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This paper proposes a full‐order sliding‐mode control for rigid robotic manipulators. The output signals of the proposed controller are continuous. Therefore, the controller can be directly applied in practice. A time‐varying gain is constructed to regulate the gain of the signum function in the sliding‐mode control so as to avoid the overestimation of the upper‐bounds of the uncertainties in the...
This paper proposes a nonsingular terminal sliding-mode control method for induction motors. Based on the mathematical model of induction motors and the field orientation control principle, the closed-loop speed control system of IMs are designed. The controllers for speed, flux, and currents of an induction motor are designed respectively using nonsingular terminal sliding-mode control technique...
This paper proposes a novel approach of nonlinear model predictive control using multi-model structure. Firstly, a nonlinear discrete time system is locally linearized and represented by a multi-model structure. A local state feedback control is used so that the family of the linear models has the similar dynamics. Then a model predictive control strategy based on Laguerre functions is designed to...
A novel singularity free fast recursive terminal sliding mode structure is proposed in this paper, which results in fast and finite time convergence. Dynamical properties of the structure are given and a fast terminal sliding mode control scheme is proposed for a class of nonlinear systems.
The robotic system of a two-link flexible manipulator is decomposed into an input-output subsystem and a zero dynamics subsystem using the input-output linearization technique. A novel inverse dynamics nonsingular terminal sliding mode controller is designed to make the input-output subsystem converge to its equilibrium point in finite time. The parameters of the zero dynamic subsystem are optimized...
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