This paper focuses on the speed control of a permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and external disturbances. Conventional sliding mode control (CSMC) can only converge asymptotically in the infinite d...
Trajectory tracking is an essential requirement in robot manipulator movement and localization applications. It is a current research topic of interest, and several researchers have proposed different schemes to achieve the task accurately. This rese...
To enhance the dynamic performance and disturbance rejection capability of the permanent magnet synchronous motor speed control system, a novel speed control method based on a novel sliding mode control (NSMC) and load torque observer is proposed on...
This paper describes the design of a robust composite high-order super-twisting sliding mode controller (HOSTSMC) for robot manipulators. Robot manipulators are extensively used in industrial manufacturing for many complex and specialized application...
This paper proposes a novel sliding mode control (SMC) scheme with a repetitive sliding surface for shunt active power filters (SAPF) to enhance the system robustness and eliminate harmonic current tracking errors. Traditional control schemes, such a...
This article proposes a novel nonsingular fast terminal sliding mode control (N-NFTSMC) with a sliding mode disturbance observer (SDOB) for permanent magnet synchronous motor (PMSM) servo control. Firstly, to reduce the chattering issue, a new slidin...
In this paper, an active fault-tolerant control for a robot manipulator based on synchronous sliding mode is proposed. As the synchronization errors approach zero, the joint errors tend to become equal and also approach zero. Therefore, the synchroni...
The induction motors are once again becoming increasingly more popular due to the shifts in global politics and economics. With this increased interest, there is a growing need for even better control solutions, especially for the automotive industry...
MEMS (micro electrical mechanical systems) gyroscopes are used to measure the angular rate in several applications. The performance of a MEMS gyroscope is dependent on more than one factor, such as mechanical imperfections, environmental condition-de...
Underwater robots play a vital role in the exploration and development of marine resources and the inspection and maintenance of offshore platforms. In this paper, the motion control technology of ROV is studied, the kinematics and dynamics of ROV ar...
To address the issues of sluggish dynamic response, significant steady-state fluctuations, and poor disturbance rejection associated with traditional proportional–integral (PI) and conventional speed control methods, a novel sensorless sliding-...
This work presents a nested super-twisting second-order sliding mode speed controller for a brushless direct current motor with a high order sliding mode observer used for back electromotive force (back-EMF) estimation. Due to the trapezoidal nature...
This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRN...
We propose a control method wherein the estimated angles converge to the desired value for quadrotor attitude stabilization and position tracking. To improve the performance of a quadrotor system, the unmeasured states of the quadrotor are estimated...
To address the chattering phenomenon and sensitivity to load disturbances in conventional sliding mode observers (SMO) for sensorless permanent magnet synchronous motor (PMSM) control, this paper proposes a robust sensorless control strategy integrat...
This paper proposes a trajectory tracking control scheme consisting of a fast finite-time super-twisting sliding mode control (FSTSMC) approach and an extended state higher-order sliding mode observer (ESHSMO) for unmanned underwater vehicles (UUVs)...
Variable structure control systems are known to provide a high level of robustness to external disturbances and modeling uncertainties with comparably low computational complexity. Thanks to these features, they have found applications in various fie...
A modified sigmoid sliding mode control (MS-SMC) approach is proposed for stabilizing and tracking a quadrotor system with a nonlinear sliding surface, where the dynamics model is underactuated, highly coupled, and nonlinear. The constructed nonlinea...
Electromagnetic docking technology can realize the flexible docking and safe separation of spacecraft, and presents broad application prospects. However, an electromagnetic force with nonlinearity and uncertainty properties increases the difficulties...
Owing to the competitive advantages of fast response speed, large pushing force, high reliability, and high precision, the permanent magnet linear synchronous motor (PMLSM) has played an increasingly vital role in various high-speed and high-precisio...
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...
This paper proposes a discrete-time sliding mode controller for a class of disturbed linear systems and investigates its dynamic characteristics. First, a novel discrete-time sliding mode reaching law is developed by redefining the variation rate of...
An adaptive dynamic sliding mode control via a backstepping approach for a microelectro mechanical system (MEMS) vibratory z-axis gyroscope is presented in this paper. The time derivative of the control input of the dynamic sliding mode controller (D...
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...
Permanent magnet synchronous motors (PMSMs) are known as highly efficient motors and are slowly replacing induction motors in diverse industries. PMSM systems are nonlinear and consist of time-varying parameters with high-order complex dynamics. High...
This study considers the problem of energetical efficiency in switching type sliding mode control of discrete-time systems. The aim of this work is to reduce the quasi-sliding mode band-width and, as follows, the necessary control input, through an a...
Unmanned Aerial Vehicles (UAVs), commonly known as drones, have become widely used in many fields, ranging from agriculture to military operations, due to recent advances in technology and decreases in costs. Quadrotors are particularly important UAV...
In this paper, a full-order terminal sliding-mode control method is proposed for the rectifier side and the inverter side of the soft open point (SOP). The rectifier-side DC voltage control system consists of the voltage- and current-loops with contr...
To improve the tracking capability and sensorless estimation accuracy of a permanent magnet linear synchronous motor (PMLSM) control system, a sensorless control system based on a continuous terminal sliding mode controller (CT-SMC) and fuzzy super-t...
Control of closed-kinematic chain manipulators (CKCM) with uncertain dynamics is a tremendous challenge due to the synchronization among actual joints and end-effectors, limited workspace, and nonexistent closed-form solutions of forward kinematics....
Aiming at the problem of convergence speed and chattering in sliding mode variable structure control of manipulator, an improved exponential reaching law and nonlinear sliding surface are proposed, and the Lyapunov function is used to analyze its sta...
When a permanent magnet synchronous motor runs at low speed, the inverter will output discontinuous current and generate torque ripple; when the motor is runs at high speed, a large amount of stator harmonic current generates, which affects its speed...
This paper investigates the problem of sliding mode control for a class of hybrid switched systems with matching disturbances. Firstly, a sliding mode surface is designed, and the corresponding sliding mode equation for the switched system is derived...
In this study, a sliding mode control (SMC) algorithm was proposed based on a novel reaching law to solve the nonlinear disturbance problem of a ground-based laser communication turntable. This algorithm is a chatter-free method, in which the coeffic...
In this paper, a robust optimized controller is implemented in the photovoltaic generator system (PVGS). The PVGS is composed of individual photovoltaic (PV) cells, which convert solar energy to electrical energy. To optimize the efficiency of the PV...
This paper contains an example of a simulation implementation of sliding mode control algorithms for the problem of adjusting the linear position of a quadrotor. A mathematical model of the drone was proposed, which was then implemented in a simulati...
In this paper, a novel adaptive second-order sliding mode (2-SM) control approach, based on online zero-crossing detection, was proposed to solve the problems of the chattering and fixed control gain for buck converters with multi-disturbances. In mo...
Addressing the problem of poor robustness and anti-interference ability in the permanent magnet synchronous motor (PMSM) speed control system, an adaptive fractional-order sliding mode controller based on a fractional-order sliding mode disturbance o...
This paper develops a sliding-mode control with an improved nonlinear extended state observer (SMC-INESO) for the rotation system of a hydraulic roofbolter with dead-zones, uncertain gain, and disturbances, with the purpose of improving tracking perf...
This paper is prepared within a collaboration between the Instituto Politécnico Nacional, which is a Mexican research institute that manages research on sliding-mode control theory, and the ARIA research team of the Intégration du Matériau au Système...
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...
Smart transformation and green development are the core research directions of electric vehicles. An electric tractor is powered by the vehicle battery. The motor converts electric energy into mechanical energy and drives the wheels through the drive...
This paper proposes an output feedback sliding-mode control design based on a switched robust integral sliding mode for switched systems with unmatched uncertainties. First, the control task based on the observer is given while the system state infor...
In order to enhance the precision and speed of control for electronic throttle valves (ETVs) in the face of disturbance and parameter uncertainties, an adaptive second-order fixed-time sliding mode (ASOFxTSM) controller is developed, along with distu...
Based on the problems of sliding mode observer (SMO), such as strong parameter dependency, large overshoot, and severe inherent sliding mode chattering, this paper studies fuzzy control in depth using a sigmoid (s) function with smooth and continuous...
In response to the trajectory tracking control problem of manipulators under measurement disturbances, a novel multi-input multi-output discrete integral terminal sliding mode control scheme is proposed. Initially, this scheme establishes a dynamic m...
This paper presents a systematic experimental comparison of three sliding-mode-based current control strategies—traditional sliding mode control (SMC), fast terminal sliding mode control (FTSMC), and super-twisting sliding mode control (STSMC)&...
Quadrotor UAVs require robust control methods to handle complex dynamics, model uncertainties, and external disturbances during trajectory tracking. This paper presents a trajectory tracking control method combining Sliding Mode Control with an Impro...
This article aims to develop a new Adaptive Proportional Integral Derivative (PID) Nonsingular Dual Terminal Sliding Mode Control, designed for tracking the position of robot manipulators under disturbances and uncertainties. Compared with existing P...
A balance control method, the proportional-integral sliding mode control (PISMC), is proposed to control the tilt attitude of an experimental two-wheel vehicle system (TWVS). Based on our previous work of implementing a generalized PISMC to control a...
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