Controlling an underactuated manipulator with less actuators than degrees of freedom is a challenging problem, specifically when it is to force the underactuated manipulator to track a given trajectory or to be configurated at a specific position in the work space. This paper presents two controllers for the set point regulation of 2-DOF underactuated manipulators. The first one is a cascade sl...

An advanced robust sliding mode control scheme is proposed for linear systems. First, based on LMI technique the positive definite matrix which is key to construct the sliding surface is found , then a global integral-type sliding surface is constructed for the systems in the presence of both matched and unmatched uncertainties, then the global sliding mode controller is constructed for systems...

A novel passivity-based sliding mode controller for active suspension system with uncertainties is presented in this paper to decrease vibration and increase robustness. Based on the characteristics of the suspension system, interconnection and damping assignment passivitybased control approach is used to construct integral sliding surface. By elaborately designing desired interconnection matri...

A new design approach for an adaptive fuzzy sliding mode controller (AFSMC) for linear systems with mismatched time-varying uncertainties is presented. The coefficient matrix of the sliding function can be designed to satisfy a sliding coefficient matching condition provided time-varying uncertainties are bounded. With the sliding coefficient matching condition satisfied, an AFSMC is proposed t...

A robust consensus controller is proposed for heterogeneous higher order nonlinear multi-agent systems (MAS), when the agent dynamics are involved with mismatched uncertainties. A distributed consensus protocol based on a time varying nonhomogeneous finite time disturbance observer (FTDO) and sliding mode control is designed to realize the network consensus of higher order MAS. The time varying...

An incremental motion control problem, specified by a trapezoidal speed command profile using multisegment sliding mode control (MSSMC), is proposed to control synchronous reluctance motor (SRM) servo drive. Since the control gains in the MSSMC are fixed, chattering responses occur due to large external load disturbances. Therefore, a neural network (ANN) is developed to tune the control gains ...

In this paper, we directly derive a new discrete state space expression of the fractional order chaotic system based on the fractional order Grnwald-Letnikow(G-L) definition and design a variable structure controller with a new faster reachinglaw. The new reaching-law has the advantages of weakening the high frequency shake. Firstly, the condition of the discrete sliding mode surface is demonst...

The paper proposes an approach to second order sliding mode control for multi-input multi-output (MIMO) nonlinear uncertain systems. With respect to standard sliding mode control, the second order sliding mode techniques for singleinput single-output (SISO) systems show the same properties of robustness and precision, feature a higher order accuracy and can be exploited to eliminate the chatter...

We present a formula that computes the output of an R-controllable, regular, single-input linear timeinvariant implicit system in such a way that it has prescribed relative degree and zeros. The formula is inspired on different generalizations of Ackermann’s formula. A possible application is in the context of sliding-mode control of implicit systems where, as the first step, one can use the pr...

A class of interconnected systems with nonlinear interconnections and nonlinear disturbances is considered. A continuous nonlinear reduced-order compensator is established by exploiting the structure of the uncertainties. A sliding surface is proposed in an augmented space formed by the system output and the compensator variables, and the stability of the corresponding sliding mode is analysed....