An adaptive backstepping sliding mode controller. wluch combincs both the merits of adaptive backstepping control and sliding mode control, is proposed to control the mover position of a linear induction motor (LIM) drive to compensate for the uncertainties including the friction force. First, the dynamic model of an indirect field-oriented LIM drive is derived. Then, a backstepping sliding mod...

A systematic way to combine adaptive control and sliding mode control (SMC) for trajectory tracking of robot manipulators in the presence of parametric uncertainties and uncertain nonlinearities is developed. Continuous sliding mode controllers without reaching transients and chattering problems are rst developed by using a dynamic sliding mode. Transient performance is guaranteed and globally ...

A higher order sliding mode control algorithm is proposed for a class of uncertain multi-input multi-output nonlinear systems. This problem can be viewed as the finite time stabilization of a higher order input-output dynamic system with bounded uncertainties. The developed control scheme is based on geometric homogeneity and sliding mode control. The proposed procedure provides explicit condit...

This paper presents a solution to the user equilibrium Dynamic Traffic Routing (DTR) problem for a point diversion case using feedback control methodology. The sliding mode control technique which is a robust control methodology applicable to nonlinear systems in canonical form is employed to solve the user equilibrium DTR problem. The canonical form for this problem is obtained by using feedba...

Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chatter...

In this paper, a quaternion-based finite-time sliding mode attitude controller is designed for a spacecraft performing high-thrust orbital maneuvers, with cold gas thrusters as its actuators. The proposed controller results are compared with those of a quaternion feedback controller developed for the linearized spacecraft dynamics, in terms of settling time, steady-state error, number of thrust...

This paper presents a new approach to Load Frequency Control (LFC) for a hydro-power plant. The control algorithm combines sliding mode control with H∞ technique. The dynamic model of an entire hydro-power plant has been developed. The sliding hyperplane is constructed by H∞ full state feedback control method. The ideal lossless turbine-penstock model is used in this paper to conduct the simula...

In this paper, a new smooth second order sliding mode control is proposed. This algorithm is a modified form of Super Twisting algorithm. The Super Twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular Lyapunov function. The Proposed algorithm which is able to control nonlinear systems with matched structured u...

In this paper a new non-switching type reaching law for sliding mode control of discrete time systems is introduced and applied to the problem of periodic review inventory management. The considered inventory is refilled by multiple suppliers through delivery channels subject to non-negligible commodity losses. The reaching law proposed in this paper is inspired by the earlier work of Gao, Wang...

Sliding mode is used in order to retain a dynamic system accurately at a given constraint and features theoretically-in nite-frequency switching. Standard sliding modes are known to feature nite time convergence, precise keeping of the constraint and robustness with respect to internal and external disturbances. Having generalized the notion of sliding mode, higher order sliding modes preserve ...