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The Attracting Ellipsoid Method is applied for the design of sliding mode controllers for linear systems subjected to matched and unmatched perturbations. The control signal is applied to the system through a first order actuator whose time is to be designed to guarantee quasi-optimal practical stability at the same time that the control signal posses a sub-optimal amplitude. The design procedure...
This paper presents a terminal sliding mode control strategy that provides faster tracking error convergence than the existing methods. The main objective is to find a feedback control law such that the manipulator output tracks the desired trajectory in finite time. The Lyapunov stability theory is used to establish the reaching law condition for the Terminal Sliding Mode. A two-link robot manipulator...
In this paper, we consider the problem of navigation and guidance of a Dubins-like wheeled robot towards a steady or maneuvering target with range-only information. We propose a range-based sliding mode controller through which the robot follows a target with a constant speed while preserving a predefined range margin from the target. Mathematically rigorous proof of convergence and stability of the...
In this paper a sliding mode control algorithm for cable suspended loads subject to acceleration and velocity constraints is presented. The algorithm guarantees the reaching phase elimination. Moreover, it ensures fast and monotonic system error convergence to zero without violating the acceleration and velocity constraints. The proposed method employs a time-varying switching line. At the initial...
This paper proposes a method to suboptimally tune the control parameters in a conventional Lyapunov-based method which shares the same concept of control design with sliding mode approach as applied to the robot manipulators. Optimal tuning of such parameters involves handling of nonlinearities in system dynamics and cost functions, which makes the problem challenging. We propose a step-by-step numerical...
This paper proposes a hybrid terminal sliding-mode observer based on the nonsingular terminal sliding-mode (NTSM) and the high-order sliding-mode (HOSM) for the rotor position and speed estimation in the permanent-magnet synchronous motor control system. An NTSM manifold is utilized to realize both fast convergence and better tracking precision. In addition, a derivative estimator is used to obtain...
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