in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

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 paper addresses the design of an observer-based fault diagnosis scheme, which is applied to some of the sensors and actuators of a wind turbine benchmark model. the methodology is based on a modified sliding mode observer (smo) that allows accurate reconstruction of multiple sensor or actuator faults occurring simultaneously. the faults are reconstructed using the equivalent output error i...

in this paper, we discuss the dynamical properties of a chemical reactor model including lyapunov exponents, bifurcation, stability of equilibrium and chaotic attractors as well as necessary conditions for this system to generate chaos. we study the synchronization of chemical reactors model via sliding mode control scheme. the stability of proposed method is proved by barbalate’s lemma. numeri...

this paper addresses the problem of the fractional sliding mode control (fsmc) for a mems optical switch. the proposed scheme utilizes a fractional sliding surface to describe dynamic behavior of the system in the sliding mode stage. after a comparison with the classical integer-order counterpart, it is seen that the control system with the proposed sliding surface displays better transient per...

In this paper a mesh-free model of the functionally graded material (FGM) plate is presented.  The piezoelectric material as a sensor and actuator has been distributed on the top and bottom of the plate, respectively. The formulation of the problem is based on the classical laminated plate theory (CLPT) and the principle of virtual displacements. Moreover, the Particle Swarm optimization (PSO) ...

In this paper, we extend the sliding mode idea to a class of unmatched uncertain variable structure systems. This method is achieved with introducing a new terminal sliding variable and the finite time stability of proposed method is proved using a new particular finite time condition in both reaching and sliding phases. In reaching phase new sliding mode controller is derived to guarantee the ...

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...