Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different approaches, among it the sliding mode control. The sliding mode control has proved its effectiveness through the different studies. The advantage that makes ...

This paper presents result of a research and development of nonlinear system synthesis using sliding mode method to perfect the current sliding mode technique. Actually, the problem is the adjustment certain input control of nonlinear plant so the variable state system reaches the equilibrium point. It was done by choosing a manifol or certain area that once state system enter this area or mani...

In control theory, the term chattering is used to refer to fast oscillations of controls, such as an infinite number of switchings over a finite time interval. In this paper we focus on three typical instances of chattering: the Fuller phenomenon, referring to situations where an optimal control features an accumulation of switchings in finite time; the Robbins phenomenon, concerning optimal co...

This study presents SMC-I (sliding mode control with integral action) with approach angle method applied to slip suppression problem of electric vehicles (EVs). In SMC, chattering phenomenon always occurs through high frequency switching of the control inputs. It is undesirable phenomenon and degrade the control performance, since it causes the oscillations of the control inputs. Several studie...

Abstract Sliding Mode Control (SMC) is a powerful methodology in the field of nonlinear feedback control with feature of proven robustness, performance and stability in the face of system nonlinearity and modeling uncertainties. Unfortunately, pure SMC controller suffers from two important problems; chattering phenomenon and formulation of equivalent dynamics. The aim of this paper is to design...

In this paper, we investigate the minimal time problem for the guidance of a rocket, whose motion is described by its attitude kinematics and dynamics but also by its orbit dynamics. Our approach is based on a refined geometric study of the extremals coming from the application of the Pontryagin maximum principle. Our analysis reveals the existence of singular arcs of higher-order in the optima...

This paper presents a new method to control of robot manipulator in task space. In the proposed control method, a combination of feedback linearization, sliding mode control and first-order TSK fuzzy system has been utilized. In this method, the bounds of structural and non-structural uncertainties by using feedback linearization method are reduced and to overcome the remaining uncertainties, s...

Linear systems controlled by a nonlinear version of the PI algorithm are under study. The modified PI controller in question is known in the literature as the Super–Twisting (STW) algorithm (see Levant (1993)), and it belongs to the family of second order sliding mode controllers. The considered closed–loop system exhibits self–sustained stable oscillations (chattering) when the relative degree...

Abstract: Sliding mode control is a very attractive control scheme because of its robustness against modelling imperfections and external disturbances. It has been successfully employed to the dynamic positioning of remotely operated underwater vehicles. In such situations, the discontinuities in the control law must be smoothed out to avoid the undesirable chattering effects. The adoption of p...

In this paper we present a nonlinear control using fuzzy sliding mode for wind energy conversion system based on a doubly-fed induction generator (DFIG) supplied by an AC-AC converter. In the first place, we carried out briefly a study of modeling on the whole system. In order to control the power flowing between the stator of the DFIG and the grid, a proposed control design uses fuzzy logic te...