A fuzzy sliding mode controller is proposed in this study for ship roll stabilization. Ship dynamic models usually contain large uncertainty. Sliding mode control is well known for its good robustness to large uncertainty. However, the required uncertainty bound is usually difficult to estimate. A fuzzy logic is designed here for the upper bound estimation of the uncertainty coming mostly from ...

Based on the mathematical model of the permanent magnet synchronous motor (PMSM), a novel sliding mode variable structure input-output feedback linearization controller is proposed. A precision linearization method is employed to achieve input-output linearization and decoupling control of the motor, which is decoupled into a second-order linear speed subsystem and a first-order linear d-axis c...

Sliding mode control systems have been recognized to be robust in the presence of exogenous perturbations. For a sliding mode control design, a known upper bound of the perturbation is usually assumed. In this paper, we present an adaptive algorithm for the estimation of this upper bound, and consequently there is no need for the exact knowledge of this quantity. Moreover, we have applied the p...

This paper deals with the hybrid position/force control of constrained manipulators subjected to uncertainties and disturbances of various nature, including Coulomb friction. The proposed solution is based on sliding-mode control theory, which has been shown to be highly effective in counteracting uncertainties and disturbances for some classes of uncertain nonlinear systems. Specific drawbacks...

Two problems: Parameter uncertainty and chattering effect present in Control signal are have a great deal in performance of system with the designed controllers. This paper presents Fuzzy Sliding Mode Controller (FSMC) for Multi Area Load Frequency Control problem or Automatic Generation Control (AGC) in a De-regulated environment. The first problem is addressed by designing a sliding mode cont...

In underwater remote vehicle-manipulator system (URVM) applications, it is beneficial to have the underwater remote vehicle (URV) hold station using its thrusters while a human pilot operates the serial manipulator. This provides a stable platform for the manipulator and eases the pilot’s job drastically when current and/or tether disturbances are present. The contribution of this work is twofo...

Fuel cells guarantee ecological ways of electricity production by promising zero emissions. Proton exchange membrane fuel (PEMFCs) are considered one the safest methods, with a low operating temperature and maximum conversion efficiency. In order to harness full potential PEMFC, it is imperative ensure membrane’s safety through appropriate control strategies. However, most strategies focus on e...

In this paper, a class of uncertain linear systems with unmatched disturbances is considered, where the nominal system representation allowed to be non-minimum phase. A sliding surface designed which dependent on output, observed state, and estimated parameters. coordinate transformation introduced so that stability analysis reduced-order mode dynamics can conveniently performed. robust output ...