In this paper, a novel approach for two-loop control of the DC-DC Ćuk converter in discontinuous conduction mode is presented using a sliding mode controller. The proposed controller can regulate the output of the converter in a wide range of input voltage and load resistance. Controller parameters are selected using PSO algorithms. In order to verify the accuracy and efficiency of the develope...

This paper addresses control design in networked control system by considering stochastic packet dropouts in the forward path of the control loop. The packet dropouts are modelled by mutually independent stochastic variables satisfying Bernoulli binary distribution. A sliding mode controller is utilized to overcome the adverse influences of stochastic packet dropouts in networked control system...

In the era of digital OTs (operating theatres), developments in robot-assisted surgery (RAS) can greatly benefit medical field. RAS is a method technological advancement that uses robotic articulations to assist complicated surgeries. Its implementation improves ability specialized doctor perform great extent. The paper addresses dynamics and control highly non-linear 3DOF surgical robot manipu...

In this paper, using the State Dependent Riccati Equation (SDRE) method, we propose a Robust Optimal Integral Sliding Mode Controller (ROISMC) to guarantee an optimal control law for a quadrotor which has become increasingly important by virtue of its high degrees of manoeuvres ability in presence of unknown time-varying external disturbances and actuator fault. The robustness of the controller...

For time-delay systems with mismatched disturbances and uncertainties, this paper developed an integral sliding mode control algorithm using output information only to stabilize the system. An integral sliding surface is comprised of output vectors and an auxiliary full-order compensator. The proposed output feedback sliding mode controller can satisfy the reaching and sliding condition and mai...

A novel passivity-based sliding mode controller for active suspension system with uncertainties is presented in this paper to decrease vibration and increase robustness. Based on the characteristics of the suspension system, interconnection and damping assignment passivitybased control approach is used to construct integral sliding surface. By elaborately designing desired interconnection matri...

A generalized model-based sliding mode controller for robot trajectory tracking is proposed, which incorporates the full-order, nonlinear, uncertain actuator dynamics in control law design. The problem of chattering is alleviated by replacing the discontinuous sliding mode control in the vicinity of the sliding mode by a high gain, continuous controller, resulting in dual mode control. Independ...

Hector M. Gutierrez Florida Institute of Technology 18.1 Sliding Mode Controller Design–An Overview 18.2 The Sliding Mode Formulation of the Robot Manipulator Motion Control Problem 18.3 Equivalent Control and Chatter Free Sliding Control 18.4 Control of Robotic Manipulators by Continuous Sliding Mode Laws Sliding Mode Formulation of the Robotic Manipulator Motion Control Problem • Sliding Mode...

The purpose of the sliding mode controller for a vehicle suspension system is to reduce the discomfort sensed by passengers which arises from road roughness and to increase the ride handling associated with the pitching and rolling movements. This necessitates a very fast and accurate controller to meet as much control objectives, as possible. This paper deals with introducing a new technique s...