one of the most important challenges in nonlinear, multi-input multi-output (mimo) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. this paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. the sliding mode fuzzy controller (smfc) was designed as 7 rules mamdani’s infer...

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...

Tailored gradation in elastic–plastic properties is known to offer avenues for suppressing surface damage during normal indentation and sliding contact. In tribological applications, sliding contact analysis provides a more representative mechanism for fundamental understanding and design as it offers a tool to test materials under conditions of controlled abrasive wear. However, no such study ...

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...

Cryogenic treatment has been acknowledged by some as means of extending tool life of many cutting tool materials, thus improving productivity significantly. However real mechanisms which guarantee better tool performance are still dubious. This implies the need of further investigations in order to control the technique more significantly. Studies on cryogenically treated HSS tools show microst...