This paper investigates the robust ∞ H sliding mode control problem for a class of uncertain switched delay systems. A single sliding surface is constructed such that the reduced-order equivalent sliding motion restricted to the sliding surface is completely invariant to all admissible uncertainties. For cases of known delay and unknown delay, the existence conditions of the sliding surface are...

1 Abstract— Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current. The USV has a twin hull configuration and a custom-designed propulsion system, which consists of two azimuthing thrusters, one for each hull. No...

This paper presents the design and experimental voltage quality evaluation of controllers for the output voltages of 3-phase four-leg voltage source inverters. These inverters are needed in stand-alone power systems to supply linear and non-linear, balanced or unbalanced loads with constant RMS value voltages at fixed frequency. Comparisons include closed loop outer voltage controllers based on...

Two controllers which extend the PD+I fuzzy logic controller to deal with the plant having time varying nonlinear dynamics are proposed. The adaptation ability of the first self tuning PD+I fuzzy logic controller (STPD+I_31) is achieved by adjusting the output scaling factor automatically thereby contributing to significant improvement in performance. Second controller (STPD+I_9) is the simplif...

This paper investigates the robust sliding mode control problem for a class of uncertain switched delay systems. A single sliding surface is constructed such that the reduced-order equivalent sliding motion restricted to the sliding surface is completely invariant to all admissible uncertainties. For the cases of known delay and unknown delay, the existence conditions of the sliding surface are...

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...

The robust optimal attitude control problem for a flexible spacecraft is considered. Two optimal sliding mode control laws that ensure the exponential convergence of the attitude control system are developed. Integral sliding mode control ISMC is applied to combine the first-order sliding modewith optimal control and is used to control quaternion-based spacecraft attitudemanoeuvres with externa...

An universal controller is constructed, formulated in input-output terms only, which causes the output of any uncertain smooth SISO minimum-phase dynamic system with known relative degree to vanish in finite time. That allows exact tracking of arbitrary real-time smooth signals. Only one parameter is to be adjusted. The approach being based on higher-order finite-time-convergence sliding modes,...

This paper studies robust control schemes for two spacecraft in formation subjected to external disturbances in the space environment. Two sliding mode control schemes are designed to generate control with a finite time convergence property. The super twisting and adaptive super twisting control algorithms are developed for the two-spacecraft formation flying system. The second method of Lyapun...