Displaying similar documents to “A new LMI-based robust finite-time sliding mode control strategy for a class of uncertain nonlinear systems”

Disturbance observer-based second order sliding mode attitude tracking control for flexible spacecraft

Chutiphon Pukdeboon, Anuchit Jitpattanakul (2017)

Kybernetika

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This paper presents a composite controller that combines nonlinear disturbance observer and second order sliding mode controller for attitude tracking of flexible spacecraft. First, a new nonsingular sliding surface is introduced. Then, a second order sliding mode attitude controller is designed to achieve high-precision tracking performance. An extended state observer is also developed to estimate the total disturbance torque consisting of environmental disturbances, system uncertainties...

Control of an induction motor using sliding mode linearization

Erik Etien, Sébastien Cauet, Laurent Rambault, Gérard Champenois (2002)

International Journal of Applied Mathematics and Computer Science

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Nonlinear control of the squirrel induction motor is designed using sliding mode theory. The developed approach leads to the design of a sliding mode controller in order to linearize the behaviour of an induction motor. The second problem described in the paper is decoupling between two physical outputs: the rotor speed and the rotor flux modulus. The sliding mode tools allow us to separate the control from these two outputs. To take account of parametric variations, a model-based approach...

Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum

Muhammad Idrees, Shah Muhammad, Saif Ullah (2019)

Kybernetika

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The rotary inverted pendulum (RIP) system is one of the fundamental, nonlinear, unstable and interesting benchmark systems in the field of control theory. In this paper, two nonlinear control strategies, namely hierarchical sliding mode control (HSMC) and decoupled sliding mode control (DSMC), are discussed to address the stabilization problem of the RIP system. We introduced HSMC with state-dependent switching gain for stabilization of the RIP system. Numerical simulations are performed...

A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators

Carlos Vidrios-Serrano, Marco Mendoza, Isela Bonilla, Berenice Maldonado-Fregoso (2020)

Kybernetika

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In this paper, a family of hybrid control algorithms is presented; where it is merged a free camera-calibration image-based control scheme and a direct force controller, both with the same priority level. The aim of this generalised hybrid controller is to regulate the robot-environment interaction into a two-dimensional task-space. The design of the proposed control structure takes into account most of the dynamic effects present in robot manipulators whose inputs are torque signals....

Rotary inverted pendulum: trajectory tracking via nonlinear control techniques

Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)

Kybernetika

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The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...

Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions

Chaoqun Guo, Jiangping Hu, Jiasheng Hao, Sergej Čelikovský, Xiaoming Hu (2023)

Kybernetika

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In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained and unconstrained cases in a unified way. Further, a radial basis function neural network is constructed to approximate the unknown dynamics in the system and a fixed-time dynamic surface control (FDSC) technique is developed to facilitate the fixed-time...