This work proposes a neural-fuzzy sliding mode control scheme for a hydro-turbine speed governor system. Considering the assumption of elastic water hammer, a nonlinear mode of the hydro-turbine governor system is established. By linearizing this mode, a sliding mode controller is designed. The linearized mode is subject to uncertainties. The uncertainties are generated in the process of linear...

In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for stabilization of underactuated robotic systems. The finite time employed to estimate exterior disturbances system and develop law. proposed controller can regulate state trajectories systems origin within in existence external disturbances. stability analysis scheme verified ...

Sliding mode controllers are known to be robust to parameter changes, disturbances and uncertainties. In this paper a novel discrete time sliding mode controller with two surfaces is proposed to improve the speed of response. Here, approach angle reaching law is used to take the trajectory to the surfaces. The advantage is that the system trajectory is bought to the first surface with maximum v...

The mobile satcom antenna (MSA) enables a moving vehicle to communicate with a geostationary Earth orbit satellite. To realize continuous communication, the MSA should be aligned with the satellite in both sight and polarization all the time. Because of coupling effects, unknown disturbances, sensor noises and unmodeled dynamics existing in the system, the control system should have a strong ad...

In the paper, the differential equations of the controlled pneumatic actuators as a part of simulator for training drivers of freight vehicles based on 6-DOF Stewart Platform are presented. The sliding-mode control strategy is proposed and studied by simulations. The experimental results for the existing on-off logical control algorithm are given, showing potential advantage of the sliding-mode...

Robotic manipulators can reduce the cost of production and improve productivity; however, controlling a manipulator to follow desired trajectory is thorny problem. In this study, we introduced various forms interference facilitate modeling dual-axis manipulator. The associated with payload handled by an adaptive radial basis neural network (ARBNN) controller, while other estimated time delay es...

Accurate positioning of the motor requires high control performance for low-speed operation and motor’s parameter perturbation. In the AC motor vector control technology, the nonsingular higher-order terminal sliding mode observer of Insertion Permanent Magnet Synchronous Motor (IPMSM) is put forward based on the object current and voltage values to obtain the rotor position and speed signa. Th...