An adaptive fuzzy sliding mode control scheme is presented in this article. Despite the advantages of sliding mode control design for uncertain dynamic systems, classical sliding mode control has a major problem in the form of chattering, produced by the rapid switching used to conduct the state trajectories toward the sliding surfaces. A variety of methods are used to achieve chattering-free m...

chattering region and successor states Final Behavior Tree Focused Envisionment Graph Before chatter abstraction Behavior Tree Potentially chattering region The links in the gure represent processes and the objects represent data structures. Two states linked by a dotted line in the envisionment graph represent the same qualitative state. Using chatter box abstraction, QSIM generates a single b...

In this work the control of a spatial robot by sliding mode control is studied. The robot model has three degrees of freedom. These robots are usually used in material handling in remote dangerous environments and production line. First, the mathematical model of the system is formulated. The equations of motion are driven by employing Lagrangian formulation based on the energy equations. Then ...

To achieve the high-performance control of surface-mounted permanent magnet synchronous motor (SPMSM) speed system, this paper proposes a high-order sliding mode strategy based on new super twisting algorithm (NSTA). This introduces an adaptive term in its proportional original algorithm, which solves low reaching and poor antidisturbance ability due to square root calculation algorithm. The si...

Abstract In this paper, a trajectory tracking control for a nonholonomic mobile robot subjected to kinematic disturbances is proposed. A variable structure controller based on the sliding mode theory is used, and applied to compensate these disturbances. To minimize the problems found in practical implementations of the classical variable structure controllers, and eliminate the chattering phen...

In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x,y,z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order n...

This paper deals with the development of an adaptive maximum power point tracking (MPPT) for Photovoltaic systems, whatever the type of the used converters (Buck, Boost, Buck-Boost). The main goal of the proposed work is to track the maximum power point (MPP) using adaptive algorithm (MPOA). This algorithm generates the output voltage reference Vref which must track the output voltage to reach ...

A DC servomotor position control system using a Fuzzy Logic Sliding mode Model Following Control or FLSMFC approach is presented. The FLSMFC structure consists of an integrator and variable structure system. The integral control is introduced into it in order to eliminated steady state error due to step and ramp command inputs and improve control precision, while the fuzzy control would maintai...

This paper is concentrated on control system design for an XY parallel micromanipulator with piezoelectric actuation. The decoupled property of the manipulator enables the employment of single-inputsingle-output controllers for the two working axes. To compensate for nonlinear hysteresis effect stemming from piezoelectric actuator, the dynamics with Bouc-Wen hysteresis model is derived and iden...