This note has developed a sliding-mode controller which requires only output information for a class of uncertain linear systems. The controller comprises both linear and nonlinear components and is static in nature, i.e., no compensation/observation is included. The novelty of the approach is in the rationale and method used to synthesize the linear control component. The reachability conditio...

Synchronization of chaotic and Lu system has been done using the active sliding mode control strategy. Regarding the synchronization task as a control problem, fractional order mathematics is used to express the system and active sliding mode for synchronization. It has been shown that, not only the performance of the proposed method is satisfying with an acceptable level of control signal, but...

In this paper, we propose a hierarchical sliding mode control approach for a fixed point regulation of pendulum-driven spherical mobile robots. A simplified dynamic model is established for their longitudinal motion and the controller is designed to have double layer structure because the system is divided into two subsystems. In the first layer, the sliding surfaces are hierarchically designed...

this paper presents a new control scheme for a class of nonlinear systems. in the proposed method, an adaptive neural network observer with rise feedback controller are applied to realize sensorless control scheme. this observer is tuned online and no exact information of nonlinear term of plant is required. so, this characteristic can compensate mismodeling phenomena. also, a new controller ca...

Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chatter...

In underwater remote vehicle-manipulator system (URVM) applications, it is beneficial to have the underwater remote vehicle (URV) hold station using its thrusters while a human pilot operates the serial manipulator. This provides a stable platform for the manipulator and eases the pilot’s job drastically when current and/or tether disturbances are present. The contribution of this work is twofo...

This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

In this paper, we extend the sliding mode idea to a class of unmatched uncertain variable structure systems. This method is achieved with introducing a new terminal sliding variable and the finite time stability of proposed method is proved using a new particular finite time condition in both reaching and sliding phases. In reaching phase new sliding mode controller is derived to guarantee the ...

In this article is proposed a Centralized Sliding Mode Control (CSMC) applied to a UPFC device for controlling power flow and enhancing power system stability. First, we establish a state-space dynamic model of UPFC based on Kirchhoff’s equations and (d-q) transformation. This model includes the two voltage source inverters and the DC bus voltage link. Furthermore, in order to cancel the effect...

This paper addresses the Lyapunov-based design of second-order sliding mode controllers in the domain of distributed parameter systems (DPSs). To the best of our knowledge, the recent authors’ publications (Orlov et al., 2010, Continuous state-feedback tracking of an uncertain heat diffusion process. Syst. Control Lett., 59, 754–759; Orlov et al., 2011, Exponential stabilization of the uncertai...