Sliding mode is used in order to retain a dynamic system accurately at a given constraint and is the main operation mode in variable structure systems. Such mode is a motion on a discontinuity set of a dynamic system and features theoretically-infinite-frequency switching. The standard sliding modes are known to feature finite time convergence, precise keeping of the constraint and robustness w...

This paper deals with the design of single fuzzy neural network (SFNN) with sliding mode control (SMC) systems by using the approach of sliding mode control. The fuzzy sliding mode control (FSMC) in the system guarantee the state can reach the user-defined surface in finite time and then it slides into the origin along the surface. The key idea is to apply parameters of the membership function ...

this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

one of the most important applications of multi-objective optimization is adjusting parameters ofpractical engineering problems in order to produce a more desirable outcome. in this paper, the decoupled sliding mode control technique (dsmc) is employed to stabilize an inverted pendulum which is a classic example of inherently unstable systems. furthermore, a new multi-objective particle swarm o...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

An adaptive backstepping sliding mode controller. wluch combincs both the merits of adaptive backstepping control and sliding mode control, is proposed to control the mover position of a linear induction motor (LIM) drive to compensate for the uncertainties including the friction force. First, the dynamic model of an indirect field-oriented LIM drive is derived. Then, a backstepping sliding mod...

This paper proposes a second-order terminal sliding mode control for a class of uncertain input-delay systems. The input-delay systems are firstly converted into the input-delay free systems and further converted into the regular forms. A linear sliding mode manifold is predesigned to represent the ideal dynamics of the system. Another terminal sliding mode manifold surface is presented to driv...

This paper considers the problem of terminal sliding mode control (TSMC) for uncertain MIMO systems in which the actuator faults may happen in any channel of actuators. By means of state transformation and exponent-logarithmic sliding surface method, a reliable TSMC is proposed such that both the finite-time stability of sliding mode dynamics and the reachability of sliding surface are ensured,...

Nowadays, the major advancements in the control of motion systems are due to the automatic control theory. Motion control systems are characterized by complex nonlinear dynamics and can be found in the robotic, automotive and electromechanical area, among others. In such systems it is always wanted to impose a desired behavior in order to cope with the control objectives that can go from veloci...

A novel robust control law with finite time convergence for rigid robotic manipulators is proposed in this paper. The whole control process is divided into two phases, i.e., the error correction phase and the steady tracking phase. Firstly, a novel time-varying sliding mode control (TVSMC) method is developed in the first phase to ensure the tracking error converge to zero at the desired time. ...