In this paper, a controller design method for linear MIMO systems is presented which a sliding mode controller is reconfigured in case of system faults. Faults are detected with the residual vector generated from a standard linear observer. Once a fault has been detected the fault distribution matrix can be obtained and used to update the corrective or equivalent control parts of the sliding mo...

This paper deals with the design of a sliding mode multiple observer (an observer based on a multiple model) allowing to estimate the state vector of a non linear dynamical system. This latter is influenced by unknown inputs which act on it through a known transmission matrix. The state estimation and consequently the output estimation can therefore be classically used for detecting and isolati...

A sliding mode control based on nonlinear disturbance observer is presented in this paper considering the tracking control of mobile manipulators. The proposed control strategy adopts the nonlinear observer to estimate the bounded external disturbances and overcome the effects. In addition, the stability of the controller is verified by Lyapunov theory. Finally, the simulation results verify th...

A new chaotic communication scheme using sliding-mode adaptive observer is presented. Using synchronization in conjunction with digital communication schemes, we have enhanced the security of the transmitted signal and achieved a satisfactory, typical, secure communication scheme. The proposed system requires only one observer, which is an advantage over some of related work in this area. The s...

A second order sliding mode (SOSM) approach is proposed for orbital stabilization of a friction pendulum, operating under uncertain conditions. Only position measurements are assumed to be available. A SOSM velocity observer is developed and included into the closedloop system, driven by the quasihomogeneous controller that provides orbital stabilization of the pendulum. Performance issues of t...

This paper proposes a robust sliding mode observer for a class of linear uncertain systems to generate a reconstruction of faults. The state estimation error of the proposed observer is shown to be uniformly ultimately bounded with respect to a ball whose radius is a function of design parameters. An exact fault reconstruction scheme that is decoupled from the uncertainty is presented. In simul...

We describe a nonlinear observer-based design for control of vehicle traction that is important in providing safety and obtaining desired longitudinal vehicle motion. First, a robust sliding mode controller is designed to maintain the wheel slip at any given value. Simulations show that longitudinal traction controller is capable of controlling the vehicle with parameter deviations and disturba...

In this paper, a novel robust adaptive sliding-mode control scheme is presented high precision position control for a permanent magnet synchronous linear motor (PMSLM) servo system under the influence of unknown parameters, nonlinear friction, cogging forces, and external distance. The proposed strategy effectively combines the design techniques of adaptive control and sliding-mode control. In ...

Using the concept of dynamic sliding mode control, an asymptotic robust controller for high order nonlinear systems is presented. In this approach, a n-order nonlinear system is transformed into a first order system through systematic backstepping design and then it will be shown that the control objective is equivalent to design a robust control law for a 2 order auxiliary system with only out...

In this paper a method to simultaneously achieving the two main objective of smoothing the control while maintaining ideally infinite frequency regimes is particularized to the simplex sliding mode method. The present paper proposes a simplex sliding mode control logic based on the time derivative of the control vector. This practice, beside the standard chattering reduction effect, has the imp...