in this paper, a new smooth second order sliding mode control is proposed. this algorithm is a modified form of super twisting algorithm. the super twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular lyapunov function. the proposed algorithm which is able to control nonlinear systems with matched structured u...

in this paper, a complete model of an electro hydraulic driven dry clutch along with its performance evaluation has elucidated. through precision modeling, a complete nonlinear physical and full order sketch of clutch has drawn. ultimate nonlinearities existent in the system prohibits it from being controlled by conventional linear control algorithms and to compensate the behavior of the system...

this paper addresses a nonlinear observer based control scheme to synchronize chaotic systems subject to uncertainties and external disturbances. it is assumed that the dynamic of slave system is not completely known. in order to compensate for the system perturbation resulting from parameter variations and mismodeling phenomena, an adaptive neural network observer is employed to handle this pr...

This paper suggests a decentralized adaptive sliding mode formation procedure for affine nonlinear multi-quadrotor under a fixed directed topology wherever the followers are conquered by dynamical uncertainties. Compared with the previous studies which primarily concentrated on linear single-input single-output (SISO) agents or nonlinear agents with constant control gain, the proposed method is...

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

finding a suitable estimation of stability domain around stable equilibrium points is an important issue in the study of nonlinear dynamical systems. this paper intends to apply a set of analytical-numerical methods to estimate the region of attraction for autonomous nonlinear systems. in mechanical and structural engineering, autonomous systems could be found in large deformation problems or c...