This paper suggests a hierarchical coordination control strategy to enhance the stability of distributed drive electric bus. First, an observer based on sliding mode (SMO) and adaptive neural fuzzy inference system (ANFIS) was designed estimate vehicle state parameters. Then upper layer primarily focuses coordinating active front steering (AFS) direct yaw moment (DYC). The phase plane method is...

This paper proposes a super-twisting terminal sliding mode-based robust impedance controller to improve the compliance and robustness in robot-environment interaction. Based on desired dynamics, an reference trajectory is constructed. Then, based sliding-mode, designed guarantee achievement of dynamics finite-time through convergence error. The main contribution this that proposed control impro...

In this paper a sliding mode controller (SMC) is designed for a permanent magnet direct current (PMDC) motor to enhance the motor performance in the presence of unwanted uncertainties. Both the electrical and mechanical signals are used as the inputs to the SMC. The complete motor control system is simulated on a personal computer with different design parameters and desirable system performanc...

A continuous nonsingular terminal sliding mode control approach is proposed for mismatched disturbance attenuation. A novel nonlinear dynamic sliding mode surface is designed based on a finite-time disturbance observer. The time taken to reach the desired setpoint from any initial states under mismatched disturbance is guaranteed to be finite time. In addition, the proposed method exhibits the ...

Modulated feedback control introduces periodicity. The global attracting property of the periodic points is established for a simple scalar discrete-time system under ∆-modulated feedback. Attracting regions of the periodic points are also characterized. When the discretization effects of the equivalent control based sliding mode control systems are studied, we show that the zero-order-hold dis...

In this article, the issue of attitude control and active vibration suppression of a nonlinear flexible spacecraft is assessed through piezoelectric patches as actuator and sensors. Two controller loops are applied: the inner loop, to make the panel vibration damped through piezoelectric patches; and the outer loop, to perform spacecraft maneuver using the reaction wheel acting on the hub. An o...

in this research, an innovative numerical simulating approach for time domain analysis of multi degrees of freedom structures with uncertainty in dynamic properties is presented. a full scale finite element model of multi-story and multi bays of three sample structures has been constructed. the reduced order model of structure with holding the dominant and effective gramians in the balanced sta...

Magnetically sensitive environments such as MRI scanners preclude the use of traditional electromagnetic actuators. Pneumatic piston-cylinders are well-suited actuators for MRIguided robots, but the nonlinear dynamics of the working fluid creates a challenging controls problem. Precision control of the actuators is needed for the robot to achieve high targeting accuracy. This paper reports a fi...

In this paper, an optimal adaptive sliding mode controller is proposed for anti-synchronization of two identical hyperchaotic systems. We use hyperchaotic complex T-system for master and slave systems with unknown parameters in the slave system. To construct the optimal adaptive sliding mode controller, first a simple sliding surface is designed. Then, the optimal adaptive sliding mode controll...