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...

in previous papers authors have considered agents as inertia-less self driven particles and designed a flocking algorithm. application of this algorithm to agents with considerable inertial characteristics needs a behavioural controller. the controller uses the local information and helps every agent to imitate the desired behaviour as a member of the flocking frame which covers the main issue ...

in this paper, an adaptive neuro fuzzy sliding mode based genetic algorithm (anfsga) controlsystem is proposed for a ph neutralization system. in ph reactors, determination and control of ph isa common problem concerning chemical-based industrial processes due to the non-linearity observedin the titration curve. an anfsga control system is designed to overcome the complexity of precisecontrol o...

This paper presents the design of an optimal nonlinear controller for trajectory tracking of a quadrotor helicopter based on the well-known sliding mode control method (SMC). To this end, the Lyapunov law analysis has been used regarding nonlinear equations of the quadrotor. The proposed control method is characterized by its robustness against disturbances and aerodynamic effects. One of the m...

In this paper, chaotic dynamic and nonlinear control in a glucose-insulin system in types I diabetic patients and a healthy person have been investigated. Chaotic analysis methods of the blood glucose system include Lyapunov exponent and power spectral density based on the time series derived from the clinical data. Wolf's algorithm is used to calculate the Lyapunov exponent, which positive val...

In conventional sliding-mode control systems, the sliding-mode motion is of reduced order. Two main problems hindering the application of the sliding-mode control are the singularity in terminal slidingmode control systems and the chattering in both the conventional linear sliding-mode and the terminal sliding-mode control systems. This paper proposes a chattering-free full-order terminal-slidi...

This paper presents an LQR-based sliding surface design procedure that takes, in addition to the desired weighting matrix, a preset real eigenvalue consequential in discrete VSS as inputs. A weighting matrix that simultaneously stays``closest'' to the desired one and yields the preset eigenvalue is sought. Sliding surface is then determined from the optimal gain matrix and the preset eigenvalue...

This work deals with a sliding mode control scheme for discrete time nonlinear systems. The control law synthesis problem is subdivided into a finite number of subproblems of lower complexity, which can be solved independently. The sliding mode controller is designed to force the system to track a desired reference and to eliminate unwanted disturbances, compensating at the same time matched an...

To satisfy with the high-power control of the asynchronism motor control drive system, this paper devised a novel reaching law of sliding mode variable structure control strategy and analysed this control strategy for vector control system of asynchronism motor and the high-frequency chattering phenomenon in traditional sliding mode controllers. The simulation results demonstrate that the contr...