In this paper, a new approach to the super-twisting sliding mode control of uncertain systems is proposed. The idea behind this control scheme is to utilize an adaptive sliding surface function, in which the slope of the surface is updated on-line using a simple single input-single output fuzzy logic inference system so that the sliding surface is rotated in such a direction that the tracking p...

The purpose of designing the active suspension systems is providing comfort riding and good handling in different road disturbances. In this paper a novel control method based on adaptive neuro fuzzy system in active suspension system is proposed. Choosing the proper data base to train the ANFIS has an important role in increasing the suspension system’s performance. The data base which is used...

Time-varying sliding mode controller(TVSMC) with fuzzy algorithm for an unmanned automatic excavator system is proposed in this paper. Proposed control system is induced from dynamics of 3-link excavator that is boom, arm and bucket. To design the proposed control system, the main structure of controller is based on sliding mode controller(SMC) with time varying sliding surface. In case of TVSM...

In this paper, a chattering free sliding mode control (SMC) for a robot manipulator including PID part with a fuzzy tunable gain is designed. The main idea is that the robustness property of SMC and good response characteristics of PID are combined with fuzzy tuning gain approach to achieve more acceptable performance. For this purpose, in the first stage, a PID sliding surface is considered su...

It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. It is difficult to establish an appropriate mathematical model for designing a model-based controller. The model-free feature of fuzzy logic control strategy was employed to design robotic motion controller. However, there is no guide rule for designing the fuzzy rule bank and parameters, it still needs ti...

The hydraulic servo control system, which is the important component of parallel robot, is a high order, nonlinear, dynamic asymmetry, parameter uncertain system, which seriously affect dynamic performance of robot, so it is very difficult to gain good performance with traditional control. Based on sliding mode variable structure control method combined with fuzzy control and adaptive control, ...

This paper proposes an observer-based indirect adaptive fuzzy sliding mode controller with state variable filters for a certain class of unknown nonlinear dynamic systems in which not all the states are available for measurement. To design the proposed controller, we first construct the fuzzy models to describe the input/output behavior of the nonlinear dynamic system.Then, an observer is emplo...

1PG student, Dept of EEE, Andhra University (A), Visakhapatnam, India 2Assistant Professor, Dept of EEE, Andhra University (A), Visakhapatnam, India ---------------------------------------------------------------------***--------------------------------------------------------------------Abstract – In this paper, a robust control system with the fuzzy sliding mode controller and sliding mode co...

However, feedback linearization control does not guarantee robustness in the presence of modeling errors. In [3], ∞ H control and sliding mode control was proposed. ∞ H control is a computation expensive method that presents good disturbance attenuation performance. In [4], sliding mode control and PID controller was discussed. In [5], the PID controller was discussed. The PID controller is a s...

This paper presents a detailed comparison between a conventional PI controller and a variable structure controller based on a fuzzy sliding mode strategy used for speed control in direct torque control induction motor drive. Genetic algorithms are used to tune the PI controller gains to ensure optimal performance. The performance of the two controllers are investigated and compared for differen...