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, 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 industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

the angle of repose of soil particles is an important factor for determining critical shear stress for initiation of soil particles motion during the erosion process. there are different methods for measuring the angle of particle repose and the result of each method is somewhat different from those of the others. sliding and fixed-base piling methods are the two most common methods in the lite...

in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

in the present paper, a landslide and its stabilization is studied on a slope of tabriz northern freeway. this landslide is a large scale one, and as the study zone has a sliding potential so that its study is quite necessary. the analysis of landslide has been performed using stabl software. the way of obtaining the critical slope for land slide amongst different sections and determining a suc...

In this paper, the modified optimal sliding mode control with a proposed method to design a sliding surface is presented. Because of the inability of the previous approach of the sliding mode method to design a bounded and suitable input, the new variation is proposed in the sliding manifold to obviate problems in a structural system. Although the sliding mode control is a powerful method to re...

reliability analysis of rock slope stability has received considerable attention in the literature. it has been used as an effective tool to evaluate uncertainty so prevalent in variables. in this research the application of the jointly distributed random variables method for probabilistic analysis and reliability assessment of rock slope stability with plane sliding is investigated. in a recen...