. However, with OVSF codes, the VRSTC system keeps the orthogonality of codewords whilst producing variable rate codes contrary to Walsh-Hadamard codes where puncturing is usually performed on the final output.
Keywords: CDMA, MAP Decoding, OVSF, Superorthogonal Turbo Code.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2060
758 Estimating Regression Parameters in Linear Regression Model with a Censored Response Variable
Authors: Jesus Orbe, Vicente Nunez-Anton
In this work we study the effect of several covariates X on a censored response variable T with unknown probability distribution. In this context, most of the studies in the literature can be located in two possible general classes of regression models: models that study the effect the covariates have on the hazard function; and models that study the effect the covariates have on the censored response variable. Proposals in this paper are in the second class of models and, more specifically, on least squares based model approach. Thus, using the bootstrap estimate of the bias, we try to improve the estimation of the regression parameters by reducing their bias, for small sample sizes. Simulation results presented in the paper show that, for reasonable sample sizes and censoring levels, the bias is always smaller for the new proposals.
Keywords: Censored response variable, regression, bias.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1340
757 Data Oriented Modeling of Uniform Random Variable: Applied Approach
Authors: Ahmad Habibizad Navin, Mehdi Naghian Fesharaki, Mirkamal Mirnia, Mohamad Teshnelab, Ehsan Shahamatnia
Abstract:In this paper we introduce new data oriented modeling of uniform random variable well-matched with computing systems. Due to this conformity with current computers structure, this modeling will be efficiently used in statistical inference.
Keywords: Uniform random variable, Data oriented modeling, Statistical inference, Prodigraph, Statistically complete tree, Uniformdigital probability digraph, Uniform n-complete probability tree.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1494
756 Using Genetic Algorithms in Closed Loop Identification of the Systems with Variable Structure Controller
Authors: O.M. Mohamed vall, M. Radhi
This work presents a recursive identification algorithm. This algorithm relates to the identification of closed loop system with Variable Structure Controller. The approach suggested includes two stages. In the first stage a genetic algorithm is used to obtain the parameters of switching function which gives a control signal rich in commutations (i.e. a control signal whose spectral characteristics are closest possible to those of a white noise signal). The second stage consists in the identification of the system parameters by the instrumental variable method and using the optimal switching function parameters obtained with the genetic algorithm. In order to test the validity of this algorithm a simulation example is presented.
Keywords: Closed loop identification, variable structure controller, pseud-random binary sequence, genetic algorithms.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1311
755 DEA-Based Variable Structure Position Control of DC Servo Motor
Authors: Ladan Maijama’a, Jibril D. Jiya, Ejike C. Anene
Abstract:This paper presents Differential Evolution Algorithm (DEA) based Variable Structure Position Control (VSPC) of Laboratory DC servomotor (LDCSM). DEA is employed for the optimal tuning of Variable Structure Control (VSC) parameters for position control of a DC servomotor. The VSC combines the techniques of Sliding Mode Control (SMC) that gives the advantages of small overshoot, improved step response characteristics, faster dynamic response and adaptability to plant parameter variations, suppressed influences of disturbances and uncertainties in system behavior. The results of the simulation responses of the VSC parameters adjustment by DEA were performed in Matlab Version 2010a platform and yield better dynamic performance compared with the untuned VSC designed.
Keywords: Differential evolution algorithm, laboratory DC servomotor, sliding mode control, variable structure control.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1404
754 Frequency Regulation Support by Variable-Speed Wind Turbines and SMES
Authors: M. Saleh, H. Bevrani
Abstract:This paper quantifies the impact of providing a shortterm excess active power support of a variable speed wind turbine (VSWT) and effect of super magnetic energy storage (SMES) unit on frequency control, particularly temporary minimum frequency (TMF) term. To demonstrate the effect of these factors on the power system frequency, a three-area power system is considered as a test system.
Keywords: Frequency regulation, inertia, primary frequencycontrol, rotational energy, variable speed wind turbine.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2047
753 Oscillation Theorems for Second-order Nonlinear Neutral Dynamic Equations with Variable Delays and Damping
Authors: Da-Xue Chen, Guang-Hui Liu
In this paper, we study the oscillation of a class of second-order nonlinear neutral damped variable delay dynamic equations on time scales. By using a generalized Riccati transformation technique, we obtain some sufficient conditions for the oscillation of the equations. The results of this paper improve and extend some known results. We also illustrate our main results with some examples.
Keywords: Oscillation theorem, second-order nonlinear neutral dynamic equation, variable delay, damping, Riccati transformation.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1228
752 Nonlinear Acoustic Echo Cancellation Using Volterra Filtering with a Variable Step-Size GS-PAP Algorithm
Authors: J. B. Seo, K. J. Kim, S. W. Nam
Abstract:In this paper, a nonlinear acoustic echo cancellation (AEC) system is proposed, whereby 3rd order Volterra filtering is utilized along with a variable step-size Gauss-Seidel pseudo affine projection (VSSGS-PAP) algorithm. In particular, the proposed nonlinear AEC system is developed by considering a double-talk situation with near-end signal variation. Simulation results demonstrate that the proposed approach yields better nonlinear AEC performance than conventional approaches.
Keywords: Acoustic echo cancellation (AEC), Volterra filtering, variable step-size, GS-PAP.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1661
751 Robust Nonlinear Control of Two Links Robot Manipulator and Computing Maximum Load
Authors: Hasanifard Goran, Habib Nejad Korayem Moharam, Nikoobin Amin
A new robust nonlinear control scheme of a manipulator is proposed in this paper which is robust against modeling errors and unknown disturbances. It is based on the principle of variable structure control, with sliding mode control (SMC) method. The variable structure control method is a robust method that appears to be well suited for robotic manipulators because it requers only bounds on the robotic arm parameters. But there is no single systematic procedure that is guaranteed to produce a suitable control law. Also, to reduce chattring of the control signal, we replaced the sgn function in the control law by a continuous approximation such as tangant function. We can compute the maximum load with regard to applied torque into joints. The effectivness of the proposed approach has been evaluated analitically demonstrated through computer simulations for the cases of variable load and robot arm parameters.
Keywords: Variable structure control, robust control, switching surface, robot manipulator.Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1609