In this paper, we present a variable structure control method that eliminates the reaching phase. The approach is based on modifying the sliding domain equations through the use of exponential functions. In addition, the proposed method insures optimal convergence parameters with respect to the tracking errors and control effort.

1 School of Electrical and Information Engineering, Xihua University, Chengdu 610096, China 2 School of Applied Mathematics, University of Electronic Science and Technology of China, Chengdu 610054, China 3 School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide SA 5005, Australia 4 School of Engineering and Science, Victoria University, Melbourne, VIC 8001, Austra...

A tutorial account of variable structure control with sliding mode is presented in this paper. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent characteristics such as invariance, robustness, ord...

This paper addresses the problem of controller design for constrained robots. A control algorithm, described as a combination of the direct adaptive and the variable structure method, is presented for the trajectory tracking of an end-effecter on a constrained surface with specified constraint forces. This scheme has certain advantages, both with respect to computational efficiency and with res...

Fuzzy logic control is a relatively new technology and hence it needs rigorous comparative analyses with other well-established conventional control schemes. Further, fuzzy controller stability analysis is a major hindrance for its popularity among control engineers. This paper shows how stable &zzy controllers may be synthesized for a typical AGV from the perspective of variable structure syst...