One of the major factors hindering the use of qualitative simulation techniques to reason about the behavior of complex dynamical systems is intractable branching due to a phenomenon called chatter. Chatter occurs when a variable's direction of change is constrained only by continuity within a region of the state space . This results in intractable, potentially infinite branching within the beh...

There is a gap between the modelling and the simulation of discontinuous dynamical systems (DDS) exhibiting sliding-mode behaviour. Several challenges arise. Mainly, the definition of unique solutions on the discontinuity surfaces and at their crossings. There are also numerical issues in the detection and location of the trajectory entering and going out of the discontinuity surface, as well a...

In this paper, a novel controller based on the Integral Sliding Mode Controller (ISMC) is proposed and designed for controlling DC motor in a servo drive. The modeling and analysis of the servo DC motor are obtained. To improve the controller performance in steady state (zero error), the integral sliding mode controller (ISMC) is designed and evaluated. Since the main drawback of SMC is a pheno...

In this article, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when system states are restricted switching surface, a novel function designed by hyperbolic sine such that surface contains two equilibriums. Then, sliding mode controller developed based on proposed ensure robustness of closed-loop disturbance and ine...

Wear and tear are usually caused by various factors, which reduce the life span of a mechanical part. In control engineering an Electrohydraulic actuator system, wear can be system or controller itself. This article examines chattering effect that occurs during sliding mode (SMC) design, its on nonlinear electrohydraulic (EHA) system. To examine phenomenon, signum function is first applied swit...

Controller design remains an elusive and challenging problem for uncertain nonlinear dynamics. Interval type-2 fuzzy logic systems (IT2FLS) in comparison with type-1 fuzzy logic systems claim to effectively handle system uncertainties especially in the presence of disturbances and noises, but lack a formal mechanism to guarantee performance. In contrast, adaptive sliding mode control (ASMC) pro...

A position control of DC motor servo drive based on the Sliding Mode (SM) approach is presented. The modeling and analysis of the servo DC motor are obtained. The Sliding Mode Controller (SMC) design changes such that its performance is substantially improved. To improve the controller performance in steady stat (zero error) the Integral Sliding Mode Controller (ISMC) is used. Since the main dr...

Soft computing methodologies, when used in combination with sliding-mode control (SMC) systems, aim to alleviate implementation difficulties of SMCs or to intelligently tune the controller parameters. In this paper, it is proposed to combine adaptive fuzzy systems with SMCs to solve the chattering problem of sliding-mode control for robotic applications. In the design of the controller, special...

The DC motor is a key element for servo system, and the control quality of control system would be seriously affected by the nonlinear, the parameter uncertain, the inaccurately modeling and some uncertain existing in servo system. So it is very difficult to satisfy control requirements by using the traditional control method. In this paper, the sliding mode control algorithm with reaching law ...

A new sliding mode control (SMC) approach, output variables only, single phase only and chattering phenomenon free, is presented for a class of mismatched uncertain large-scale systems. For a new multitask SMC, it is not required that the system states are available. Moreover, the sliding function in this study just depends on output variables. Using an exponential type� sliding surface, the sy...