In this paper, we will propose a cooperative control approach that is based on the Synthesize of self-tuning neural network with sliding mode control methodology. The main purpose is to eliminate the chattering phenomenon such that the seesaw system has a superior fixed position and tracking response. Moreover, the system performance obtained via the method of synthesize neural network with SMC...

In this paper, a chattering free sliding mode control (SMC) for a robot manipulator including PID part with a fuzzy tunable gain is designed. The main idea is that the robustness property of SMC and good response characteristics of PID are combined with fuzzy tuning gain approach to achieve more acceptable performance. For this purpose, in the first stage, a PID sliding surface is considered su...

The Sliding Mode Control (SMC) is well known by its robustness to parameter uncertainties or external disturbances. The repetitive control (RC) is able to track or reject periodic and multi-periodic signals. This paper presents a new control strategy as a combination of a Sliding Mode approach and Repetitive Control to reject periodic and multi-periodic disturbances in the case of nonlinear mul...

In this report, we discuss accurate and robust sliding mode tracking control for highly nonlinear robot manipulators using a disturbance observer. To eliminate the chattering problem existed in conventional Sliding Mode Control (SMC) approach, which is caused by modeling errors and uncertainties. The efficient compensation of the disturbance observer has been introduced. The proposed sliding mo...

The sliding-mode controller (SMC) for the lateral motion control problem of Four Driving-Steering Wheels (4DW/SW) vehicle is presented in this paper. The lane centerline tracking is the main control performance. The dynamic model of the vehicle has been taken into account. Closed-loop robustness to uncertainties is achieved. The lane centerline tracking is achieved using look-ahead techniques. ...

A nonlinear sliding mode control method is presented for single inverted pendulum position tracking control. Sliding mode control (SMC) is a special nonlinear control method which have quick response, insensitive to parameters variation and disturbance, online identification for plants are not needed, its very suitable for nonlinear system control, but in reality usage, the chattering reduction...

In this paper, we consider boundary stabilization for a one-dimensional Euler-Bernoulli equation with boundary moment control and disturbance. The active disturbance rejection control (ADRC) and sliding mode control (SMC) approaches are adopted in investigation. By the ADRC approach, an extended state observer with time varying gain is designed to estimate the disturbance. It is shown that the ...

In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respec...

In this paper, we obtain new results for the analysis and control of the Pan system (2010) using sliding mode control (SMC). The stability results derived in this paper for the control of the Pan system to stabilize about its unstable equilibrium at the origin have been derived using sliding mode control and Lyapunov stability theory. Numerical simulations are depicted to demonstrate the contro...

Abstract – The modeling and control of 3 Degrees-of-Freedom (DOF) four-rotor rotorcraft is presented in this paper. Optimal control (LQR), LQR with gain scheduling, feedback linearization and sliding-mode control are simulated and tested on an experimental rig. The performance of the individual controllers are compared and discussed. Our simulation showed Sliding Mode Control (SMC) returned the...