This paper considers the stabilization problem of the Acrobot, a widely studied benchmark nonlinear under-actuated mechanical system. For such systems the design of control Law becomes a challenging task owing to complex internal dynamics and lack of feedback linearizibility. These result in need of closed form solutions for highly nonlinear equations or hybrid/switching controllers. A novel no...

In this paper, a wavelet based adaptive sliding mode control is designed for a class of discrete time uncertain nonlinear nonaffine systems. An equivalent affine like structure is first developed form the original nonaffine system and subsequently a wavelet based adaptive sliding mode tracking control scheme is developed for the affine like system. Wavelet neural network (WNN) is used to mimic ...

To solve the problems that control performance of high torque traction interior permanent magnet synchronous motor (IPMSM) is degraded by parameter perturbation and unknown disturbance, this paper proposes a novel Improved Super-Twisting non-singular fast terminal sliding mode strategy (IST-NFTSMC) for IPMSM based on Extended Nonsingular Fast Terminal Sliding Mode Disturbance Observer (ENFTSMDO...

This paper proposes an intelligent formation control method of the leader and follower agents with nonlinear dynamics. In the proposed method, agents can exchange only information of positions of available agents and the follower agents follow the leader, taking a predefined formation. In the real world, the method that doesn’t need a lot of information to make cooperative behaviors is very use...

this paper presents a new control structure to reduce torque ripple in switched reluctance motor. although srm possesses many advantages in motor structure, it suers from large torque ripple that causes some problems such as vibration and acoustic noise. in this paper another control loop is added and torque ripple is de ned as an objective function. by using fuzzy sliding mode strategy, the dc...

Remotely Operated Vehicles (ROVs) have had significant contributions in the inspection, maintenance and repair of underwater structures, related to the oil industry, especially in deep waters, not easily accessible to humans. Two important capabilities for industrial ROVs are: position tracking and the dynamic positioning or station-keeping (the vehicle's ability to maintain the same position w...

The robust sliding mode control problem of a class of uncertain hybrid linear systems with Markovian jump parameters is considered. Under the assumption of unknown upper bounds matched system uncertainties, the sufficient conditions are proposed to guarantee exponentially stable in mean square of reduced-order sliding mode system. Under the conditions of unknown upper bounds of system uncertain...

Under the existence of system uncertainties and external disturbances, complete synchronization and anti-synchronization between two identical or different hyperchaotic systems are investigated in the paper. Firstly, an active control is used to eliminate the nonlinear part of the error. Then the sliding mode controller is designed based on suitable sliding surface. After that the adaptive upda...

This paper presents the application of discrete-time variable structure control with sliding mode based on the ‘reaching law’ method for robust control of a ‘simple inverted pendulum on moving cart’ a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is car...

We propose a backstepping global fast terminal sliding mode control for trajectory tracking of industrial robotic manipulators in this article. An integral the surface is firstly suggested to improve dynamic performance and convergence Sliding Mode Control (SMC) Terminal SMC (TSMC), which also obtains finite-time convergence. A controller then developed from proposed using method High-Order (HO...