The main objectives of this paper is aimed to control the position of a field oriented Induction Servo motor drive for a given reference input signal in a very efficient way and to compare the two control schemes using Matlab/Simulink. To design a total sliding-mode control system which is insensitive to uncertainties, including parameter variations and external disturbances in the whole contro...

In this paper, a robust adaptive fuzzy control algorithm based on the generalized fuzzy hyperbolic model (GFHM) for nonlinear system with uncertainties is proposed. The proposed control is a smooth control with no chattering phenomena, which consists of two control terms. One is the certainty equivalent control and the other is the compensated control, which is obtained by bounded estimation in...

In this paper, we study the formation control problem for platoons of mobile agents that are guided by coarsely quantized information. A comprehensive trajectory-based analysis is presented for the convergence of the multi-agent platoon, which greatly improves the existing result that applies only to 3-agent platoons. Using tools from non-smooth analysis, it is shown that the formation can conv...

Professor Utkin in his discussion paper proposed an example showing that the amplitude of chattering caused by the presence of parasitic dynamics in systems governed by FirstOrder Sliding-Mode Control (FOSMC) is lower than the obtained using Super-Twisting Algorithm (STA). This example served to motivate this research reconsidering the problem of comparison of chattering magnitude in systems go...

The remarkable properties of sliding mode control (SMC)—such as robustness, accuracy, and ease implementation—have contributed to its wide adoption by the community. To accurately compensate for parametric uncertainties, switching part SMC controller should have gains that are sufficiently large deal with but small minimize chattering phenomena. Hence, proper adjustment is crucial ensure accura...

Accuracy of tracking and robustness are very important specifications in control of parallel robots. Classical control methods could not satisfy these requirements in parallel robots, simultaneously. Sliding mode control solves problems of accurate tracking, but it is not robust enough because of influence of chattering phenomena. Implementation of fuzzy logic in sliding mode enhances robustnes...

An adaptive H∞ control for positioning mechanism with input nonlinearity is proposed in this paper. It is assumed that the input nonlinearity can be described as unknown parameters term and bounded disturbance term, an adaptive H∞ control method is given. Proposed control strategy does not include a discontinuous function, therefore, it can avoid to cause the chattering phenomena. Moreover, in ...

This paper proposes a sliding-mode control scheme for a class of nonlinear systems with multiple time delays, in the state variables and in the output signal. The unmeasured state of the system is estimated by an asymptotic observer for the zero dynamics and high-gain observers connected in cascade for a chain of integrators with a nonlinear input disturbance which compose the complete state. T...

Chaotic chattering behaviors of DC-DC converters are caused by the nonlinearity of the switching operation which is an essential characteristics of the power electronics circuits. In this paper the bifurcation and the appearance of the chaotic chattering in the discontinuous current conduction mode of a DC-DC buck converter are discussed experimentally. Moreover, a method for controlling chaoti...

Two phenomena can produce chattering: switching of input control signal and the large amplitude of this switching (switching gain). To remove the switching of input control signal, dynamic sliding mode control (DSMC) is used. In DSMC switching is removed due to the integrator which is placed before the plant. However, in DSMC the augmented system (system plus the integrator) is one dimension bi...