In this paper, we consider the time minimal problem for an Autonomous Underwater Vehicle. We investigate, on a simplified model, the existence of singular extremals and discuss their optimality status. Moreover, we prove that singular extremals corresponding to the angular acceleration are of order 2. We produce in this case a semicanonical form of our Hamiltonian system and we can conclude the...

Sliding mode control with a fuzzy boundary layer is presented to hydraulic position control problem in this paper. A nonlinear hydraulic servomechanism which has an asymmetric cylinder is modeled and simulated first, then the proposed control scheme is applied to this model versus the conventional sliding mode control. Simulation results proved that the chattering free position control is achie...

This paper presents a new method of intelligent control for vehicle suspension. First, the suspension system is modeled with all details, and then based on obtained model, sliding mode designed it. The controller parameters coefficients are calculated updated by type-2 fuzzy system. chattering phenomenon eliminated unique technique. In order to evaluate performance proposed system, two-model un...

The goal is to achieve system robustness against parameter variations and external disturbances. Suitable PID control gain parameters can be systematically on-line computed according to the developed adaptive law. To reduce the high frequency chattering in the switching part of the controller, the boundary layer technique is utilized. The proposed method controller is applied to a brushless DC ...

this work proposes a neural-fuzzy sliding mode control scheme for a hydro-turbine speed governor system. considering the assumption of elastic water hammer, a nonlinear mode of the hydro-turbine governor system is established. by linearizing this mode, a sliding mode controller is designed. the linearized mode is subject to uncertainties. the uncertainties are generated in the process of linear...

In the urban traffic mode, the engine is known to be operated mostly in a transient state. However, the wide operating range, the inherent nonlinearities of the induction process and the large modeling uncertainties make the design of the fuelinjection controller very difficult. Even though a sliding mode fuel-injection control method is in good agreement with the characteristics of the system,...

Aiming at the inaccurately modeling and some uncertain existing in servo system seriously affected the control quality and the instability problem, sliding mode control algorithm with improved reaching law is proposed in this paper. The improved reaching law is used to weaken the chattering problem existing in the sliding mode control. Also the kalman filter is used to inhibit the interference,...

An improved sliding mode observer is presented to estimate the rotor position of the permanent magnet synchronous motors (PMSMs). In this observer, the discontinuous control is replaced by using the sigmoid function in order to reduce the chattering problem commonly found in the conventional sliding mode observer. When the chattering is reduced, the back emf can be obtained directly from the sw...

This paper considers dynamical systems that are derived from mechanical systems with impacts. In particular we will focus on chattering— accumulation of impacts—for which local discontinuity mappings will be derived. We will first show how to use these mappings in simulation schemes, and secondly how the mappings are used to calculate the stability of limit cycles with chattering by solving the...