The control problem is formulated into a singularly perturbed form which contains a slow rigid robot dynamics and a fast SEA dynamics. To achieve high-precision tracking without serious control chattering, a second-order sliding mode control (SMC) law is proposed such that the equilibrium point of...
This paper addresses a robust continuous sliding mode control (CSMC) approach for the tracked mobile robot (TMR). Considering the attractive properties of strong robustness and chattering reduction, a CSMC method is firstly adopted for a disturbed TMR. To further improve the disturbance suppression ab...
Aiming at the problems of reducer gear clearance and the deviation of the eccentric shaft mechanical zero offset,which exist in displacement system of the continuous casting mold driven by servo motor,a backstepping sliding mode controller based on disturbance observer is designed. Firstly,For the red...
A new approach for the analysis and design of sliding mode controller for PWM based Buck-Boost DC-DC converter in continuous conduction mode of operation is presented. The main advantage of this non-linear controller is that there is no restriction on the size of the signal variations around ...
Based on sliding mode control theory, this paper provides a switching manifold controlling strategy of chaotic system, and also gives a kind of adaptive parameters estimated method to estimate the unknown systems' parameters by which chaotic dynamical system can be synchronized. Taking the Lorenz ...
20 presented a comparative analysis of various structures such as single, series cascade, sliding mode and parallel control structures to control the NCSTR using jacket makeup flowrate as manipulated variable and reactor temperature as controlled variable. The model used in20 is a third order ...
Based on the results of [24, 25], Zheng and Yang [26] investigated the robust stabilization problem with a sliding mode control approach. Shen et al. proposed a new method for the H∞ state feedback control [27] and established sufficient conditions for the existence of the H∞ static ...
a terminalsliding mode controlscheme for the uncertainnonlinear systemis presented. The designed control law is continuous and nonsingular. Furthermore, compared with some existingsliding mode controllers, the conditions on thecontroller parametersbounds are relaxed. It is proved that the disturbance obser...
However, conventional approaches to guarantee stability may complicate the optimal control problem to the extent of making it unrealizable. This paper presents a Continuous Control-Set Model Predictive Control (CCS-MPC) for the Pulse-Width Modulated Voltage Source Converters (PWM-VSC). The bilinear ...
Research on the Sliding Mode of Semi - Active Control on Vertical Vibration for Continuous Beam Bridge HAN Xi 1,2 ,ZHONG Li 2 ,WANG Zhi - jian 2 (1. CoIIege of Opto - eIectronic Engineering,Chong ing University,Chong ing 400044,P. R. China;2. Chong ing Jiaotong University,Chong ing...