This paper presents a second order sliding mode control (SOSMC) for a single link flexible manipulator, which represents a class of under actuated systems. A second order super twisting algorithm (STA) is used to provide better positional accuracy and robustness against parametric variation and external disturbances with alleviation in chattering. A smooth control is synthesized using STA to ex...

A double integrator is controlled by discontinuous-impulsive feedback with adaptation. The gain of the impulsive control is adapted to minimize the time convergence to zero of the double integrator dynamics when the impulsive control is applied. The real case is studied to take into account the limitation of the input amplitude, the sampling of the controller and the effect of the disturbances....

The problem of first order differentiation, when an estimation of an upper bound of the second derivative is available on-line, is studied in this paper. The proposed method include two approaches: Second Order Sliding Mode and High-Gain algorithms, and consider the differentiator gain as a continuous time varying function. This scheme provides chattering attenuation, increasing at the same tim...

A solution to the problem of eliminating the chattering effect, which is always associated with practical implementations of variable structure control, is presented in this paper with reference to a class of uncertain multi-input nonlinear systems. The solution procedure relies on the application of an original control approach capable of enforcing a second-order sliding mode (i.e., a sliding ...

Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for traj...

Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for traj...