Joint space-time estimation for DS-CDMA system in fast fading multipath channel

2001 ◽  
Vol 37 (23) ◽  
pp. 1407 ◽  
Author(s):  
Z. Gu ◽  
E. Gunawan
Keyword(s):  
Time Estimation ◽  
Joint Space ◽  
Space Time ◽  
Multipath Channel ◽  
Cdma System ◽  
Fast Fading

scholarly journals Sliding Mode Observer-based Control of Teleoperation System With Uncertain Dynamics and Kinematics

2021 ◽  
Author(s):  
Jianing Zhang ◽  
Fujie Wang ◽  
Guilin Wen
Keyword(s):  
Sliding Mode ◽  
Time Estimation ◽  
Joint Space ◽  
Estimation Errors ◽  
Uncertain Dynamics ◽  
Control Framework ◽  
End Effectors ◽  
Sliding Mode Observers ◽  
The Stability ◽  
Velocity Tracking

Abstract This paper concentrates on the control issue of nonlinear teleoperators in the presence of uncertain dynamics and kinematics. An observer-based control framework is introduced to compensate for the unfavorable effects arising from the uncertainties. The employment of the proposed sliding mode observers provide control system with the ability of finite-time estimation errors convergence, upon which, it is demonstrated that the bilateral teleoperators are stable and both of position and velocity tracking can be achieved with uncertain dynamics in joint space. Due to the practical requirement of driving the end-effectors to perform specific tasks, the control law which can ensure position coordination with uncertain dynamics and kinematics in task space is subsequently developed. The Lyapunov method is applied to demonstrate the stability of the closed-loop system. Simulation results are provided to testify the performance of the suggested algorithm.

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