A continuous nonsingular terminal sliding mode control approach is proposed for mismatched disturbance attenuation. A novel nonlinear dynamic sliding mode surface is designed based on a finite-time disturbance observer. The time taken to reach the desired setpoint from any initial states under mismatched disturbance is guaranteed to be finite time. In addition, the proposed method exhibits the ...

─ This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding modemultimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt as a starting point the multimodel approach to change the commutation of the sliding mode control (SMC) into fusion using a first order then a high order sliding mode control with single slid...

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...

When a ow, discontinuous across a switching surface, pointsìnward' so one cannot leave, it induces a unique ow within the surface, called the sliding mode. When several such surfaces intersect, one would seek a ow within the intersection, but some diiculties arise. We explore here the extent of the ambiguity involved in this situation and then show that for a certain form of`natural mechanism f...

This paper is devoted to investigating sliding mode control (SMC) for Markovian switching singular systems with time-varying delays and nonlinear perturbations. The sliding mode controller is designed to guarantee that the nonlinear singular system is stochastically admissible and its trajectory can reach the sliding surface in finite time. By using Lyapunov functional method, some criteria on ...

In this paper, the combination of RBF (Radial Basis Function) neural network and sliding mode control, which is used for vibration control, is examined. The approach is based on a sliding mode control methodology which drives the system towards a sliding surface by tuning the parameters of the controller using Gaussian radial basis function neural network. The input and output of RBF neural net...

|A novel continuous control system is proposed which guarantees robust tracking in nite time for uncertain robot arms subject to unknown dynamic friction. To achive this result, several novel algorithms were combined: a.a dynamic adaptive sliding mode control; b.a time base generator to yield a time-varing gain, which allows to obtain nite time convergence; c.continuous parametrization to compe...

This paper presents a synthesis of a nonlinear switching control of a rotational electropneumatic servodrive using a sliding mode approach. A nonlinear sliding mode control law is applied to the system under consideration. First, the model of the electropneumatic servodrive is developed. This model is nonlinear with respect to both the state variables and the control input. It is transformed to...

This paper investigates the chaos synchronization problem for a class of uncertain master–slave unified chaotic systems. Based on the sliding mode control technique, a robust control scheme is established which guarantees the occurrence of a sliding motion of error states even when the parameter uncertainty and external perturbation are present. Furthermore, a novel proportional–integral (PI) s...