An important consideration in control issues is control of nonlinear systems. Sliding control is among those nonlinear controllers that can control the system desirably in the presence of unstructured uncertainties of carelessness in specifying parameters of the system. In sliding control, also called Variable Structure Control, the main objectives of the controller are achieved by introducin...

Several methods of chattering reduction have been reported. One approach [5] places a boundary layer around the switching surface such that the relay control is replaced by a saturation function. Another method [6] replaces a max-min-type control by a unit vector function. These approaches involve a trade-off between chattering and robustness. The aim of this paper is to develop a Fuzzy sliding...

In this paper, we propose a robust self-tuning PID controller suitable for nonlinear systems. The control system employs a preload relay (P Relay) in series with a PID controller. The P Relay ensures a high gain to yield a robust performance. However, it also incurs a chattering phenomenon. In this paper, instead of viewing the chattering as an undesirable yet inevitable feature, we use it as a...

An adaptive fuzzy sliding mode control scheme is presented in this article. Despite the advantages of sliding mode control design for uncertain dynamic systems, classical sliding mode control has a major problem in the form of chattering, produced by the rapid switching used to conduct the state trajectories toward the sliding surfaces. A variety of methods are used to achieve chattering-free m...

chattering region and successor states Final Behavior Tree Focused Envisionment Graph Before chatter abstraction Behavior Tree Potentially chattering region The links in the gure represent processes and the objects represent data structures. Two states linked by a dotted line in the envisionment graph represent the same qualitative state. Using chatter box abstraction, QSIM generates a single b...

In this work the control of a spatial robot by sliding mode control is studied. The robot model has three degrees of freedom. These robots are usually used in material handling in remote dangerous environments and production line. First, the mathematical model of the system is formulated. The equations of motion are driven by employing Lagrangian formulation based on the energy equations. Then ...

Having found hidden hyperchaos in a 5D self-exciting homopolar disc dynamo, we study the existence of Hopf bifurcation, which leads to unstable limit cycles bifurcating from stable equilibrium. Hidden chaos with only equilibria can be observed bifurcation: typical way enable attractors located. We then provide new fuzzy controller, and fast disturbance observer, based on terminal sliding mode c...