The tip position control of a single-link flexible manipulator is considered in this paper. The cross-sectional dimension of the manipulator is tuned by genetic algorithms such that the first vibration mode dominates the higher order vibrations. A sliding mode controller of reduced dimension is employed to control the manipulator using the rigid and vibration measurements as feedback. Control e...

This work deals with the design of a FDI scheme on the basis of sliding mode techniques for a 3 three tanks system. More precisely, we focus on the design of high-order sliding mode observer to estimate the magnitude of the actuator faults. The main advantage of the use of high order sliding mode techniques is that it allows to avoid the chattering phenomenon which is inherent to the classical ...

This article describes the synthesis of a sliding mode controller SMCr based on a second order linear model using an integral-differential surface of the tracking-error. Different from similar strategies, the tuning parameters keep a close relationship with the system dynamics in terms of conventional specifications of transient response. The proposed controller only needs the output feedback o...

This paper proposes a novel sliding mode control (SMC) scheme to stabilize a class of fractional-order chaotic systems. Through constructing two sliding mode variables, the control problem of n-dimensional system can be transformed to the equivalent stabilizing problem of a reduced-order system. Subsequently, on the basis of second-order sliding mode (SOSM) technique, a robust control law is de...

Second order sliding mode control synthesis is developed for underactuated mechanical systems, operating under uncertainty conditions. In order to locally stabilize an underactuated system around an unstable equilibrium, an output is specified in such a way that the corresponding zero dynamics is locally asymptotically stable. Then, the desired stability property of the closed-loop system is pr...

Sliding mode control (SMC) has been successfully applied to many practical control problems due to its attractive features such as invariance to matched uncertainties. The characteristic feature of a continuous-time SMC system is that sliding mode occurs on a prescribed manifold, where switching control is employed to maintain the state on the surface. When a sliding mode is realized, the syste...

Sliding mode is used in order to retain a dynamic system accurately at a given constraint and is the main operation mode in variable structure systems. Such mode is a motion on a discontinuity set of a dynamic system and features theoretically-infinite-frequency switching. The standard sliding modes are known to feature finite time convergence, precise keeping of the constraint and robustness w...