A method of sliding mode control based on a fuzzy model identified through input output data is presented. In this approach the advantages of the sliding mode control technique are maintained, however parametric uncertainty and unmatched disturbance are acknowledged as limiting factors of controller performance and their effects are sought to be minirnised. Controller performance is compared wi...

In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...

Second order sliding mode control synthesis is developed for underactuated mechanical systems, operating under uncertainty conditions. In order to locally stabilize an underactuated system around an unstable equilibrium, an output is specified in such a way that the corresponding zero dynamics is locally asymptotically stable. Then, the desired stability property of the closed-loop system is pr...

In this paper, we extend the sliding mode idea to a class of unmatched uncertain variable structure systems. This method is achieved with introducing a new terminal sliding variable and the finite time stability of proposed method is proved using a new particular finite time condition in both reaching and sliding phases. In reaching phase new sliding mode controller is derived to guarantee the ...

The occurrence of catastrophic earthquakes necessitates further researches in the structure engineering for retrofitting construction structures. In this paper, the application of the active control in the structures’ seismic response has been addressed. A single degree of freedom nonlinear structure has been studied. The nonlinear dynamic of the structure is considered in which, the nonlinear ...

For uncertain time-delay systems with mismatch disturbances, this paper presented an integral sliding mode control algorithm using output information only. An integral sliding surface is comprised of output signals and an auxiliary full-order compensator. The designed output feedback sliding mode controller can locally satisfy the reaching and sliding condition and maintain the system on the sl...

Both Soft computing based controllers and sliding mode controllers have been utilized to regulate the output voltage of dc-dc converters in response to changes in the load and the input voltage. Although both control techniques possess desirable characteristics, they have disadvantages which prevent them from being applied extensively. Many researchers have proposed the combination of sliding m...

Fractional order sliding mode control has been applied for speed of PMSM. However, in many previous works, the effects controller's parameters have not studied. This paper investigates fractional on performance FOSMC In this work, order, α and β FOSMS-PID were varied, their performances compared. The simulation experimental results show that variation integration, differentiation, can affect FO...

In this paper, MLP network with sliding-mode controller and neural control is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Because the nonlinear nature robot, first the nonlinear and robust method sliding mode as a control theory for the system is chosen. Chattering phenomenon is always a problem of sliding...