chattering region and successor states Final Behavior Tree Focused Envisionment Graph Before chatter abstraction Behavior Tree Potentially chattering region The links in the gure represent processes and the objects represent data structures. Two states linked by a dotted line in the envisionment graph represent the same qualitative state. Using chatter box abstraction, QSIM generates a single b...

The article proposes a model-free sliding mode prescribed performance control method for robotic manipulator. For accelerating the errors converging rate as well bringing down real-time torque, an error-driven nonsingular fast terminal is employed in this method. Besides, modified power reaching law newly designed, which able to offer better chattering elimination than traditional law. To solve...

In this work the control of a spatial robot by sliding mode control is studied. The robot model has three degrees of freedom. These robots are usually used in material handling in remote dangerous environments and production line. First, the mathematical model of the system is formulated. The equations of motion are driven by employing Lagrangian formulation based on the energy equations. Then ...

In this paper, a novel fault-tolerant control tactic for robot manipulator systems using only position measurements is proposed. The proposed algorithm constructed based on combination of nonsingular fast terminal sliding mode (NFTSMC) and high-speed third-order observer (TOSMO). the first step, TOSMO time to approximate both system velocity lumped unknown input with faster convergence compared...

A complete review of the known differentiators and their time-discretizations have been addressed in this study. To resolve drawbacks explicit (forward Euler) discretization, which is commonly utilized sliding-mode-based differentiators, implicit time discretization methods are proposed to handle set-valued functions. The schemes supported by some analytical results show crucial properties, for...

In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptati...

A robust controller with chattering is proposed based on a simplified model of an electronic throttle system. The chattering term provides robustness against un-modeled nonlinearities, e.g., limphome nonlinearity, parameter dispersion, and friction phenomena. As the simplified model of the throttle system can be seen to correspond to a horizontal one-degree-of-freedom robot manipulator, the pro...

In this paper sliding mode control systems arc considered and a new technique to attenuate chattering is proposed. The technique employs simple , first-order dynamical devices , i.e . an integrator or a low-pass filter, to compensate in part for unknown and changing dist urbance. As a result of this compensation, the magnitnde of the discontinuous control term is essentially reduced. The term d...