High-performance control of inertial stabilization imaging sensors (ISISs) is always challenging because of the complex nonlinearities induced by friction, mass imbalance, and external disturbances. To overcome this problem, a terminal sliding mode c...
Sliding Mode Control (SMC) has gained significant attention due to its simplicity, robustness, and rapid response in ensuring system stability, particularly with the Lyapunov approach. Despite its advantages, SMC faces challenges such as chattering n...
In contrast to the majority of model-based terminal sliding mode control (TSMC) approaches that rely on the plant physical model and/or data-driven adaptive pointwise model, this study treats the unknown dynamic plant as a total uncertainty in a blac...
This paper presents novel chattering-free robust control strategies for addressing disturbances and uncertainties in a two-degree-of-freedom (2-DOF) unmanned aerial vehicle (UAV) dynamic model, with a focus on the highly nonlinear and strongly couple...
Active Debris Removal (ADR) missions demand precise and rapid controllers that lower collision risks specifically in the capture phase of tumbling objects. Sliding Mode Control (SMC), in general, offers robustness against model uncertainties. However...
With the aim to solve the problem related to the power chattering and anti-disturbance performance of a photovoltaic (PV) inverter in master–slave-organized islanded microgrid, an anti-disturbance finite-time adaptive sliding mode backstepping...
The doubly fed induction generator (DFIG)-based wind energy conversion systems (WECSs) are prone to certain uncertainties, nonlinearities, and external disturbances. The maximum power transfer from WECS to the utility grid system requires a high-perf...
Due to the intermittent nature of wind, there exists a major disparity between the power generation from the wind and the demand of electricity. Hence, a sophisticated maximum power point tracking (MPPT) control paradigm must be formulated for maximi...
To improve the chattering problem caused by the terminal sliding mode control (TSMC) and sliding mode observer (SMO) in permanent magnet synchronous linear motor (PMLSM) control systems, this study presents the design of a continuous terminal sliding...
In this paper, an adaptive backstepping terminal sliding mode control (ABTSMC) method based on a double hidden layer recurrent neural network (DHLRNN) is proposed for a DC-DC buck converter. The DHLRNN is utilized to approximate and compensate for th...
Background: As a control strategy of industrial robots, sliding mode control has the advantages of fast response and simple physical implementation, but it still has the problems of chattering and low tracking accuracy caused by chattering. This pape...
Many terminal sliding mode controllers (TSMCs) have been suggested to obtain exact tracking control of robotic manipulators in finite time. The ordinary method is based on TSMCs that secure trajectory tracking under the assumptions such as the known...
This study proposes a fractional-order adaptive super-twisting sliding mode control (FO-ASTSMC) strategy to mitigate the difficulties arising from nonlinearity, uncertain parameters, and substantial external interferences during path-following operat...
Aiming at the problems of model uncertainties and other external interference in trajectory tracking control of n-degree of freedom manipulators, a non-singular terminal sliding mode controller with nonlinear disturbance observer (NDO–NTSMC) tr...
In this study, we investigate a terminal sliding mode control (TSMC) system combined with predefined-time and prescribed-performance control methods for an unmanned planing hull (UPH) system in the presence of a control input delay at the heading axi...
This paper proposes a parameter optimization method for a terminal sliding mode controller (TSMC) based on a multi-strategy improved crayfish algorithm (JLSCOA) to enhance the performance of ship dynamic positioning systems. The TSMC is designed for...
This paper proposes a new designed trajectory tracking method for a hydraulic manipulator, which is the terminal sliding mode control with sliding perturbation observer (TSMCSPO). The dynamics of the hydraulic system are complex and uncertain, it als...
An adaptive backstepping terminal sliding mode control (ABTSMC) method based on a multiple−layer fuzzy neural network is proposed for a class of nonlinear systems with parameter variations and external disturbances in this study. The proposed n...
This paper introduces a novel model-free nonsingular fixed-time sliding mode control (MF-NFxTSMC) strategy for precise trajectory tracking in robot arm systems. Unlike conventional sliding mode control (SMC) approaches that require accurate dynamic m...
The position synchronous control of multi-axis gantry-type feed stage is crucial in precision machine tools. Industrial position control which aims to widen the bandwidth and improve disturbance rejection of single axis is not enough to achieve preci...
This paper proposes an adaptive gain twisting sliding-mode control (AGTSMC) strategy for trapezoidal variable-stiffness joints (TVSJs) to achieve accurate trajectory tracking under both matched and mismatched uncertainties. The TVSJ employs a compact...
This study proposes a hierarchical composite adaptive sliding-mode control strategy to address the strong nonlinear dynamics of a hexarotor Unmanned Aerial Vehicle (UAV) and the external disturbances encountered during flight. First, within the posit...
A sliding mode predictive control (SMPC) scheme integrated with an extreme learning machine (ELM) disturbance observer is proposed for the trajectory tracking of a flexible air-breathing hypersonic vehicle (FAHV). To streamline the controller design,...
This paper investigates formation tracking control for multi-agent networks with fixed time convergence. The control task is that the follower agents are required to form a prescribed formation within a fixed time and the geometric center of the form...
This paper addresses three significant challenges in controlling robot manipulators: improving response time, minimizing steady-state errors and chattering, and enhancing controller robustness. It also focuses on eliminating the need for computing th...
In hazardous/emergency situations, public safety is of the utmost concern. In areas where human access is not possible or is restricted due to hazardous situations, a system or robot that can be distantly controlled is mandatory. There are many appli...
In the current literature, few motion control studies have considered the disturbances caused by road profile, model uncertainty, and actuator delay in regard to low-speed autonomous vehicles. In addition, motion controller designs usually rely on mo...
Safe and efficient autonomous lane changing is a key step of connected automated vehicles (CAVs), which can greatly reduce the traffic accident rate and relieve the traffic pressure. Aiming at the requirements of the smoothness and efficiency of the...
With the large-scale integration of renewable energy into off-grid DC systems, the stability issues caused by their fluctuations have become increasingly prominent. The dual active bridge (DAB) converter, as a DC-DC converter suitable for high power...
This paper proposes a novel intelligent switching control strategy for a five-bar lower limb exoskeleton. First, during the support phase, terminal sliding mode control (TSMC) is employed to ensure robust stability and high-torque amplification capab...
The article proposes a new approach to maximum power point tracking (MPPT) for photovoltaic (PV) systems operating under partial shading conditions (PSCs) that improves upon the limitations of traditional methods in identifying the global maximum pow...
This paper provides a comprehensive investigation of nonlinear robust control methodologies, with a specific emphasis on the development of sliding mode controllers (SMCs) for quadcopter unmanned aerial vehicles (UAVs). Quadcopters are highly interco...
Unmanned airships are highly sensitive to parametric uncertainty, persistent wind disturbances, and sensor noise, all of which compromise reliable path-following. Classical control schemes often suffer from chattering and fail to handle index discont...