in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...

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...

Sliding-mode observers are known to be robust against presence of disturbances and modeling uncertainties [1−3]. Although these observers are highly robust with respect to noises in system inputs, it turned out that the corresponding stability degrades in systems that exhibit output noise or mixed uncertainties [4]. When the measurements are noisy, because the time derivatives cannot be accurat...

Constant power loads have negative impedance characteristics, which reduce the damping of DC/DC converter systems and effects on stability DC microgrid. In this paper, a finite-time parameter observer-based sliding mode controller is proposed for boost with constant loads. Firstly, non-singular terminal sliding-mode designed based flatness differential control theory. Secondly, observer to esti...