A novel robust control law with finite time convergence for rigid robotic manipulators is proposed in this paper. The whole control process is divided into two phases, i.e., the error correction phase and the steady tracking phase. Firstly, a novel time-varying sliding mode control (TVSMC) method is developed in the first phase to ensure the tracking error converge to zero at the desired time. ...

In this paper, a quaternion-based finite-time sliding mode attitude controller is designed for a spacecraft performing high-thrust orbital maneuvers, with cold gas thrusters as its actuators. The proposed controller results are compared with those of a quaternion feedback controller developed for the linearized spacecraft dynamics, in terms of settling time, steady-state error, number of thrust...

This paper proposes an adaptive terminal sliding mode controller which combines adaptive control and sliding mode control to control a 2-link nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input a...

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...

For the carrying lower extreme exoskeleton system is non-linear and have variable parameters, which is usually subject to external dusturbances. The virtual torque control method is a well-established carrying system control technique, which needs no sensors between the pilot and the human-machine interface, instead, the controller estimates, based on measurements from the exoskeleton suits onl...

The proposed method called terminal sliding Fuzzy Sliding Parallel Distributed Compensation (TSF-PDC) control is developed in this paper to deal with the nonlinear systems subjected to bounded disturbances. The TSF-PDC controller is combined with Fuzzy Parallel Distributed Compensation (F-PDC) control and terminal sliding mode (TS) control to deal with nonlinear systems. In the design of TSF-PD...

In this paper, sliding mode control (SMC) for a bidirectional buck/boost DC-DC converter (BDC) with constant frequency in continuous conduction mode (CCM) is discussed. Since the converter is a high-order converter, the reduced-order sliding manifold is exploited. Because of right-half-plan zero (RHPZ) in the converter’s duty ratio to output voltage transfer function, sliding mode current...

*School of Information Science and Technology, Dalian Maritime University,Dalian, China, 116026 (Tel: 86-411-84725191; e-mail:shuanghe@ newmail.dlmu.edu.cn, dujl@ newmail.dlmu.edu.cn ). ** School of Electrical and Computer Engineering, Royal Melbourne Institute of Technology University Melbourne, VIC 3001, Australia, (e-mail:[email protected]) ***College of Mechanic & Electric Engineering, Harbi...

this work proposes a neural-fuzzy sliding mode control scheme for a hydro-turbine speed governor system. considering the assumption of elastic water hammer, a nonlinear mode of the hydro-turbine governor system is established. by linearizing this mode, a sliding mode controller is designed. the linearized mode is subject to uncertainties. the uncertainties are generated in the process of linear...