In this paper, a novel scheme is proposed to adapt the gains of a sliding mode controller (SMC) so that the problems faced in its practical implementations as a motion controller are overcome. A L yapunov function is selected for the design of the SMC and an MIT rule is used for gain adaptation. The criterion that is minimized for gain adaptation is selected as the sum of the squares of the con...

Due to computational burden and dynamic uncertainty, the classical model-based control approaches are hard to be implemented in the multivariable robotic systems. In this paper, a model-free fuzzy sliding mode control based on neural network is proposed. In classical sliding mode controllers, system dynamics and system parameters are required to compute the equivalent control. In Radial Basis F...

The inherent compliance, high power-density, and musclelike properties of soft actuators are especially attractive and useful in many applications, including robotics. In comparison to classical/modern control approaches, model-based control techniques, e.g., sliding mode control (SMC), applied to flexible fluidic actuators (FFAs) offer significant performance advantages and are considered to b...

This paper is devoted to investigating sliding mode control (SMC) for Markovian switching singular systems with time-varying delays and nonlinear perturbations. The sliding mode controller is designed to guarantee that the nonlinear singular system is stochastically admissible and its trajectory can reach the sliding surface in finite time. By using Lyapunov functional method, some criteria on ...

Abstract The boundary layer approach is the most popular method to reduce the chattering phenomenon in sliding mode control (SMC) for uncertain nonlinear systems. This paper applies the fuzzy sliding mode structure based on the boundary layer theory which is used as speed controller of an indirect field-oriented control (IFOC) of an induction motor (IM) drive. A fuzzy inference system is assign...

This paper is concerned with the sliding mode control (SMC) design methodology for a class of uncertain switched hybrid systems with the unmeasurable states. A state observer is designed first, and then some conditions for the convergence of the estimated state error are obtained. By matrix transformation techniques, the solvability condition for the corresponding observer gain is established i...

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

In this paper, a prey-predator system that called human immunodeficiency virus (HIV) models is considered, and sliding mode control (SMC) is used to stabilize this system. The basic model is a 3-dimensional nonlinear ODEs that describes the interaction of the HIV with target cell, cell and macrophage. Lyapunove function is constructed to establish the global asymptotic stability of the uninfect...

For TCP linear dynamic systems with input time-varying and mismatched uncertainties, we propose an active queue management (AQM) scheme based on sliding mode control (SMC), which is aimed at robust stabilization of delay and uncertainties network system .The original uncertain time-delay system was first transformed into a delay-free system. Then based on the transformed system, an improved sli...

This paper presents a control strategy for micro-electro-mechanical systems (MEMS) z-axis gyroscope, based on the coupling of the fuzzy logic control with the so-called sliding mode control (SMC) approach and sliding mode observer. An adaptive model reference state tracking controller which can estimate the angular velocity vector, and the damping and stiffness model coefficients in real-time i...