This paper presents result of a research and development of nonlinear system synthesis using sliding mode method to perfect the current sliding mode technique. Actually, the problem is the adjustment certain input control of nonlinear plant so the variable state system reaches the equilibrium point. It was done by choosing a manifol or certain area that once state system enter this area or mani...

Regarding the characteristics of the current quadrotor helicopter control system i.e. strong coupling, complex nonlinear, multi-input multi-output and susceptibility to outside disturbance and modeling error, a double closedloop control structure is proposed, involving attitude integral sliding mode robust control. The proposed controller consists of two parts: an angular velocity controller as...

Sliding mode control (SMC) has been successfully applied to many practical control problems due to its attractive features such as invariance to matched uncertainties. The characteristic feature of a continuous-time SMC system is that sliding mode occurs on a prescribed manifold, where switching control is employed to maintain the state on the surface. When a sliding mode is realized, the syste...

This paper investigates a novel direct torque control (DTC) for a sensorless interior permanent magnet synchronous motor (PMSM) based on a sliding mode technique (SMC). The speed and position of the interior PMSM are estimated online based on active flux concept. To overcome the large ripple content associated with the direct torque, a torque/flux sliding mode controller has been employed. Two ...

In this paper an inverter is taken as a member of Variable Structure System (VSS). A new Park vector based variable structure control (VSC) method is proposed. A modified definition of the Park vector is introduced to handle the effect of zero phasesequence component caused by an asymmetrical load. The design of a sliding mode controller consists of two main steps. Firstly, the design of the sl...

Conventional simulation and control methods for sliding mode control systems are limited by the available sampling bandwidth and allowable tracking error. Consequently, these methods suuer from harmful chattering. This paper presents an adaptive method for the discrete-time simulation and control of sliding mode control systems, based on an analysis on the relationship between tracking error an...

Aiming at the problem of convergence speed and chattering in sliding mode variable structure control manipulator, an improved exponential reaching law nonlinear surface are proposed, Lyapunov function is used to analyze its stability. According dynamic model 6-DOF UR5 manipulator proposed surface, corresponding scheme designed. The performance verified by tracking end trajectory on MATLAB Coppe...