This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task spac...

This paper is concerned with the discretization of the fractional-order differentiator and integrator, which is the foundation of the digital realization of fractional order controller. Firstly, the parameterized Al-Alaoui transform is presented as a general generating function with one variable parameter, which can be adjusted to obtain the commonly used generating functions (e.g. Euler operat...

This paper presents a Variable Structure Adaptive Backstepping Controller (VS-ABC) for plants with relative degree one, using only input/output measurements. Instead of traditional integral adaptive laws for estimating the plant parameters, switching laws are used to increase robustness to parametric uncertainties and disturbances, as well as, to improve transient response. Moreover, the contro...

Based on the similarity between prevalent fuzzy logic controllers (FLC) and the conventional robust controller, i.e., the variable structure controller, control theoretic analysis of a fuzzy control system is presented in the sense of Lyapunov. As well as the robustness of the fuzzy control system against uncertainties of a controlled process, this analysis gives an account of the relationship ...

Abstract — In this paper we design a new type of hydraulic Energy-Regenerative vibration active suspension system. The system has continuous change of damping force from zero to the maximum value and high energy conversion efficiency. Also we designed and simulated an adaptive back-stepping sliding mode variable structure controller. The simulation results show the designed controller has good ...

The application of NPID, or nonlinear PID, control is demonstrated experimentally on an optical storage playback device (CD drive) for automotive applications. The nonlinear design aims at improved shock suppression under equal noise response. This is done by introducing variable controller gains. Namely under large levels of low-frequency vibration, the controller gains are increased as to imp...

An analysis of on-line autonomous robust tracking controller based on variable structure control is presented for an aerospace launch vehicle. Decentralized sliding-mode controller is designed to achieve the decoupled asymptotic tracking of guidance commands upon plant uncertainties and external disturbances. Development and application of the controller for an aerospace launch vehicle during a...