In this paper, MLP network with sliding-mode controller and neural control is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Because the nonlinear nature robot, first the nonlinear and robust method sliding mode as a control theory for the system is chosen. Chattering phenomenon is always a problem of sliding...

An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time‐varying parameters. A sliding model observer is intr...

controller with PID sliding function is developed. In this controller, the switching gain is tuned by a single-input radial-basis-function neural network on the reachable condition of sliding mode. Thus, the effect of chattering can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding function. Mathematical proof of the stability and convergence o...

In order to realize good track keeping and roll reduction of the ship while navigating. A multiple input multiple output rudder-fin control system based on dynamic sliding mode algorithm is proposed. Rudder-fin joint system nonlinear mathematical model is established. Because the designed dynamic sliding mode controller makes sliding variables and the derivatives be zero, so it is essentially c...

Flagellar beating of hyperactivated golden hamster spermatozoa was analyzed in detail using digital image analysis and was compared to that of nonhyperactivated (activated) spermatozoa in order to understand the change in flagellar beating during hyperactivation and the active microtubule sliding that brought about the change in flagellar beating. Hyperactivated flagellar beating, which was cha...

We have studied numerically the dynamics of sliding charge-density waves ~CDW’s! in the presence of impurities in d51,2. The model considered exhibits a first-order dynamical transition at a critical driving force Fc between ‘‘rough’’ ~disorder dominated! (F,Fc) and ‘‘flat’’ (F.Fc) sliding phases where disorder is washed out by the external drive. The effective model for the sliding CDW’s in th...

As we know, sliding mode control methodology is one of the robust control technique to handle systems with model uncertainties, parameter variations and external disturbances. In this paper, a robust altitude control scheme is proposed for a nonlinear quad-rotor aircraft system based on sliding mode controller with an integral action to eliminate the steady-state error effect. The proposed slid...

A novel passivity-based sliding mode controller for active suspension system with uncertainties is presented in this paper to decrease vibration and increase robustness. Based on the characteristics of the suspension system, interconnection and damping assignment passivitybased control approach is used to construct integral sliding surface. By elaborately designing desired interconnection matri...

−This study mainly focuses on the development of a total sliding-mode control (TSMC) strategy for a Chua’s chaotic circuit. The TSMC scheme, which is insensitive to uncertainties including parameter variations and external disturbance in the whole control process, comprises the baseline model design and the curbing controller design. In the baseline model design a computed torque controller is ...

In this paper the problem on “Magnetic fluid lubrication of porous-pivoted slider bearing with slip velocity by N Ahmad et.al.[7]” has been recapitulated using Jenkin’s model [4] with the additional effect of squeeze velocity of the above plate. It is found that while discussing the above problem, [7] has stated but ignored the term , where +, in their study (Refer equation(2.2)). This paper re...