This paper is to present a new design of robust Iterative Learning Control (ILC) for the purpose of output tracking using continuous sliding mode technique. The main feature of the design is that the controller signal is continuous due to the use of integral and employment of second-order sliding mode technique. The proposed ILC is more robust to noises and disturbances than the saturation appr...

A fuzzy sliding mode control method is proposed to eliminate the interference that suspended floating objects suffered in the on-ground low-gravity simulation system. Due to the change of sling swing-angle that caused by the external interference is weak, the time integral of the sling swing-angle is taken as tracking errors. Meanwhile the values of angle and the angle differential should be co...

In this paper, robust control of a large cable-driven robot is presented (LCDR). In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motions. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this case study, sliding mode control via double integrator sliding surface is pre...

Both Soft computing based controllers and sliding mode controllers have been utilized to regulate the output voltage of dc-dc converters in response to changes in the load and the input voltage. Although both control techniques possess desirable characteristics, they have disadvantages which prevent them from being applied extensively. Many researchers have proposed the combination of sliding m...

This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter λ is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral ac...

Output feedback sliding mode control has received great research interests, due to it does not require full accessibility of states and increases the ability of practical implementation of sliding mode control. In this paper, a new approach of chattering-free OFSMC design is proposed by incorporating integral sign function control for general multi-input multi-output linear uncertain systems. C...

An advanced robust sliding mode control scheme is proposed for linear systems. First, based on LMI technique the positive definite matrix which is key to construct the sliding surface is found , then a global integral-type sliding surface is constructed for the systems in the presence of both matched and unmatched uncertainties, then the global sliding mode controller is constructed for systems...