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Full-Text Articles in Physical Sciences and Mathematics

Design Of Adaptive Sliding Mode Fuzzy Control For Robot Manipulator Based On Extended Kalman Filter, Abdelrahman Aledhaibi Jul 2000

Design Of Adaptive Sliding Mode Fuzzy Control For Robot Manipulator Based On Extended Kalman Filter, Abdelrahman Aledhaibi

Mechanical & Aerospace Engineering Theses & Dissertations

In this work, a new adaptive motion control scheme for robust performance control of robot manipulators is presented. The proposed scheme is designed by combining the fuzzy logic control with the sliding mode control based on extended Kalman filter. Fuzzy logic controllers have been used successfully in many applications and were shown to be superior to the classical controllers for some nonlinear systems. Sliding mode control is a powerful approach for controlling nonlinear and uncertain systems. It is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances, provided that the bounds of …


Diffusion Problems In Wound Healing And A Scattering Approach To Immune System Interactions, Julia Suzanne Arnold Apr 2000

Diffusion Problems In Wound Healing And A Scattering Approach To Immune System Interactions, Julia Suzanne Arnold

Mathematics & Statistics Theses & Dissertations

A theoretical model for the existence of a Critical Size Defect (CSD) in certain animals is the focus of the majority of this dissertation. Adam [1] recently developed a one-dimensional model of this phenomenon, and chapters I–V address the exist the CSD in a two-dimensional model and a three-dimensional model. The two dimensional (or 1-d circular) model is the more appropriate for a study of CSD's. In that model we assume a circular wound of uniform depth and develop a time-independent form of the diffusion equation relevant to the study of the CSD phenomenon. It transpires that the range of …