Abstract. There is presented a comparison of sliding mode control and decoupled sliding mode control algorithms for the PUMA 560 robot position control. The Lagrange-Euler mathematical model of the robot is used for calculation the control laws. The algorithms show good robustness to model inaccuracies. The decoupled sliding mode control shows better performance in positioning than the standard...

This paper presents a time-varying sliding mode adaptive controller in order to handle the stick-slip oscillation of nonlinear rotary drilling system. The time-varying sliding mode controller with strong robust has two time-varying sliding surfaces, one of them induced time-varying integral sliding mode control can control the transient stage of the rotary drilling system and ensure the system ...

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...

This paper deals with the Active and Reactive Power control of double-fed induction generator (DFIG) for variable speed wind turbine. For controlling separately the active and the reactive power generated by a DFIG, field oriented control (FOC) and indirect sliding mode control (ISMC) are presented. These non linear controls are compared on the basis of topology, cost, efficiency. The main cont...

This work proposes a neural-fuzzy sliding mode control scheme for a hydro-turbine speed governor system. Considering the assumption of elastic water hammer, a nonlinear mode of the hydro-turbine governor system is established. By linearizing this mode, a sliding mode controller is designed. The linearized mode is subject to uncertainties. The uncertainties are generated in the process of linear...

This article presents a fuzzy sliding-mode control scheme for a class of Takagi-Sugeno (T-S) fuzzy which are subject to norm-bounded uncertainties in each subsystem. The proposed stabilization method can be adopted to explore T-S uncertain fuzzy systems (TSUFS) with various local control inputs. Firstly, a new design is proposed to transform TSUFS into sliding-mode dynamic systems.In addi...

The subloading-friction model is capable of describing static friction, the smooth transition from static to kinetic friction and the recovery to static friction after sliding stops or sliding velocity decreases. This causes a negative rate sensitivity (i.e. a decrease in friction resistance with increasing sliding velocity). A generalized subloading-friction model is formulated in this article...

OBJECTIVES Injury prevention is an important reason for the development of performance standards in football. Currently, there is no objective method available to classify sliding induced skin injuries, which includes the perceived sliding friendliness of football pitches. The purpose of this study was to develop a non-invasive method for quantification of the observed sliding induced skin dama...

Introduction In this paper we propose an efficient adaptive support vector machine (SVM) for time-varying data streams based on the martingale approach [2] and using adiabatic incremental learning [1]. When a new data point is observed, hypothesis testing decides whether any change has occurred. Once a change is detected, historical information about previous data is removed from the memory. Th...