In this paper, a new actuator fault detection and isolation method for a four wheel independent drive electric vehicle is proposed. Also, a controller based on sliding mode control method is proposed for lateral stability of the vehicle. The proposed control method is designed in three high, medium and low levels. At the high-level, the vehicle desired dynamics such as longitudinal speed refere...

In this paper, an improved model is presented for analysis of failure probability of the interlayer sliding belts under seismic loads. Firstly, using the theory of the Markov chain, the relation between failure probabilities of specified interlayer sliding belts and elements in this interlayer sliding belt is deduced. Then, the failure function is proposed according to the destructive character...

In this paper, the method of robust sliding mode control for a class of switched neutral control systems with mismatched fractional form parametric uncertainties is investigated. A delay-dependent sufficient condition for the existence of linear sliding surfaces is given in term of linear matrix inequality(LMI), and sliding mode controllers based on reaching law are developed, which are to ensu...

In this paper, a novel fuzzy simplex sliding-mode controller is proposed for controlling a multivariable nonlinear system. The fuzzy logic control (FLC) algorithm and simplex sliding-mode control (SSMC) theory are integrated to form the fuzzy simplex sliding mode control (FSSMC) scheme which improves the system states response and reduces system states chattering phenomenon. In this paper, at f...

Sliding mode control design is a powerful method for robust control of nonlinear dynamical systems. We analyze the control of multivariable mechanical systems with less inputs than degrees of freedom. An existing method is based on a separation of the actuated configuration variables from the unactuated variables. It relies on a sliding surface constituted by a linear combination of the control...

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...

This paper presents a trajectory tracking control method for nonholonomic mobile robot which is based only on kinematic model. A mobile robot trajectory tracking control method, based on terminal sliding mode control, with asymptotic stability is presented. Based on kinematic model of mobile robot, a terminal sliding mode control law for the angular velocity is proposed to reduce the tracking e...

This paper proposes a second-order terminal sliding mode control for a class of uncertain input-delay systems. The input-delay systems are firstly converted into the input-delay free systems and further converted into the regular forms. A linear sliding mode manifold is predesigned to represent the ideal dynamics of the system. Another terminal sliding mode manifold surface is presented to driv...

This paper proposes a method for the organization of real sliding movements, which are caused by finite switching frequency of control systems. In one of two proposed structures for the organization of sliding modes, the control is formed according to the principle of feedback connections; in the other proposed structure, the control is formed according to the principle of discrete control wher...

The Wigner crystal on liquid He accompanies with periodic corrugation of the He surface; dimples. The dynamics of the crystal is coupled with the motion and the deformation of the dimples. Nonlinear phenomena found in AC Corbino conductivity are attributed to the collective sliding of the electrons out of the dimples. In order to inspect the dynamical transition to the sliding state, we have de...