in this paper, a new smooth second order sliding mode control is proposed. this algorithm is a modified form of super twisting algorithm. the super twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular lyapunov function. the proposed algorithm which is able to control nonlinear systems with matched structured u...

Aimed at the problems of low control accuracy and weak robustness influenced by external disturbance, friction, load changes, modeling errors and other issues in ammunition auto-loading robot control system, a new robust adaptive fuzzy sliding mode controller based on fuzzy compensation is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties ...

This paper presents a comparative study between various control strategies. The design of different controllers, the sliding mode controller, the self tuning fuzzy logic controller, the fuzzy logic controller and the classical PI controller are proposed. The simulations results showed the performances and limits of the different cited controllers. In fact, the sliding mode controller is charact...

The paper presents some experimental results of a real-time implementation of discrete sliding mode control combined with a fuzzy-logic damper block. The hybrid real-time algorithm developed is aimed at applications to discrete systems. The sliding mode part of the solution is based on system input and output measurements. The algorithm combines an integral action, a nonlinear output feedback, ...

Nowadays, nonlinear control is a very important task because machines are playing an ever increasing role in life. Lyapunov’s 2nd method is a popular tool by the use of which various controllers can be designed like adaptive neural networks, fuzzy controllers, and neuro-fuzzy solutions, or the sliding mode controllers and the well-known PID feedback controllers. Robust Fixed Point Transformatio...

This paper proposes a new sliding mode controller using neural networks. Multilayer neural networks with the error back-propagation learning algorithm are used to compensate for the system uncertainty in order to reduce the tracking error and control torque. The stability of the proposed control scheme is proved with the Lyapunov function method. Computer simulation shows that the control perfo...

A nonlinear sliding mode control method is presented for single inverted pendulum position tracking control. Sliding mode control (SMC) is a special nonlinear control method which have quick response, insensitive to parameters variation and disturbance, online identification for plants are not needed, its very suitable for nonlinear system control, but in reality usage, the chattering reduction...

MAV (Micro Aerial Vehicle) is nonlinear plant, it is difficult to obtain stable control for MAV attitude due to uncertainties. The purpose of this paper is to propose one robust 、 stable control strategy for MAV to accommodate system uncertainties, variations, and external disturbances. In this paper, an interval type II fuzzy sliding-mode controller combined with PSO algorithm (ITIIFSMC-PSO) i...

The thin-disc piezoceramic-driving ultrasonic actuator dedicated to a stepping ultrasonic motor is proposed. The mechanical hysteresis and dead-zone phenomena are automatically compensated by a closed loop servo control, i.e. Fuzzy Sliding-Mode Control (FSMC), for position tracking. The controller design of FSMC has syncretized the fuzzy reasoning and sliding mode control with robust stability ...

Under-actuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has recently been investigated for hierarchical sliding mode control since these systems require complex computations. However, the instability phenomena possibly occur especially for long-term operations. In this paper, a new design approach of an adaptive fuzzy hier...