This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic Control and Adaptive Control. The reaching conditions, stability and robustness of the system with the proposed controller are guaranteed. In addition, the pro...

Abstract—This paper presents a robust control algorithm based on adaptive proportional-integral-derivative (PID) controller and sliding mode control (SMC) approach. In this paper, the drawbacks of SMC are compensated by adopting an adaptive PID continuous second order sliding mode control approach (APID2SMC) with PID sliding surface. The stability of the system is guaranteed in the sense of Lya...

This paper presents the design of an optimal nonlinear controller for trajectory tracking of a quadrotor helicopter based on the well-known sliding mode control method (SMC). To this end, the Lyapunov law analysis has been used regarding nonlinear equations of the quadrotor. The proposed control method is characterized by its robustness against disturbances and aerodynamic effects. One of the m...

a new approach for pole placement of nonlinear systems using state feedback and fuzzy system is proposed. we use a new online fuzzy training method to identify and to obtain a fuzzy model for the unknown nonlinear system using only the system input and output. then, we linearized this identified model at each sampling time to have an approximate linear time varying system. in order to stabilize...

In this paper, we consider nested sliding mode control of SISO nonlinear systems, perturbed by bounded matched and unmatched uncertainties. The systems are assumed to be in strictfeedback form. A step wise procedure is introduced to obtain the controller. In each step, a continuous sliding mode controller is designed as virtual control law. Then the next step sliding surface is defined by using...

this paper proposes a hybrid control scheme for the synchronization of two chaotic duffing oscillator system, subject to uncertainties and external disturbances. the novelty of this scheme is that the linear quadratic regulation (lqr) control, sliding mode (sm) control and gaussian radial basis function neural network (grbfnn) control are combined to chaos synchronization with respect to extern...

Sliding mode control systems have been recognized to be robust in the presence of exogenous perturbations. For a sliding mode control design, a known upper bound of the perturbation is usually assumed. In this paper, we present an adaptive algorithm for the estimation of this upper bound, and consequently there is no need for the exact knowledge of this quantity. Moreover, we have applied the p...

Nonlinear system control has been widely concern of the research. At present, the nonlinear system decoupling control and static feedback linearization that based on the theory of differential geometry brought the research getting rid of limitation for local linearization and small scale motion. However, differential geometry control must depend on precise mathematical model. As a matter of fac...

The sliding-mode control of nonlinear uncertain systems with un-modeled first-order actuator dynamics has been considered. A 2-SMC scheme with adaptive switching rule has been proposed, and its effectiveness has been shown for a class of systems encompassing non zero-input-stable (ZIS) systems and non-BIBS stable plants. The proposed algorithm is easy to implement and therefore suited to being ...

This paper presents a smooth sliding mode control plus backstepping method for the motion/force control of a constrained robotic manipulator with flexible joints. The control scheme is presented based on that overall system parameters are with uncertainties whereas only the constrained force, positions and velocities of links and rotors are measurable. The smooth sliding controller can achieve ...