The design of chaos-based secure communication via synchronized modified Chua’s systems is investigated in this paper. A continuous control law is proposed to ensure synchronization of the master and slave modified Chua’s systems by using the variable structure control technique. Particularly, the concept of extended systems is introduced such that a continuous control input is obtained to avoi...

Control of underactuated mechanical systems (robots) represents an important class of control problem. In this correspondence, a model-based adaptive variable structure control scheme is introduced, where the uncertainty bounds only depend on the inertia parameters of the system. Global asymptotic stability is established in the Lyapunov sense. Numerical simulations are conducted to validate th...

This paper deals with synchronization problems of chaotic systems by applying a novel variable structure control (VSC) scheme. The synchronization of Chua s circuit, the R€ ossler system and the Lorenz system, respectively, were used as illustrative examples. Simulation results indicated that the proposed new VSC scheme can significantly improve the synchronousness performance. These promising ...

This paper describes how variable structure control can be used to describe the overall behavior of multiple autonomous robotic vehicles with simple finite state machine rules. The importance of this result is that we can then begin to design provably asymptotically stable group behaviors from a set of simple control laws and appropriate switching points with variable structure control. The abi...

A new approach to control system design for systems containing sandwiched, uncertain, non-smooth friction is proposed. The method is based on a multi-state backstepping approach to variable structure control design. Stability and robustness properties are investigated and examples are given. ? 2002 Elsevier Science Ltd. All rights reserved.

In this paper, we develop a new output feedback, variable structure-like (discontinuous) tracking controller for a class of uncertain, nonlinear, multiinput multi-output, mechanical systems whose dynamics are Þrst-order differentiable. A novel Þlter design and Lyapunov-type stability analysis are used to prove semi-global asymptotic tracking. As a by-product of the proposed framework, we also p...

In this paper, we propose a hierarchical sliding mode control approach for a fixed point regulation of pendulum-driven spherical mobile robots. A simplified dynamic model is established for their longitudinal motion and the controller is designed to have double layer structure because the system is divided into two subsystems. In the first layer, the sliding surfaces are hierarchically designed...

A novel reaching law with dynamic disturbance compensator is presented for a class of discrete bounded uncertain systems. Further investigations are presented on the robust stability and system dynamics in the vicinity of the switching plane. Theoretical analysis and numerical simulations are described to show the improvement of the dynamic performance and robustness in closed-loop control.

A discrete-time variable structure controller for aircraft elevator control using the method for control of plants with finite zeros in canonical subspace is proposed in this paper. First, a discrete mathematical model of the system over canonical space, using the delta transform, is given. Then, decomposition of the canonical space to subspaces with and without control is carried out by introd...

A new program control structure is proposed in this paper which is suitable for expressing a variable number of nested loops. This control structure is useful in combinatorial problems and in problems requiring backtracking. Implementation details are discussed and some illustrative examples are given which employ this new program control structure. The incorporation of this control structure i...