This paper studies the finite-time consensus tracking control for multirobot systems. We prove that of multiagent systems can be achieved on terminal sliding-mode surface. Also, we show proposed error function modified to achieve relative state deviation between agents. These results are then applied with input disturbances. Simulation presented validate analysis.

Nowadays, a wide range of robots are used in various fields, from car factories to assistant soft robots. In all these applications, effective control the robot is vital perform tasks assigned them. Soft and actuators have several advantages over traditional rigid manipulators, including lower power consumption, lighter weight, safer operation contact with live tissues, inexpensive manufacturing costs, quicker movements. However, controlling them more challenging. This paper presents...

In this paper, multi surface sliding cooperative control scheme is presented and new multiple surfaces are proposed. It proven that, for the setup that each agent described by a chain of integrators, where last integrator perturbed bounded disturbance, leader–follower consensus can be achieved on these if communication graph has directed spanning tree. Also, variables driven to in fast finite time nonsmooth law. The finite-time Lyapunov stability theorem, terminal technique, adding power...

This paper is concerned with the problem of finite-time stabilization for some nonlinear stochastic systems. Based on Lyapunov theorem stability that has been established by authors in paper, it proven Euler-type systems can be stabilized via a family continuous feedback controllers. Using technique adding power integrator, continuous, global state controller constructed to stabilize finite time large class two-dimensional lower-triangular Also, three-dimensional systems, recursive design...

In this paper, the problem of global finite-time stabilisation by output feedback is considered for a class stochastic nonlinear systems. First, based on homogeneous systems theory and adding power integrator technique, reduced order observer control law are constructed in recursive manner nominal system. Then, domination approach used to deal with nonlinearities drift diffusion terms; it shown that proposed output-feedback can guarantee closed-loop system stable probability. Finally,...

The hexapod manipulator is the most common motion platform, which widely used as a simulation-based platform (SBMP). As has limited workspace, it not physically possible to regenerate real vehicle signals using SBMP. cueing algorithm (MCA) responsible for regenerating realistic sensation user when SBMP operates within its physical and dynamical limitations. Recently, model predictive control (MPC) been introduced extract optimal input while considering limitations in Cartesian coordinate...

With increasing utilization of robots in daily tasks, especially biomedical and environmental monitoring applications, there would be demands for soft, biodegradable, or even edible actuators that provide more versatility than conventional rigid materials (e.g., metals plastics). Polyelectrolyte hydrogels produce mechanical motion response to electrical stimulus, making them good candidates implementation soft actuators. However, their fabrication process has so far hindered applicability a...

This paper investigates the robust tracking control problem for a bipolar electromagnetic-levitation precise-position system. The dynamic model of device is derived by conducting thorough analysis on nonlinear electromagnetic forces. Conventional sliding-mode and terminal strategies are developed to guarantee asymptotic finite-time capabilities closed-loop A lumped uncertainty estimator proposed estimate system uncertainties. estimated information then used construct smooth uniformly...

The process of monitoring mental health has relied on methods, such as invasive sensing and self-reporting. use these methods been limited because the invasiveness devices or subjective nature patients' responses. Recent research focuses contactless used to objectively monitor issues. These allow continuous collection real-time data in a nondisruptive manner. Machine learning are then applied sensed predict information, physical activity, gestures, heart rate. This information can be assess...

The authors describe a minimally invasive flexible needle-steering system to access deep areas of the brain. design exploits inherent bending beveled-tip needle when passing through tissue. Precise control rotation allows for an unlimited variety trajectories. Potential advantages this include possibility catheter-based therapy delivery within brain with minimal trauma surrounding structures, and ability navigate around critical cerebral structures reach zones brainstem, thalamus or other...