In this paper, the performance of MSK signal transmission over a mobile radio channel with small time dispersion is analyzed. In contrast to existing investigations, we made no restrictive assumptions about the impulse response of the channel or the sampling time and derive analytical expressions for the error floor and the optimum sampling instant. We found that the error probability depends not only on the delay spread, but also on the squared mean delays of echoes that are advanced or delayed with respect to the sampling point and on the power balance between them. Furthermore, we show that in the general case, the optimum sampling instant is not identical to the mean delay. Comparison of our results with Monte Carlo simulations show very good agreement.
In this paper, various VSS techniques based on sliding mode control (SMC) including a novel approach are proposed for the control of automated guided vehicles (AGV). The first approach is a classical SMC based on Lyapunov design. The second approach is classical SMC with the estimation of the equivalent control, and the third one is a novel approach and eliminates the chattering. The third method is also modified with a different estimation of the equivalent control. The last scheme is observed to be the most powerful method and easily applicable in real systems. The methods are compared and implementation results are presented.
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