In this paper, a robust output feedback tracking control scheme for motion control of uncertain robot manipulators without joint velocity measurement based on a second‐order sliding mode (SOSM) observer is presented. Two second‐order sliding mode observers with finite time convergence are developed for velocity estimation and uncertainty identification, respectiv...

This study presents a sliding mode multimodal control for a sensorless photovoltaic panel, which sets itself as per the sun position at every second during the day for a period of five years; then tracker, using sliding mode multimodal controller and a sliding mode observer, will track these positions to make sunrays orthogonal to photovoltaic cell that produces more energy. After sunset, track...

A state observer is proposed for a class of multi-output nonlinear systems. The gain of this observer involves a design function that has to satisfy some mild conditions which are given. Different expressions of such a function are proposed. Of particular interest, it is shown that high gain observers and sliding mode like observers can be derived by considering particular expressions of the de...

The requirement of a uniformly bounded convergence time for all initial conditions is important for modern control theory. In particular the requirement appears in design of hybrid or switched systems. It can happen in such systems that a dynamic system repeatedly changes its configuration, and the configuration only lasts for some bounded time with its lower estimation known in advance. The na...

A second-order discrete-time sliding mode observer (DSMO)-based method is proposed to estimate the state of charge (SOC) of a Li-ion battery. Unlike the first-order sliding mode approach, the proposed method eliminates the chattering phenomenon in SOC estimation. Further, a battery model with a dynamic resistance is also proposed to improve the accuracy of the battery model. Similar to actual b...

Identification of operating mode is a key step in the fault diagnosis of the hybrid systems. The novelty of this paper is the definition of a hybrid observer where discrete event is identified and then continuous model of a sub-system is selected for the design of observer using sliding mode technique. The observer output is finally used for mode identification and fault diagnosis. The proposed...

This paper presents a new adaptive Sliding-Mode flux observer for speed sensorless and rotor flux control of three-phase induction motor (IM) drives. The motor drive is supplied by a three-level space vector modulation (SVM) inverter. Considering the three-phase IM Equations in a stator stationary two axis reference frame, using the partial feedback linearization control and Sliding-Mode (SM) c...