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...

A genetic algorithm (GA)-based sliding mode controller is proposed to improve the voltage stability of a power system with a static var compensator. The proposed controller is examined for improving the load bus voltage, which changes under different demanding powers, and its performance for transient analysis is compared with the Ziegler– Nichols proportional-integral (ZNPI), Lyapunov-based sl...

In this paper, a sliding mode control with a proportional integral (PI) sliding surface applied to the hybrid tunnel dryer has been assessed through simulations. A dynamic model of the process was developed specifically for this purpose. The pseudo-bond graph methodology was used in modelling the system, such methodology was very suitable for this thermal process and permits us to establish a m...

a new approach for pole placement of nonlinear systems using state feedback and fuzzy system is proposed. we use a new online fuzzy training method to identify and to obtain a fuzzy model for the unknown nonlinear system using only the system input and output. then, we linearized this identified model at each sampling time to have an approximate linear time varying system. in order to stabilize...

This paper is devoted to the construction of a hierarchical observer for a linear time variant system. It presents an extension of the Output Integral Sliding Mode observer to the time variant case, and gives an algebraic procedure in order to reconstruct the state right after the first moment, if we assume that the sliding mode exist and the equivalent control is available

this paper proposes a hybrid control scheme for the synchronization of two chaotic duffing oscillator system, subject to uncertainties and external disturbances. the novelty of this scheme is that the linear quadratic regulation (lqr) control, sliding mode (sm) control and gaussian radial basis function neural network (grbfnn) control are combined to chaos synchronization with respect to extern...

Controllers for parallel manipulators can be designed in task space or joint space, each having its own advantages and disadvantages. In this paper, integral sliding mode controllers designed in joint space and in task space are compared using MATLAB simulation. In both cases, genetic algorithm is used to determine optimal sliding surface gain. The performance and robustness, smoothness of cont...