A novel sliding mode observer for current-based sensorless speed control of induction motors is presented in this paper. The control objective is to guarantee asymptotic tracking of prespecified speed and rotor flux references without mechanical sensors. To this end, an adaptive sliding mode speed and flux observer is introduced: it is based on a different and original approach with respect to ...

Lots of constrained motion control schemes have been proposed for robots. However, since constrained motion demands fast tracking with smooth control, few of these schemes are convenient in practice for many tasks, such as hand-control, polishing, grinding, and assembly operations. In particular, adaptive control is quite slow due to its overparametrization, while first order sliding mode contr...

This study presented an improved adaptive nonlinear terminal sliding mode control technique for the manipulator robot to achieve better adaptability and faster finite-time convergence. First, self-updating algorithm will be developed relax problems of fixed gain main proposed controller. Next, neural network estimator is applied by estimating dynamics increase tracking performance. In addition,...