The electrochemical performances of nanoscale
LiFePO4
and
Li4Ti5normalO12
materials are described in this paper. The nanomaterials were synthesized by pyrolysis of an aerosol precursor. Both compositions required moderate heat-treatment to become electrochemically active.
LiFePO4
nanoparticles were coated with a uniform, 2–4 nm thick carbon coating using an organic precursor in the heat-treatment step and showed a high tap density of
1.24g/cm3
despite the 50–100 nm particle size and 2.9 wt % carbon content.
Li4Ti5normalO12
nanoparticles were between 50 and 200 nm and showed a tap density of
0.8g/cm3
. The nanomaterials were tested both in half-cell configurations against Li metal and in
LiFePO4/Li4Ti5normalO12
full cells. Nano-
LiFePO4
showed a high discharge rate capability with values of 150 and 138 mAh/g at C/25 and 5C, respectively, after constant C/25 charges. Nano-
Li4Ti5normalO12
also showed a high charge capability with values of 148 and 138 mAh/g at C/25 and 5C, respectively, after constant C/25 discharges; the discharge (lithiation) capability was comparatively slower.
LiFePO4/Li4Ti5normalO12
full cells deliver charge/discharge capacity values of 150 and 122 mAh/g at C/5 and 5C, respectively.
An integral variable structure control (IVSC) approach for robot manipulators is presented to achieve accurate servo-tracking in the presence of load variations, parameter variations and nonlinear dynamic interactions. A procedure is proposed for choosing the control function so that it guarantees the existence of the sliding mode and for determining the coefficients of the switching plane and the integral control gain such that the IVSC approach has the desired properties. Furthermore, a modified proper continuous function is introduced to overcome the chattering problem. The proposed IVSC approach has been simulated for the first three links of a PUMA 560 robot arm as an illustration. The simulation results demonstrate the potential of the proposed scheme.
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