In this paper, we present a new sliding mode controller for a class of unknown nonlinear discrete-time systems. We make the following two modifications: 1) The neural identifier which is used to estimate the unknown nonlinear system, applies new learning algorithms. The stability and non-zero properties are proved by dead-zone and projection technique. 2) We propose a new sliding surface and gi...

This paper shows the development of a Predictive Sliding Mode Controller (PSMC). The proposed controller blends the design of Sliding Mode Control (SMC) with Model Predictive Control (MPC). The combination of SMC and MPC improves the performance of these two control laws. The designed control strategy has stronger robustness and chattering reduction property to conquer within the system uncerta...

This paper focuses on the development of a robust fuzzy sliding-mode scheme for controlling a vehicle motion system by continuously adjusting the brake torque, Fuzzy logic known for its properties of universal approximator and sliding mode control for its robustness in the presence of parameter variations and the disturbances are employed to control the wheel slip rate in emergency braking mane...

This paper presents a neural network global PID-sliding mode control method for the tracking control of robot manipulators with bounded uncertainties. A certain sliding mode controller with PID sliding function is developed. In this controller, the switching gain is tuned by a RBF neural network on the reachable condition of sliding mode. Thus, the effect of chattering can be alleviated. Moreov...

In this paper, we will propose a cooperative control approach that is based on the hybrid grey-neural network with sliding mode control (HGNS) methodology. The main purpose is to eliminate the chattering phenomenon such that the two-link robotic manipulator has a superior tracking response. Moreover, the system performance obtained via the method of the HGNS can be improved. In the present appr...

A hierarchical fuzzy sliding-mode control is proposed to achieve asymptotic stability and favorable decoupling performance. In this approach, the nonlinear system is decoupled into several subsystems and the state response of each subsystem can be designed to be governed by a corresponding sliding surface. Then the whole system is controlled by a hierarchical sliding-mode controller. The propos...

This paper proposes a novel sliding mode control (SMC) scheme to stabilize a class of fractional-order chaotic systems. Through constructing two sliding mode variables, the control problem of n-dimensional system can be transformed to the equivalent stabilizing problem of a reduced-order system. Subsequently, on the basis of second-order sliding mode (SOSM) technique, a robust control law is de...

Combining fuzzy logic controller and sliding mode controller to exploit the superior sides of these two controllers is an active area in control theory. The dynamic behaviour of the hybrid system named as fuzzy sliding mode controller depends quite heavily on the sliding surface on which the control structure is switched. In this study, the slope of the sliding surface is continuously updated b...

In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptati...

Second order sliding mode control synthesis is developed for underactuated mechanical systems, operating under uncertainty conditions. In order to locally stabilize an underactuated system around an unstable equilibrium, an output is specified in such a way that the corresponding zero dynamics is locally asymptotically stable. Then, the desired stability property of the closed-loop system is pr...