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This paper proposes a particular method for position velocity loops to solve the velocity control problem associated with conventional sliding mode control of permanent magnet synchronous motor (PMSM) servo system. The merits of conventional sliding mode control approach and PID control technique were introduced to design this novel controller for the position and velocity loops. The sliding mode...
A robust second order sliding mode control is used for Buck converter. After building the model of Buck circuit, the Twisting Algorithm is designed, which is based on relative degree of sliding mode control. The second order sliding mode not only reserves advantages of traditional sliding mode: robustness, but also eliminates the chattering problem. By comparing PID control with second order sliding...
Vibration suppress of a flexible spacecraft during attitude maneuvering is a challenging task. In this paper, the proposed control includes two major parts: command profile is designed to maneuver a flexible spacecraft with very little residual vibration and an intelligent control scheme consists of an online radial basis function neural network(RBFNN) based slide mode control is performed such that...
A sliding-mode variable structure control algorithm with integral compensation was presented for the electromechanical servo tracking system. It contains the disturbance and the plant parameter variation. To obtain the optimal sliding mode, the switching function is determined by reaching condition. The integral gain and control function are obtained by quadratic optimization. An asymptotic state...
Inverted pendulum is one of the most important plants to be researched to investigate the validity of various control strategies, it's a highly nonlinear, unstable system. In this paper, the friction force and viscous moment are considered in the modeling of the plant, the sliding mode control method is applied to the design of the control system of inverted pendulum, both traditional sliding mode...
There are two remarkable characteristics of sliding mode control system. One is its strong robustness about parameter perturbation and external disturbance, the other is chattering caused by no ideal switching action. At present, chattering is main obstacle of this control theory to engineering application. This paper designs a fuzzy sliding mode controller, which uses fuzzy logic to obtain equivalent...
A novel control strategy based on passivity theory was proposed with special attention to trajectory tracking and robust control of rigid robot. In this paper, robot model was divided into nominal model and uncertainty part. Based on the backstepping approach, feedback passivity was used to design controller for the nominal model. A variable structure concentrated compensation controller was adopted...
In this paper, an observer-based robust adaptive fuzzy sliding mode controller (RAFSMC) for an unknown nonlinear dynamical system with dead-zone input is presented. First, the fuzzy models are used to estimate the unknown function of the nonlinear dynamical system. Next, an observer is employed to estimate the tracking error. By the strictly-positive-real (SPR) Lyapunov stability theorem, it is shown...
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