* Department of Teacher Training in Electrical Engineering, Faculty of Technical Education, King’s Mongkut Institute of Technology North Bangkok. Abstract This paper describes fuzzy sliding-mode control (FSMC), a fuzzy logic control based upon variable structure techniques. A variable structure approach is designed with guaranteed stability properties. A ball and beam system is used here as an ...

Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR) are presented in this paper. The dynamical model for mobile robot with one pair of active wheels, time–varying mass and moment of inertia have been used in slidingmode control. Two sliding-mode controllers corresponding to angular and position motion have been de...

This study developed an enhanced adaptive self-organizing fuzzy slidingmode controller (EASFSC) for robotic systems. Rather than using the output error and the error change of the system, the EASFSC uses a sliding surface and its differential as the input variables of a fuzzy logic controller (FLC) in a self-organizing fuzzy controller (SOFC) to generate a control input through fuzzy operation....

Based on the Lyapunov stability theorem, a sliding mode controller is proposed in this paper for a class of uncertainmulti-inputmulti-output (MIMO) nonlinear systems to solve regulation problems. The perturbed plant contains partly unmeasurable states and unknown mismatched and matched perturbations. By utilizing the designed auxiliary dynamic equations for state estimation, the proposed slidin...

A class of uncertain systems nonlinear in the input variable and driven by a dynamic actuator device is dealt with. We give sufficient conditions under which the feedback controller based on the “Sub-optimal” second-order slidingmode control algorithm can guarantee the attainment of a boundary layer of the sliding manifold. The relationship between the actuator parameters and the size of the bo...

This paper presents parameter identification and discrete-time adaptive slidingmode controller applied to control the mobile platform Pioneer 3-DX wheeled mobile robot (WMR) with 5-DOF manipulator. The dynamic model for mobile robot with two driving wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been use...

This paper proposes the implementation of a fuzzy based robust sliding model control design to obtain voltage regulation in a boost converter with high dc gain. The proposed controller has an inner loop based on slidingmode control whose sliding surface is defined for the input inductor current. The current reference value of the sliding surface is modified by a fuzzy logic controller in an out...

Abstract—This paper presents a power control for a Doubly Fed Induction Generator (DFIG) using in Wind Energy Conversion System (WECS) connected to the grid. The proposed control strategy employs two nonlinear controllers, Backstipping (BSC) and slidingmode controller (SMC) scheme to directly calculate the required rotor control voltage so as to eliminate the instantaneous errors of active and ...

The robustness property of sliding-mode controllers (SMC’s) makes them attractive for industrial control applications. However, this property is valid only under ideal slidingmode conditions. Additionally, practical SMC’s are likely to exhibit high-frequency oscillations in the plant output, called chattering, and to excite unmodeled dynamics. A novel, chatteringfree sliding-mode control algori...

In this paper, a robust control system with the fuzzy sliding mode controller and the additional compensator is presented. The additional compensator relaying on the slidingmode theory is used to improve the dynamical characteristics of the drive system. Sliding mode control method is studied for controlling DC motor because of its robustness against model uncertainties and external disturbance...