Abstract A sliding mode control (SMC) with improved exponent reaching law based on disturbance observer (DOB) is proposed for the robot control, to solve the problem of robot system which is vulnerability to external interferences and has some uncertainties. The disturbance observer (DOB) would detect and compensate external disturbances and uncertainties in the robot system, so that the moveme...

In this paper, a method to detect some kind of mechanical failures has been proposed. According to the fact that any defect happen on the mechanical system would be inherently defined es statistical differences, the correlation exponents based on the Grassberger-Procaccia algorithm and the modified version of the Grassberger-Procaccia algorithm with re-embedding procedure could be adopted as th...

The guidance of a torpedo represents a hard task because of the smooth nonlinear aspect of this system and because of the extreme external disturbances. The torpedo guidance reposes on the speed and the position control. In fact, the control approach which is very solicited for the electromechanical systems is the sliding mode control (SMC) which proved its effectiveness through the different s...

In this paper, MLP network with sliding-mode controller and neural control is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Because the nonlinear nature robot, first the nonlinear and robust method sliding mode as a control theory for the system is chosen. Chattering phenomenon is always a problem of sliding...

A tutorial account of variable structure control with sliding mode is presented in this paper. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent characteristics such as invariance, robustness, ord...

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial trirotor helicopter control is proposed in presence of defects in the system. A control strategy based on the coupling of the interval type-2 fuzzy logic control and sliding mode control technique are used to design a controller. The main purpose of this work is to eliminate the chattering phenomenon and guaranteein...