in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

A new discrete-time control algorithm has been developed by combining Variable Structure Systems (VSS) and Lyapunov design. It possesses all the good properties of the sliding mode control and avoids the unnecessary discontinuity of the control input, thus eliminating chattering which has been considered as a serious obstacle for applications of VSS. A unified control approach for the stator cu...

in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

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...

The adaptive sliding-mode observer has been widely used to estimate the rotor flux and rotor speed in inverter-fed sensorless induction motor drives. However, the technique requires setting a priori the sliding-mode observer constants and also knowledge of the induction motor parameters. This particular aspect can cause significant errors in the estimation of the rotor speed used in sensorless ...

Power Quality (PQ) parameters such as voltage RMS value, Total Harmonic Distortion (THD), and Power Factor (PF) are main topics to be considered in the connection of sensitive loads to the grid. In this paper, a Unified Power Quality Conditioner (UPQC) based on an Indirect Matrix Converter (IMC) is proposed to address some PQ issues as mitigation of voltage harmonics and compensation of sags an...

In this paper, two new identification schemes based on VSS theory and sliding mode are developed to address the time-varying parameter identification problems. The proposed direct identification scheme can successfully estimate fast time-varying parameters when the process is linear in the parametric space. The proposed indirect identification scheme further exploits the possibility of estimati...

The aim of this paper is to propose a new Kalman Filter Recurrent Neural Network (KFRNN) topology and a recursive Levenberg-Marquardt (L-M) algorithm of its learning capable to estimate states and parameters of a highly nonlinear Continuous Stirred Tank Bioreactor (CSTR) in noisy environment. The estimated parameters and states obtained by the proposed KFRNN identifier are used to design an ind...