the problem of observer design for nonlinear systems has got great attention in the recent literature. the nonlinear observer has been a topic of interest in control theory. in this research, a modified robust sliding-mode observer (smo) is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. the observer has a simple ...

A new sliding mode control approach is introduced in this work with the dedicated mathematical tools. A timedelay modification/approximation of sign function is proposed, and it is shown that by substituting this new “sign” realization in the conventional sliding mode algorithms the main advantages of the sliding mode tools are preserved (like rejection of matched disturbances and hyper-exponen...

This 'paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches...

This paper is concerned with the sliding mode control for uncertain stochastic neutral systems with multiple delays. A switching surface is adopted first. Then, by means of linear matrix inequalities LMIs , a sufficient condition is derived to ensure the global stochastic stability of the stochastic system in the sliding mode for all admissible uncertainties. The synthesized sliding mode contro...

This paper presents a robust sliding mode controller for a class of unknown nonlinear discretetime systems in the presence of fixed time delay. A neural-network approximation and the Lyapunov-Krasovskii functional theory into the sliding-mode technique is used and a neural-network based sliding mode control scheme is proposed. Because of the novality of Chebyshev Neural Networks (CNNs), that it...

A decoupled fuzzy sliding-mode control for an aeroelastic system is derived. This aeroelastic dynamic system describes the nonlinear plunge and pitch motions of a wing section, using a single trailing-edge flap as the control input. The decoupled fuzzy sliding-mode control design method is proposed to simultaneously control both the plunge and pitch motions of the aeroelastic system. In this de...

In this paper, MLP network with sliding-mode controller and neural control is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Because the nonlinear nature robot, first the nonlinear and robust method sliding mode as a control theory for the system is chosen. Chattering phenomenon is always a problem of sliding...

Sliding mode control is introduced into classical model free fuzzy logic control for discrete time nonlinear systems with uncertainty to the design of a novel fuzzy sliding mode control to meet the requirement of necessary and sufficient reaching conditions of sliding mode control. The simulation results show that the proposed controller outperforms the original fuzzy sliding mode controller an...

Since the large erecting mechanism has nonlinearities, parameter uncertainties and external disturbance, it is difficult to realize a model-based sliding mode control design. So a fuzzy adaptive sliding mode control scheme which combined fuzzy control with sliding mode control is proposed to achieve nonlinear control of the erecting mechanism. This control scheme is mainly use the fuzzy system ...