In this article, an adaptive fuzzy sliding mode control (AFSMC) scheme is derived for robotic systems. In the AFSMC design, the sliding mode control (SMC) concept is combined with fuzzy control strategy to obtain a model-free fuzzy sliding mode control. The equivalent controller has been substituted for by a fuzzy system and the uncertainties are estimated on-line. The approach of the AFSMC has...

Proton exchange membrane fuel cells (PEMFCs) are promising clear and efficient new energy sources. An excellent control system is a normal working prerequisite for maintaining a fuel cell system in correct operating conditions. Conventional controllers could not satisfy the high performance to obtain the acceptable responses because of uncertainty, time-change, nonlinear, long-hysteresis and st...

This paper investigates an Adaptive Fuzzy GainsScheduling Integral Sliding Mode Controller (AFGS-ISMC) design approach to deal with the attitude and altitude stabilization problem of an Unmanned Aerial Vehicles (UAV) precisely of a quadrotor. The Integral Sliding Mode Control (ISMC) seems to be an adequate control tool to remedy this problem. The selection of the controller parameters is done m...

In this paper, a design approach adaptability of fuzzy sliding-mode controller (AFSMC) with a decoupled method is proposed. The decoupled method provides a simple way to achieve asymptotic stability for a class of fourth-order nonlinear system. Moreover, heuristic sliding factors are implemented as functions. Therefore, the sliding factor in hybrid fuzzy sliding mode controller is given without...

Absrrucr In this paper, a new fuzzy sliding mode control scheme is proposed for second-order linear timevarying systems in order to obtain faster error convergence and desired error dynamics. It is well known that a second-order linear time-varying system can be used to model higher order linear time invariant systems piece-wisely. Therefore, it is necessary to do deep investigation for the sta...

The combination of neural networks and fuzzy controllers is considered as the most efficient approach for different functions approximation, and indicates their ability to control nonlinear dynamical systems. This paper presents a hybrid control strategy called Neuro-Fuzzy Sliding Mode Control (NFSMC) based on the Brushless Doubly fed Induction Generator (BDFIG). This replaces the sliding surfa...

This paper deals with the development of different control techniques such as Fuzzy, Sliding mode, and Sliding Mode fuzzy controllers for the servo drive system. Servomotors are widely used in industry due to their relatively low cost and high reliability. To get high performances we have to control the input variable in uncertainties and disturbance. Two cases are discussed for each control sc...

The interval type-2 fuzzy, combined with sliding mode control, is proposed in this paper to design a novel nonlinear robust controller for a hypersonic aircraft. In this method, sliding mode reaching law is designed to keep the system stable. In order to overcome the uncertain parameters and external disturbances which exist in aerospace, we utilize an interval type-2 fuzzy approach represented...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

The motion control problem for the finger of a humanoid robot hand is investigated. First, the index finger of the human hand is dynamically modelled as a kinematic chain of cylindrical links. During construction of the model, special attention is given to determining bone dimensions and masses that are similar to the real human hand. After the kinematic and dynamic analysis of the model, in or...