be designed to dispel the approximation error. The most frequently used of compensator is like a sliding-mode control which maybe cause chattering phenomena to wear the bearing mechanism. To tackle this problem, this paper proposes a chattering-free adaptive wavelet neural network control (CAWNNC) system. The proposed CAWNNC system is composed of a neural controller and a smooth compensator. Th...

A nonlinear chattering-free sliding mode control method is designed to stabilize fractional chaotic systems with model uncertainties and external disturbances. The main feature of this controller is rapid convergence to equilibrium point, minimize chattering and resistance against uncertainties. The frequency distributed model is used to prove the stability of the controlled system based on dir...

This article develops a new output feedback tracking control scheme for uncertain robot manipulators with only position measurements. Unlike the conventional sliding mode controller, a quasi-continuous second-order sliding mode controller (QC2C) is first designed. Although the QC2C produces continuous control and less chattering than conventional sliding mode and other high-order sliding mode c...

sliding mode control (smc) is a powerful approach to solve the tracking problem for   dynamical systems with uncertainties. however, the traditional smcs introduce actuator chattering phenomenon which performs a desirable behavior in many physical systems such as servo control and robotic systems, particularly, when the zero steady state error is required.  many methods have been proposed to el...

An important consideration in control issues is control of nonlinear systems. Sliding control is among those nonlinear controllers that can control the system desirably in the presence of unstructured uncertainties of carelessness in specifying parameters of the system. In sliding control, also called Variable Structure Control, the main objectives of the controller &#10are achieved by introduc...

An important consideration in control issues is control of nonlinear systems. Sliding control is among those nonlinear controllers that can control the system desirably in the presence of unstructured uncertainties of carelessness in specifying parameters of the system. In sliding control, also called Variable Structure Control, the main objectives of the controller are achieved by introducin...

Nonlinear system control has been widely concern of the research. At present, the nonlinear system decoupling control and static feedback linearization that based on the theory of differential geometry brought the research getting rid of limitation for local linearization and small scale motion. However, differential geometry control must depend on precise mathematical model. As a matter of fac...

Several methods of chattering reduction have been reported. One approach [5] places a boundary layer around the switching surface such that the relay control is replaced by a saturation function. Another method [6] replaces a max-min-type control by a unit vector function. These approaches involve a trade-off between chattering and robustness. The aim of this paper is to develop a Fuzzy sliding...

In this paper, we propose a robust self-tuning PID controller suitable for nonlinear systems. The control system employs a preload relay (P Relay) in series with a PID controller. The P Relay ensures a high gain to yield a robust performance. However, it also incurs a chattering phenomenon. In this paper, instead of viewing the chattering as an undesirable yet inevitable feature, we use it as a...