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  • Control Strategies Were Tested On Simulation Environment On MATLAB

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    1 views5 pages

    Control Strategies Were Tested On Simulation Environment On MATLAB

    Uploaded by

    karam

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 5

    Control strategies were tested on simulation environment on MATLAB

    𝑑𝑡 = 0.005

    Results
    1. Super Twisting Nonsingular Terminal Sliding Mode Control
    𝑠 = 𝑒̇ + 𝑛1 𝑒 + 𝑛2 𝑒 −𝜆𝑡 (𝑒𝑒 ′ )−𝛼 𝑒 ′

    𝜈̇ = −𝐾2 ∗ 𝑠𝑖𝑔𝑛(𝑠)

    𝜏𝑒𝑞 = 𝑀(𝜃̈𝑑 + 𝑛1 𝑒̇ + 𝑛2 Η) + 𝐶𝜃̇ + 𝐹𝑠𝑖𝑔𝑛(𝜃̇ ) + 𝐺(𝜃) + 𝜏𝑖𝑛𝑡


    𝜏𝑎𝑢𝑥 = 𝑀(𝐾1 |𝑠|𝑠𝑎𝑡(𝑠) − 𝜐)
    𝜏𝑅 = 𝜏𝑒𝑞 + 𝜏𝑎𝑢𝑥
    Result

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