This paper considers the problem of reconstructing, simultaneously occurring actuator and sensor faults in a nonlinear system. The theory which will be developed in this paper is based on a sliding mode observer formulation, designed around an LPV model approximation of the nonlinear system. It extends previous work which has independently considered actuator and sensor faults reconstruction. H...

This paper deals with the fault ride-through capability assessment of a doubly fed induction generator-based wind turbine using a high-order sliding mode control. Indeed, it has been recently suggested that sliding mode control is a solution of choice to the fault ride-through problem. In this context, this paper proposes a second-order sliding mode as an improved solution that handle the class...

For an underactuated unmanned surface vehicle (USV), time-varying external disturbances affect the accuracy of trajectory tracking. To ensure tracking accuracy, in this paper reduced-order extended state observer (ESO) and super-twisting second-order sliding mode controller are adopted. The ESO is designed to address unknown sideslip angle guidance law. Additionally, technology contributes a re...

A one-degree-of-freedom arm driven by pneumatic muscles has been designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications. The experimental set-up is very non-linear and very difficult to control properly. As a reference, an enhanced PID controller was designed. At the same time, a sliding-mode controller based on an observer was desig...

In this paper a continuous fault tolerant control allocation is proposed. This approach is based on a uniform High-Order Sliding-Mode Observer where only measurable outputs are used. The fault tolerant control scheme is developed using, for the first time, a continuous integral sliding-mode and a fixed control allocation technique which provides an approximate estimation of matched faults. The ...

In this paper, a simple but efficient framework is proposed to achieve finite-time decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both first-order and second-order decentralized sliding mode estimators. In particular, we show that the proposed first-order decentralized sliding mode esti...

the problem of relative motion control for spacecraft formation flying in eccentric orbits is considered in this paper. due to the presence of nonlinear dynamics and external disturbances, a robust fuzzy sliding mode controller is developed. the slopes of sliding surfaces of the conventional sliding mode controller are tuned according to error states using a fuzzy logic and reach the pre-define...

A new perturbation estimator, using radial basis function (RBF) neural networks (RBFNN) to modify the sliding observer (SPO), is proposed with fast fractional-order terminal mode control (FFOTSMC). It aims a seven-degree-of-freedom (7-DOF) robot manipulator. The estimator applies data-driven method RBFNN compensate for estimation error in conventional SPO first time. modified estimates perturba...

Abstract: In order to solve chattering problem of conventional sliding mode observer (SMO), this paper proposes a exponential reaching law sliding mode observer (ERL-SMO) for a permanent magnet synchronous motor (PMSM) which substitutes exponential reaching law for constant reaching law. The ERL-SMO estimates the rotor position and the angular velocity from the back electromotive force (EMF) ba...