In this paper, MLP network with sliding-mode controller and neural control is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Because the nonlinear nature robot, first the nonlinear and robust method sliding mode as a control theory for the system is chosen. Chattering phenomenon is always a problem of sliding...

Abstract This paper deals with a position sensorless control of a permanent magnet stepping motor. The proposed controller is designed to reduce the studied actuator oscillations and overshoot which can induce an erratic working. As the mechanical solutions are expensive and cumbersome, the control ones are considered to be the most suitable. Closed loop control of these motors offers significa...

It is well known that sliding mode control algorithm can give good transient performance and system robustness. However, due to the sensitivity of the sliding mode controller before reaching the sliding surface and the presence of chattering may introduce problems to motion tracking control of robot manipulators. In this paper, a proposed technique to adaptively tune the sliding mode controller...

Control of a class of uncertain nonlinear systems, which estimates unavailable state variables, is considered. A new approach for robust tracking control problem of satellite for large rotational maneuvers is presented in this paper. The features of this approach include a strong algorithm to estimate attitude, based on discrete extended Kalman filter combined with a continuous extended Kalman ...

in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...

This paper firstly established mathematical model of height adjusting hydro cylinder of the shearer, as well as the state space equation of the shearer height adjusting system. Secondly we designed a shearer automatic height adjusting controller adopting the sliding mode robustness control strategy. The height adjusting controller includes the sliding mode surface switching function based on Ac...

in this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. the designed controller includes two parts: a position controller and an attitude controller. the attitude controller is designed by using the sliding mode control (smc) method to track the desired pitch and roll angles, which are the output of position controll...

An adaptive fuzzy integral sliding mode controller for mismatched time-varying linear systems is presented in this paper. The proposed fuzzy integral sliding mode controller is designed to have zero steady state system error under step inputs and alleviate the undesired chattering around the sliding surface. The parameters in the fuzzy mechanism are adapted on-line to improve the performance of...

This paper presents a control strategy for maglev system based on the sliding mode controller with auto-tuning law. The designed adaptive controller will replace the conventional sliding mode control (SMC) to eliminate the chattering resulting from the SMC. The stability of maglev system is ensured based on the Lyapunov theory. Simulation results verify the effectiveness of the proposed method....