One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...

Abstract In this paper, we present barrier function-based adaptive controllers for fast stabilization of a perturbed chain integrators with bounded uncertainties. We refer to such as higher order sliding mode since they are designed length r uncertainties that the uncertainty bounds unknown. propose an control feedback law insuring following: provide function based controller ensuring finite-ti...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

The problem of angular velocity of rotor and voltage control in synchronous generator machines is considered. As a robust solution of this problem the block control technique with sliding mode is proposed. The physical implementations of the proposed control law for the real synchronous machines results in chattering due to the presence of exciter unmodelled dynamics. In order to reduce the cha...

In this work, a second-order sliding mode control algorithm is proposed for variable speed laboratory size DC generator wind turbine experiment system in order to track a speed profile and operate the wind turbine at maximum power extraction. The turbine torque, which varies with the wind speed, is considered as an unknown disturbance and rejected by the sliding mode strategy. The sliding mode ...