This paper addresses the issue of piecewise integral sliding mode control for T-S fuzzy systems. Integral sliding mode control (ISMC) is chosen to stabilize the T-S fuzzy system because of its superior capability in treating uncertainties. Individual integral sliding surfaces are designed in different operating regions of the T-S fuzzy system. Conditions on existence of the sliding mode in the ...

In this paper, using the State Dependent Riccati Equation (SDRE) method, we propose a Robust Optimal Integral Sliding Mode Controller (ROISMC) to guarantee an optimal control law for a quadrotor which has become increasingly important by virtue of its high degrees of manoeuvres ability in presence of unknown time-varying external disturbances and actuator fault. The robustness of the controller...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

A fuzzy integral sliding mode control method based on the finite time stable theory and integral sliding mode control theory is proposed to solve a class of complex network problems. The complex networks are expressed by T-S fuzzy models with bounded approximation errors by using the approximation capability of T-S fuzzy models. The paper proposes fuzzy dynamic integral sliding mode control sch...

In this article, we attempt a reapproachment between sliding mode control of linear systems and classical control through the possibilities of evading state measurements and circumventing the use of asymptotic state observers in the sliding surface synthesis. This is shown to be possible thanks to the use of integral state reconstructors combined with iterated integral output error compensation...

An Integral Nested Sliding Mode Control (INSMC) is proposed for n-link robotic manipulators tracking problem by employing Integral Sliding Mode (ISM) and Nested Sliding Mode (NSM) concepts. This controller has the robustness of NSM against matched and no matched perturbations, and the capability of ISM to reduce the sliding functions gains. Application to a two-link planar robot manipulator is ...

A new discrete-time integral sliding mode control scheme is proposed for a class of linear multi-input systems with state delays. Based on the Lyapunov stability theory and one-step delayed disturbance approximation, a sliding mode controller not only drives the sliding mode into the O(T ) boundary, but also achieves the O(T ) boundary for state regulation. A novel integral sliding surface is i...

This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical ...

This paper considers the trajectory tracking control of linear inverted pendulum (IP) system. First the linearized model of IP is derived to facilitate the control design. To avoid non robust reaching phase, integral sliding mode control (ISMC) has been proposed but single variable case is tested. Linear IP is a multivariable system having angle of pendulum and position of cart are two variable...