This paper proposes a novel sliding mode control (SMC) scheme to stabilize a class of fractional-order chaotic systems. Through constructing two sliding mode variables, the control problem of n-dimensional system can be transformed to the equivalent stabilizing problem of a reduced-order system. Subsequently, on the basis of second-order sliding mode (SOSM) technique, a robust control law is de...

This paper presents a novel Adaptive Fuzzy Sliding Mode Controller (AFSMC) for a model-scaled unmanned helicopter as real nonlinear plant. First, in order to efficient control law design, the nonlinear model of the helicopter is reformulated as an affine nonlinear system. To do this aim, a Dynamic Inverter (DI) is introduced as a bijective function. The proposed DI is used to interconnect the h...

In this paper, a Robust adaptive neural network controller (RANNC) based on variable structure system for robotic manipulators is proposed to alleviate the problems met in practical implementation using classical variable structure controllers. The chattering phenomenon is eliminated by substituting single-input single-output radialbasis-function neural networks (RBFNN's), which are nonlinear a...

In this paper, a new sliding mode controller is proposed for the heading control of the submersible vehicle. Within a fixed boundary layer around the switch surface, since the fuzzy logic is applied, the chattering phenomenon is eliminated by smoothing the switch signal. Outside the boundary, the sliding mode control is applied to driving the system states into the boundary layer. Moreover, the...

A robust consensus controller is proposed for heterogeneous higher order nonlinear multi-agent systems (MAS), when the agent dynamics are involved with mismatched uncertainties. A distributed consensus protocol based on a time varying nonhomogeneous finite time disturbance observer (FTDO) and sliding mode control is designed to realize the network consensus of higher order MAS. The time varying...

The optimal trajectory with respect to some metric may require very many switches between controls, or even infinitely many, a phenomenon called chattering; this can be problematic for existing motion planning algorithms that plan using a finite set of motion primitives. One remedy is to add some penalty for switching between controls. This paper explores the implications of this switching cost...

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...

The optimal trajectory with respect to some metric for a system with a discrete set of controls may require very many switches between controls, or even infinitely many, a phenomenon called chattering; this can be problematic for existing motion planning algorithms that plan using a finite set of motion primitives. One remedy is to add some penalty for switching between controls. This paper exp...