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For underactuated overhead cranes, this paper designs a novel sliding mode control method. Specifically, similar to the idea of backstepping method, the overall dynamic system is divided into two cascaded subsystems; thus the control algorithm consists of two steps. At first, the payload swing angle is kept in a bounded area by tracking a target trajectory. Second, the positioning error is indirectly...
A fixed-time sliding mode control scheme is designed in this paper for the high-order linear systems in the pure-feedback form with system uncertainties. A recursive procedure is utilized where a set of switching manifolds have been resorted to realize the fixed-time stability. The initial conditions of the system variables are confined in a particular region so as to avoid the singularity problem...
The paper concerns the development of a adaptive sliding mode control based on super twisting (ASTW) and can be applied to a Human-Driven Knee Joint Orthosis. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. The main objective of this paper is to bring together two approaches to reduce the phenomenon of chattering, adaptation...
This paper investigates the issue of fuzzy dynamic integral sliding-mode controllers for nonlinear descriptor systems based on Takagi-Sugeno (T-S) fuzzy models. A fuzzy dynamic integral sliding-mode control (DISMC) scheme is developed for the nonlinear descriptor systems to remove the restrictive assumption that all local models share a common input matrix, which is required in most existing fuzzy...
This paper is concerned with the sliding mode control of decaying-dimerizing system with three molecular species and four reaction channels. An integral sliding surface is designed, and the resulting dynamics is a nonlinear biochemical reaction system. By introducing some specified matrices, a sufficient condition is proposed in terms of strict linear matrix inequality (LMI), which guarantees the...
This paper investigates the stabilization of three-dimensional fractional-order chaotic systems, by a novel sliding mode control scheme based on Lyapunov stability theorem. The proposed controller which only contains a single state variable is simple both to design and to implement. Numerical simulation examples for the Chen chaotic fractional-order system are given to demonstrate the effectiveness...
This paper proposes an adaptive nonlinear sliding mode control for feed drive systems. The aim is to increase precision by minimizing tracking errors of each feed drive axis without additional energy consumption. The proposed adaptive sliding mode control law is used to adjust controller gains based on the tracking error at each sampling time. Therefore, an appropriate control input can be generated...
This paper presents a neuro-sliding mode control method for a robot manipulator. The sliding mode controller requires to identify robot models to lessen the work of the controller although it can be used as a non model-based nonlinear controller. Selection of the gain for the nonlinear function becomes important and affects the performance. To make it easy of selecting the gain, a neural network is...
This paper deals with event-triggering based design of discrete-time sliding mode (DTSM) control for linear systems. Multirate output feedback based DTSM is designed with event-triggering strategy such that the system trajectories remain bounded in the vicinity of sliding manifold. An event-triggering rule is developed for DTSM which is evaluated only at periodic time intervals. The control is updated...
This paper investigates the proglem of robust quantized sliding mode control for continuous-time Markovian jump systems. A filtering-based technique is proposed to render strictly continuous signals from piecewise quantized signals, based on which a sliding mode observer scheme is developed to obtain the asymptotic estimation of system state. Then, an observer-based control scheme is proposed to stabilize...
As follows from analysis of stability for super twisting sliding mode control [1], for any bounded disturbance the controller parameters exist such that the state converges to the origin in the system state plane. The minimal possible convergence time is dictated by the necessary conditions. The question discussed in this paper: can the set of parameters be found such that convergence takes place...
This paper mainly discusses an adaptive fuzzy sliding mode control problem for a microgyroscope system via a global fast terminal sliding mode approach. The fabrication imperfections, the time varying system parameters, and the external disturbances are taken into consideration synchronously, and the corresponding dynamic model is established. A global fast terminal sliding mode control scheme is...
Robotic manipulator is a multi-input multi-output (MIMO), highly nonlinear and coupled system. Controlling this system always has been a challenging task for control engineers. In this paper, sliding mode control (SMC) technique utilizing Proportional and Derivative (PD) surface with different reaching laws has been applied on a two-link planar rigid robotic manipulator. Performance of PD sliding...
In this work, a dynamic feedback control law based on the well known “Twisting” algorithm is under study. Dynamic compensation is added to the Twisting algorithm, in order to use position feedback only, and keep properties such as finite time stability. Moreover, linear terms are considered to improve the robustness of the algorithm. In some mechanical applications, an observer or a differentiator...
This paper introduces a class of fixed-time stable dynamical systems with settling time as a explicit parameter, namely the inverse the gain. Those systems are defined as predefined-timed stable dynamical systems. Continuous and discontinuous are cases are presented. A detailed Lyapunov characterization of this class of systems is also shown. Finally, the application to the design of a class of first...
Sliding mode control (SMC) is one of the few controller design methodologies that can be applied to highly nonlinear and uncertain systems. In most mechanical applications, a smoothed version of SMC that we call “sliding control” is employed to keep the system trajectories close to but not necessarily on a stable differential/difference manifold. In this paper, we propose an extension to the sliding...
This paper presents the mathematical model of a hexarotor and the design of the sliding mode controller. The Sliding Mode Control method, which is known to be insensitive to external disturbances and parameter uncertainties, was used to control the altitude, attitude and position of the hexarotor. The Lyapunov's stability theory analysis was used to guarantee the stability of a system. The mathematical...
In this paper, taking the advantages of the simplicity of PD control and the high tracking performance of SMC and avoiding the drawbacks of both control methods, a new hybrid PD-SMC tracking control is proposed for trajectory tracking control of a serial robot by applying the hybridization concept. The unique features of the proposed hybrid control law are the model-free nonlinear feedback control...
Direct yaw moment control (DYC) is the most potential chassis control method applied to electric vehicles (EV). In this paper, three stability controllers aimed at different targets based on sliding mode control (SMC) are designed: Yaw rate controller improves the vehicle stability by controlling the yaw rate; Slip angle controller is aimed at maintaining a minimum side slip angle; United controller...
This technical brief is concerned with dissipativity analysis and dissipativity-based sliding mode control (SMC) of continuous-time switched stochastic systems. Firstly, a sufficient condition is proposed to guarantee the mean-square exponential stability and strict dissipativity for the switched stochastic system. Then, an integral-type sliding surface function is designed for establishing a sliding...
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