In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptati...

In this paper sliding mode control systems arc considered and a new technique to attenuate chattering is proposed. The technique employs simple , first-order dynamical devices , i.e . an integrator or a low-pass filter, to compensate in part for unknown and changing dist urbance. As a result of this compensation, the magnitnde of the discontinuous control term is essentially reduced. The term d...

This paper presents a neural network global PID-sliding mode control method for the tracking control of robot manipulators with bounded uncertainties. A certain sliding mode controller with PID sliding function is developed. In this controller, the switching gain is tuned by a RBF neural network on the reachable condition of sliding mode. Thus, the effect of chattering can be alleviated. Moreov...

It is well known that sliding mode control is capable of tackling systems with uncertainties. However, the discontinuous control signal causes a significant problem of chattering. An algorithm is proposed in this paper to eliminate chattering by removing the discontinuous control signal when the system is operating near the sliding plane. The transient performance as well as the robustness prop...

an asymptotically stable direct adaptive fuzzy pi sliding modecontroller is proposed for a class of nonlinear uncertain systems. in contrast toother existing approaches of handling disturbances, the proposed approachdoes not require this bound to be known, only requiring that it exists.moreover, a pi control structure is used to attenuate chattering. the approachis applied to stabilize an open-...

We now illustrate the proposed method to make the eigenvalues of matrix A nonresonant through state feedback. Example: Step 1) Let n = 3.

Complete chattering occurs when a structure undergoes theoretically infinite sequence of impacts in finite time, that eventually bring the to state persistent (continuous) contact. This study investigates conditions under which rigid rocking block complete subjected sinusoidal ground excitation. The analysis explains how acceleration amplitude excitation affects time. It also proves there exist...

This paper addresses the issue of piecewise integral sliding mode control for T-S fuzzy systems. Integral sliding mode control (ISMC) is chosen to stabilize the T-S fuzzy system because of its superior capability in treating uncertainties. Individual integral sliding surfaces are designed in different operating regions of the T-S fuzzy system. Conditions on existence of the sliding mode in the ...

This article proposes a chattering-free sliding mode control scheme with unidirectional auxiliary surfaces (UAS-SMC) for small miniature autonomous helicopters (Trex 250). The proposed UAS-SMC scheme consists of a nested sequence of rotor dynamics, angular rate, Euler angle, velocity and position loops. It is demonstrated that the UAS-SMC strategy can eliminated the chattering phenomenon exhibi...