A method of sliding mode control (SMC) is proposed for the control of flexible, nonlinear, and structural systems. The method departs from standard sliding mode control by dispensing with generalized accelerations during the control law design. Global, asymptotic stability of rigid body motion is maintained if knowledge on the bounds of the neglected terms exists. Furthermore, this method provi...

Sliding mode control (SMC) is an effective method of controlling systems with uncertainties which satisfy the socalled matching condition. However, how to effectively handle mismatched uncertainties of systems is still an ongoing research issue in SMC. Several methods have been proposed to design a stable sliding surface even if mismatched uncertainties exist in a system. Especially, it is pres...

This paper presents a real time implementation of a sliding mode controller (SMC) for the underactuated BERUL fingers. The use of SMC is to deal with the inaccuracies and unmodelled nonlinearities in the dynamic model of the robotic fingers, in particular, to overcome significant friction and stiction. This paper in particular shows a practical implementation of Cartesian space control for the ...

The variable structure control is principally characterized by its robustness with respect to the system’s modeling uncertainties and external disturbances (Decarlo et al. (1988); Filippov (1960); Lopez & Nouri (2006); Utkin (1992)). Sliding Mode Systems are a particular case of the Variable Structure Systems (VSS). They are feedback systems with discontinuous gains switching the system’ s stru...

Abstract: This paper proposes a tracking control method for a certain type of differential-drive wheeled mobile robot, called automated guided vehicles (AGVs), using a continuous mode approach of sliding mode control (SMC). The SMC applied produces a continuous signal in between the U and –U control signals instead of discrete ones. The controller is applied to control the velocity and directio...

---------------------------------------------------------------------***--------------------------------------------------------------------Abstract –This paper proposes the controlling of the photovoltaic (PV) system by sliding mode control(SMC). Here, open circuit voltage MPPT technique is used to track maximum power point. There is a difficulty in tracking the maximum power point of the phot...

This paper present new approach in robust indirect rotor field oriented (IRFOC) induction motor (IM) control. The introduction of new exponential reaching law (ERL) based sliding mode control (SMC) improve significantly the performances compared to the conventional SMC which are well known susceptible to the annoying chattering phenomenon, so, the elimination of the chattering is achieved while...

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control schem...

This paper presents regulation and tracking control design for a magnetic levitation system (Maglev). First, the nonlinear dynamic model of magnetic levitation system was built. Second, a sliding mode control (SMC) is constructed to compensate the uncertainties occurring in the magnetic levitation system. The control gains were generated mainly by experimental method. Next, a composite controll...

The optimisation of a non-linear control problem by Genetic Algorithm (GA) is studied in this paper. It involves the performance of a fully autonomous control system for regulating the course keeping manoeuvres of an oil tanker. This control system consists of an autopilot and a Sliding Mode Controller (SMC). The GA is used to optimise the performance of the complete system by optimising the pa...