Abstract The typical power-assisted hip exoskeleton utilizes rotary electrohydraulic actuator to carry out strength augmentation required by many tasks such as running, lifting loads and climbing up. Nevertheless, it is difficult precisely control due the inherent nonlinearity large dead time occurring in output. presence of fires undesired fluctuation system Furthermore, risk damaging mechanic...

A more robust servo control system using Sliding Mode Control to handle shock and vibration disturbances for optical disc drive systems is presented in the paper. An estimator-based SMC controller is used in the radial servoloop instead of the traditional PID controller. Simulation and experimental results show a significant improvement of the drive’s anti-shock performance in the radial direct...

Abstract: This paper proposes a tracking control method for a certain type of differential-drive wheeled mobile robot, called automated guided vehicles (AGVs), using a continuous mode approach of sliding mode control (SMC). The SMC applied produces a continuous signal in between the U and –U control signals instead of discrete ones. The controller is applied to control the velocity and directio...

In this paper, a novel controller based on the Integral Sliding Mode Controller (ISMC) is proposed and designed for controlling DC motor in a servo drive. The modeling and analysis of the servo DC motor are obtained. To improve the controller performance in steady state (zero error), the integral sliding mode controller (ISMC) is designed and evaluated. Since the main drawback of SMC is a pheno...

A CLLC resonant converter’s gain is easily influenced by the operating frequency, and when frequency adjusted over a wide range, efficiency of converter greatly reduced. Traditional closed-loop control strategies also have disadvantages such as slow dynamic response vulnerability to load. In this paper, high-order sliding mode (SMC) design method proposed based on current problems characteristi...

This paper presents an underwater robot control system using combination principle among sliding mode control (SMC), Pontryagin maximum principle and linear PI control. The SMC switches according to the Pontryagin’s time optimal control principle, in which the solution is obtained by using neural network approach to yield a time optimal response at its reaching phase. PI control is used in plac...

Proton exchange membrane fuel cells (PEMFCs) are promising clear and efficient new energy sources. An excellent control system is a normal working prerequisite for maintaining a fuel cell system in correct operating conditions. Conventional controllers could not satisfy the high performance to obtain the acceptable responses because of uncertainty, time-change, nonlinear, long-hysteresis and st...

Proton exchange membrane fuel cells (PEMFCs) are promising clear and efficient new energy sources. An excellent control system is a normal working prerequisite for maintaining a fuel cell system in correct operating conditions. Conventional controllers could not satisfy the high performance to obtain the acceptable responses because of uncertainty, time-change, nonlinear, long-hysteresis and st...

This article presents a composite sliding mode control (CSMC) method for speed of surface-mounted permanent magnet synchronous motors (SPMSMs). The proposed CSMC consists new (SMC) based on novel hybrid reaching law (HRL) and an extended disturbance observer (ESMDO). HRL is composed two parts: terminal part exponential plus proportional part. It can effectively suppress the chattering reduce ti...

Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, distributed bioinspired sliding mode controller proposed paper. First, the conventional (SMC) presented, consensus addressed on basis graph theory. Next, high frequency chattering issue SMC scheme meanwhile imp...