based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

Antilock braking system (ABS) is a highly nonlinear system including variation and uncertainties in the parameters due to changes in vehicle loadings, road condition, etc. It is a difficult task to design an ideal controller for ABS. In this paper, a novel robust controller named fractional order sliding mode controller (FOSMC) is proposed for ABS to regulate the slip to a desired value. The pr...

This paper depicts the design and implementation of non-linear control approach called sliding mode control for Negative Output Elementary Superlift Luo converter (NOESLLC).DC-DC converters finds its applications majorly in all power electronic industries nowadays. In order to provide a good regulation of output in these converters it is mandatory to make them operate in the closed loop mode us...

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

This paper deals with the development of different control techniques such as Fuzzy, Sliding mode, and Sliding Mode fuzzy controllers for the servo drive system. Servomotors are widely used in industry due to their relatively low cost and high reliability. To get high performances we have to control the input variable in uncertainties and disturbance. Two cases are discussed for each control sc...

This article discusses the use of Sliding Mode Control (SMC) for control a four-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). The Newton-Euler method is utilized to build quadcopter's dynamic model. model divided into under-actuated fully actuated subsystems. Even though controlling UAVs difficult owing their extremely nonlinear characteristics, previous experimental...

In this paper, we consider boundary stabilization for a one-dimensional Euler-Bernoulli equation with boundary moment control and disturbance. The active disturbance rejection control (ADRC) and sliding mode control (SMC) approaches are adopted in investigation. By the ADRC approach, an extended state observer with time varying gain is designed to estimate the disturbance. It is shown that the ...

Continuous Stirred Tank Reactors (CSTR) are the most important and central equipment in many chemical and biochemical industry that exhibit second order complex nonlinear dynamics. The nonlinear dynamics of CSTR poses many design and control challenges. The proposed controller guarantees a stable closed loop behavior over multiple operating points even in presence of disturbances and parametric...

The tiltrotor aircraft consists of three primary flight modes, which are helicopter mode in low forward speed flight, airplane high and conversion mode. This paper presents an active disturbance rejection controller for flight. First, a dynamics model is developed verified. Then, control laws, designed via the (ADRC) sliding (SMC) techniques, proposed with uncertainties external disturbance, es...