Sliding mode control

combined together for control law synthesis. A more elegant and integrated approach to describe the rigid body transformation in three-dimensional space (3-D) is based on dual quaternions. Dual quaternions are an extension of traditional real quaternions and can be obtained by using the dual number theory which introduced by Clifford [6]. It has been shown that among many mathematical methods such as quaternion/vector pairs, homogeneous transformation matrices and Lie algebra, the dual quaternions provide the most compact and computationally efficient way to describe the six-DOF coupling motion of rigid bodies in 3-D space [7]. The authors in [8] employed dual quaternions representation to derive the coupled dynamics of relative motion in spacecraft formation. Based on the proposed model, a finite-time sliding mode controller is developed which ensures the finite-time convergence of tracking errors. They also present a finite-time adaptive sliding model controller with adaptation laws to account for model uncertainties and external disturbances which drive the relative motion to a desired trajectory [9]. An advantage of this technique is that the prior information of the upper bound of the system uncertainties…

Automatic Door Mechanism Introduction : We often visit, shopping malls, airports and other retail business stores, for shopping and other needs, In order to enter into the mall, or to come out, we should PUSH or PULL the door, in spite of carrying heavier shopping bags in hands, we feel uncomfortable to do so. But, this was the case earlier, now it’s all different. The technology is evolving day by day and we have come a long way in inventing a Robot to do all these sorts of things. Are…

Final Project For my game I am going to make 2048. The user will use the arrows keys to control the movement of the number tiles across the board. The goal of the game is for the user to create the number tile with the value of 2048. The game has servel mechanics at play. First I will have to code a tile generator that creates a two or four numbered tile in a position around the perimeter of the board. However, the generated files must be created in a open space. Another mechanic of the game is…

Procedure An ABAB withdrawal design with one participant was utilized to evaluate to evaluate the effects of the token economy. Parents were interviewed in the home to gain information pertaining to Nic’s behavior in home and at school as well as to identify target behaviors and secondary reinforcers. A list of potential reinforcers and target behaviors was identified along with the token value for each identified reinforcer. All identified behaviors would earn one token. During this visit…

subjects were recorded in the form of empathic customer observation. (Please refer figure 1.1) 5. Debrief with team: Since, I was working by myself in this, so I have decided to debrief this in the class and get my cohorts inputs. Mode 4: Frame Insights: User Journey Map (4.17) For this mode, I have used the “User Journey Map, 4.17” to proceed with my finding from the previous modes. The Frame Insight method works on the flow map by recording the entire steps of user’s experiences in a…

are three forms of central tendency’s which are used to describe the center set of the data. These forms are the mean, median and mode. The mean is also known as the average and is found by “summing the observations and dividing by the number of observations” (Keller, 2014, p.96). The mean for Campaign 1 is 1.82% found by the equation, [(1.4 + 0.9 + 0.4+ 5.3 + 1.1)/5]. Well the mean for Campaign 2 is 0.8% found by the equation, [(1.2 + 0.5 +1.0 + 0.7 + 0.6)/5]. The next measure that will…

This signifies that there is a moderate variation in data, skewed towards younger age group. Further, an appropriate graph for ADULTCT, measured at ratio level, is a histogram which can help us understand the shape of the distribution. The histogram displays that the number of adults in the household is positively skewed, as significant amount of data lies at the lower end of the graph. This signifies that majority of the respondents have two to three adults in the household. Descriptive…

system of pitch organization, which he named variable modes. It took Chou more than three decades to arrive at its final version, and it formed the backbones of his compositional structure. The theoretical foundation of this system is based on the I Ching trigrams. Two kinds of lines construct the trigrams; from the ontological theory of Yin and Yang dialectical monism, the unbroken line represents Yang, while the broken line represents Yin. Yin and Yang then combine to create the eight…

Discussion: The distribution of each graph is quite comparable as they have similar means and standard deviation, where the preferred hand has a mean of 16.33 and a standard deviation of 2.842 whilst the non-preferred hand has a mean of 17.2 and standard deviation of 2.848. The normal distribution graph of each can be seen below: Preferred Hand vs. Non-preferred Hand: The graphs and boxplots (Figures 1.3- 1.6) seen previously in the results indicate that the two results did not have a normal…

enjoyed working on this assignment. It made me think back on my life, and I believe I have been through all of “Merton’s Five Types of Adaptation.” (Merton, R.K. (1968) I totally understand this Strain Theory. I started thinking that we all probably start out in life in the Conformity Mode. Most of us think of something we want to be when we grow up and then we start asking questions about how someone goes about achieving that something. I remember at a very young age deciding I wanted to be a…