An improved non-singular fast terminal sliding mode control (INFTSMC) is proposed in this study, to improve the dynamic speed regulation and tracking accuracy of a surface-mounted permanent magnet synchronous motor (SPMSM) system. A surface that completely removes singularities from controller input proposed. The key characteristics INFTSMC are convergence errors, high accuracy, robustness agai...

In this paper, a fault-tolerant control (FTC) method for robotic manipulators is proposed to deal with the lumped uncertainties and faults in case of lacking tachometer sensors system. First, third-order sliding mode (TOSM) observer performed approximate system velocities faults. This provides estimation information high precision, low chattering phenomenon, finite-time convergence. Then, an FT...

This article presents a fuzzy sliding-mode control scheme for a class of Takagi-Sugeno (T-S) fuzzy which are subject to norm-bounded uncertainties in each subsystem. The proposed stabilization method can be adopted to explore T-S uncertain fuzzy systems (TSUFS) with various local control inputs. Firstly, a new design is proposed to transform TSUFS into sliding-mode dynamic systems.In addi...

In this paper, we have exploited the first-order sliding mode control method to track the ECG data of the human heart by three different nonlinear control laws. In order to lessen the intrinsic chattering of the classic sliding mode control system, smooth function approximations of the control input, by means of the hyperbolic tangent and the saturation function, were used. The fast Fourier tra...

A new type of composite control scheme of disturbance-observer-based control and terminal sliding mode control is proposed for uncertain structural systems. The disturbance are supposed to include two parts. One is generated by an exogenous system, which can represent the harmonic signals with modeling perturbations in structural system. The other part is external excitation in H2-norm context....

In order to apply the terminal sliding mode control to robot manipulators, prior knowledge of the exact upper bound of parameter uncertainties, and external disturbances is necessary. However, this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot. To resolve this problem in robot control, we propose...

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...