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This paper deals with the design of a sliding-mode disturbance observer (SDOB) with switching-gain adaptation for a class of nonlinear systems subject to exogenous signals. The proposed SDOB, referred to as IMP-SDOB, is based on the internal-model principle and thus achieves robust asymptotic disturbance estimation, whereas the conventional SDOB leads to nonzero estimation error to a time-varying...
In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipulators. The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system. Convergence of state...
In this paper a fuzzy sliding mode control (FSMC) for spacecraft attitude tracking in terms of quaternion is designed. For this purpose, at first, the spacecraft dynamic and kinematic equations based on quaternion are described. Then, the design procedure of related variable structure controller is presented. To prove the system stability in sliding mode and also to guarantee the convergence of quaternion...
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