in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

this paper addresses the problem of the fractional sliding mode control (fsmc) for a mems optical switch. the proposed scheme utilizes a fractional sliding surface to describe dynamic behavior of the system in the sliding mode stage. after a comparison with the classical integer-order counterpart, it is seen that the control system with the proposed sliding surface displays better transient per...

in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

This article presents a fuzzy sliding-mode control scheme for a class of Takagi-Sugeno (T-S) fuzzy which are subject to norm-bounded uncertainties in each subsystem. The proposed stabilization method can be adopted to explore T-S uncertain fuzzy systems (TSUFS) with various local control inputs. Firstly, a new design is proposed to transform TSUFS into sliding-mode dynamic systems.In addi...

this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

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 addresses control design in networked control system by considering stochastic packet dropouts in the forward path of the control loop. The packet dropouts are modelled by mutually independent stochastic variables satisfying Bernoulli binary distribution. A sliding mode controller is utilized to overcome the adverse influences of stochastic packet dropouts in networked control system...

In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...