This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition that assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control in...

−This study mainly focuses on the development of a total sliding-mode control (TSMC) strategy for a Chua’s chaotic circuit. The TSMC scheme, which is insensitive to uncertainties including parameter variations and external disturbance in the whole control process, comprises the baseline model design and the curbing controller design. In the baseline model design a computed torque controller is ...

This paper presents an integrated fuzzy approach to recover the performance in impedance control, reducing the errors in position and force, considering uncertainties in the parameters of the manipulator model and contact surface model. This integrated strategy considers a fuzzy adaptive compensator in the outer control loop that adjusts the manipulator tip position to compensate for uncertaint...

diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. therefore, tight control of blood glucose levels has gained significant attention over the decades. this paper proposes a method for blood glucose level regulation in type 1 diabetics. the control strategy is based on combining the fuzzy logic theory and si...

This paper develops a new design method of parallel-distributed-compensation (PDC) fuzzysliding-mode controller. This controller is then applied to control an ecological system. A new fuzzy-blending-sliding-surface based on the PDC concept is introduced. By using this sliding-surface, a PDC-based sliding-mode controller is designed for an ecological system which is a multi-input multioutput non...

Magnetic servo levitation (MSL) is currently being investigated as an alternative to drive fast-tool servo systems that could overcome the range limitations inherent to piezoelectric driven devices while operating over a wide bandwidth. To control such systems, a feedback-linearized controller coupled with a Kalman filter has been previously described. Performance limitations that degrade track...

In this paper, we present a new sliding mode controller for a class of unknown nonlinear discrete-time systems. We make the following two modifications: 1) The neural identifier which is used to estimate the unknown nonlinear system, applies new learning algorithms. The stability and non-zero properties are proved by dead-zone and projection technique. 2) We propose a new sliding surface and gi...

Synchronisation of chaotic systems is an important research problem in chaos theory. In this research work, a novel sliding mode control method is proposed for the global chaos synchronisation of identical chaotic systems. The general result derived using novel sliding mode control method is established using Lyapunov stability theory. As an application of the general result, the problem of glo...

In this paper, sliding mode non-linear control is applied to force reflecting teleoperation. Various forms of the sliding mode control law are derived for force feedback master manipulator with an arbitrary factor for force and position scaling. Experiments were performed on a one axis test system and frequency domain hybrid 2-port matrices are measured and compared between the sliding mode con...

This paper presents the design and implementation of a sliding-mod controller for tracking servo of optical disk drives. The tracking servo is majorly subject to two disturbance sources: radial run-out and shock. The lateral run-out disturbance is mostly repeatable, and a model of such disturbance is incorporated into the controller design to effectively compensate for it. Meanwhile, as a shock...