In this paper, we extend the sliding mode idea to a class of unmatched uncertain variable structure systems. This method is achieved with introducing a new terminal sliding variable and the finite time stability of proposed method is proved using a new particular finite time condition in both reaching and sliding phases. In reaching phase a new sliding mode controller is derived to guarantee th...

<p>This paper proposes a model-free continuous integral sliding mode controller for robust control of robotic manipulators. The highly nonlinear dynamics robots and load disturbances cause challenges. To achieve tracking under parameter variations, the is constructed with three terms including an term that acts as adaptive controller. proposed able to accomplish non-overshoot transient re...

<p style='text-indent:20px;'>This paper studies the prescribed-time spacecraft formation flying problem. The coupled 6-degrees-of-freedom kinematics and dynamics for are modeled on Lie group SE(3), where gravity-gradient torque, perturbing forces caused by Earth's oblateness unknown external disturbances all taken into account. relative configuration is expressed using exponential coordin...

in the present paper, a landslide and its stabilization is studied on a slope of tabriz northern freeway. this landslide is a large scale one, and as the study zone has a sliding potential so that its study is quite necessary. the analysis of landslide has been performed using stabl software. the way of obtaining the critical slope for land slide amongst different sections and determining a suc...

It is well established that the basis for flagellar and ciliary movements is ATP-dependent sliding between adjacent doublet microtubules. However, the mechanism for converting microtubule sliding into flagellar and ciliary movements has long remained unresolved. The author has developed new sperm models that use bull spermatozoa divested of their plasma membrane and midpiece mitochondrial sheat...

In this paper, a sliding mode control system with a predictive proportional-integral-derivative (PPID-SMC) sliding surface is proposed. A robust sliding mode controller is suggested to track the desired trajectory despite uncertainty, set point variations, and external disturbances. The proposed sliding mode controller is chosen to ensure the stability of overall dynamics during the reaching ph...

A high-order sliding mode control algorithm is proposed for nonlinear uncertain systems based on geometric homogeneity and fast terminal sliding mode. Homogeneity approach used to stabilize the nominal system, and fast terminal sliding mode used to reject the uncertainty, are applied to constructing the controller. High-order sliding mode is established by the proposed algorithm, the boundary o...

This paper introduces a novel bang–bang sliding control of a class of single-input bilinear systems. The sliding function is chosen via the well-known pole-assignment method for linear time-invariant systems. Importantly, the bang–bang sliding control generates a reaching-and-sliding region and a stable-sliding region, each expressed by a set of linear inequalities. Both regions comprise the eq...

Fractional transforms are useful tools for processing of non-stationary signals. The methods of implementing sliding discrete fractional Fourier transform (SDFRFT), sliding discrete fractional cosine transform (SDFRCT) and sliding discrete fractional sine transform (SDFRST) for real time processing of signals are presented. The performances of these sliding transforms, with regard to computatio...

An adaptive fuzzy integral sliding mode controller for mismatched time-varying linear systems is presented in this paper. The proposed fuzzy integral sliding mode controller is designed to have zero steady state system error under step inputs and alleviate the undesired chattering around the sliding surface. The parameters in the fuzzy mechanism are adapted on-line to improve the performance of...