To improve the dynamic quality of PMSM servo system, a generalized super-twisting sliding mode control strategy based on sinusoidal saturation function is proposed in this paper. Firstly, mathematical model established. Then, variable structure speed controller designed algorithm. weaken chattering phenomenon, used instead sign function. Finally, effectiveness was verified by MATLAB/Simulink si...

In the present contribution we study the sliding mode control (SMC) problem for a diffuse interface tumor growth model coupling a viscous Cahn–Hilliard type equation for the phase variable with a reaction-diffusion equation for the nutrient. First, we prove the well-posedness and some regularity results for the state system modified by the state-feedback control law. Then, we show that the chos...

Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control appro...

The technological development of wind energy conversion systems (WECS) is emphasized on the injection power into utility grid more smoothly and robustly. Sliding mode control (SMC) has proven to be a popular solution for grid-connected WECS due its robust nature. super twisting sliding (STSMC), variant SMC, an effective approach suppress inherent chattering in SMC provide error-free control. an...

This work aims the precise control of the piezoelectric actuators that can theoretically provide unlimited motion resolution. For this purpose Sliding Mode Controller (SMC) is used. The proposed algorithm is known to have order of sampling time square and therefore faster application than DSP was required. The application of the algorithm via analog electronics is suggested. Preliminary work, s...

Good tracking performance is very important for trajectory tracking control of robotic systems. In this paper, a new model-free control law, called PD with sliding mode control law or PD–SMC in short, is proposed for trajectory tracking control of multi-degree-of-freedom linear translational robotic systems. The new control law takes the advantages of the simplicity and easy design of PD contro...

This paper considers the robust control of non-linear uncertain chemical processes in the presence of input-delay and inverse response. A novel and systematic sliding mode control (SMC) scheme, which integrates a time-advanced non-linear predictor and a statically equivalent output map (SEOM), is proposed to compensate for the process s input-delay and to circumvent the negative effect of inver...

This paper presents the position tracking performance of an electro-hydraulic hydraulic servo (EHS) system using sliding mode control (SMC) with proportional-integral-derivative (PID) sliding surface. In modelling process, a mathematical model of the EHS system is developed by considering its nonlinearities as represented by a Lu-Gre friction model. The control strategy is derived from the deve...

This paper presents an underwater robot control system using combination principle among sliding mode control (SMC), Pontryagin maximum principle and linear PI control. The SMC switches according to the Pontryagin’s time optimal control principle, in which the solution is obtained by using neural network approach to yield a time optimal response at its reaching phase. PI control is used in plac...