this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

one of the most important applications of multi-objective optimization is adjusting parameters ofpractical engineering problems in order to produce a more desirable outcome. in this paper, the decoupled sliding mode control technique (dsmc) is employed to stabilize an inverted pendulum which is a classic example of inherently unstable systems. furthermore, a new multi-objective particle swarm o...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

The advent of highly efficient and superior digital devices and fast microprocessors for control application has opened the field of discrete time controller design. This paper presents an exciting application of magnetic levitation system using discrete sliding mode control. There is a limited volume of literature available for discrete sliding mode control as applied to magnetic levitation sy...

Since the large erecting mechanism has nonlinearities, parameter uncertainties and external disturbance, it is difficult to realize a model-based sliding mode control design. So a fuzzy adaptive sliding mode control scheme which combined fuzzy control with sliding mode control is proposed to achieve nonlinear control of the erecting mechanism. This control scheme is mainly use the fuzzy system ...

A decoupled fuzzy sliding-mode control for an aeroelastic system is derived. This aeroelastic dynamic system describes the nonlinear plunge and pitch motions of a wing section, using a single trailing-edge flap as the control input. The decoupled fuzzy sliding-mode control design method is proposed to simultaneously control both the plunge and pitch motions of the aeroelastic system. In this de...

this paper presents a gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. to study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. the adaptation laws of designed controller are obtained based on sliding m...

controller design remains an elusive and challenging problem foruncertain nonlinear dynamics. interval type-2 fuzzy logic systems (it2fls) incomparison with type-1 fuzzy logic systems claim to effectively handle systemuncertainties especially in the presence of disturbances and noises, but lack aformal mechanism to guarantee performance. in contrast, adaptive sliding modecontrol (asmc) provides...

the aim of this paper is to design a fractional order sliding mode controllers (fosmc)for a class of dc-dc converters such as boost and buck converters. firstly, the control lawis designed with respect to the properties of fractional calculus, the design yields an equiv-alent control term with an addition of discontinuous (attractive) control law. secondly, themathematical proof of the stabilit...