Conventional simulation and control methods for sliding mode control systems are limited by the available sampling bandwidth and allowable tracking error. Consequently, these methods suuer from harmful chattering. This paper presents an adaptive method for the discrete-time simulation and control of sliding mode control systems, based on an analysis on the relationship between tracking error an...

A systematic way to combine adaptive control and sliding mode control (SMC) for trajectory tracking of robot manipulators in the presence of parametric uncertainties and uncertain nonlinearities is developed. Continuous sliding mode controllers without reaching transients and chattering problems are rst developed by using a dynamic sliding mode. Transient performance is guaranteed and globally ...

In this paper, an adaptive PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(EHA) systems with system uncertainties and saturation in the motor. An EHA prototype is developed and system modeling and parameter identification are executed. Then, adaptive PID sliding mode controller and optimal anti-windup PID controller are designed and the performan...

Abstract: Performance control law is studied for an interconnected fractional nonlinear system. Applying a backstepping algorithm, a backstepping sliding mode controller (BSMC) is developed for fractional nonlinear system. To improve control law performance, BSMC is coupled to an adaptive sliding mode observer have a filtered error as a sliding surface. The both architecture performance is stud...

This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding mode control strategy is employed, which not only can combine the advantages ...

This paper is about the application of adaptive sliding mode control to solving congestion problem for DiffServ Network. A nonlinear fluid flow model which is transformed into a parametric strict feedback form is used to analyze and control. Backstepping design procedure is applied, which leads to a new adaptive sliding mode controller. And by using the adaptive sliding mode controller, we achi...

This paper proposes new methodologies for the design of adaptive sliding mode control. The goal is to obtain a robust sliding mode adaptive gain control law with respect to uncertainties and perturbations without the knowledge of uncertainties/perturbations bound (only the boundness feature is known). The proposed approaches consist in having a dynamical adaptive control gain that establishes a...

Designing a robust tracking control for a non-linear MIMO system with uncertainty is one of the most complicated control problems. In this paper, sliding mode changed to non-linear controllable canonical form by input-output linearization. This, sliding surfaces can be defined in a way that we can de-couple equations and indicate the sliding conditions of multi-variable controller system. The u...

This paper presents an adaptive higher order sliding mode controller based on first adaptive sliding mode control and an integral sliding variable. The idea is based on the definition of a nominal control which can stabilize a pure chain of integrators to zero in finite time. The novelty of the proposed approach is that uncertainties/perturbations effects are rejected by a first order sliding m...

in this paper, an adaptive neuro fuzzy sliding mode based genetic algorithm (anfsga) controlsystem is proposed for a ph neutralization system. in ph reactors, determination and control of ph isa common problem concerning chemical-based industrial processes due to the non-linearity observedin the titration curve. an anfsga control system is designed to overcome the complexity of precisecontrol o...