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Search results for: sliding mode control
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</div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: sliding mode control</h1> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4475</span> An Improved Optimal Sliding Mode Control for Structural Stability</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Leila%20Fatemi">Leila Fatemi</a>, <a href="https://publications.waset.org/search?q=Morteza%20Moradi"> Morteza Moradi</a>, <a href="https://publications.waset.org/search?q=Azadeh%20Mansouri"> Azadeh Mansouri</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, the modified optimal sliding mode control with a proposed method to design a sliding surface is presented. Because of the inability of the previous approach of the sliding mode method to design a bounded and suitable input, the new variation is proposed in the sliding manifold to obviate problems in a structural system. Although the sliding mode control is a powerful method to reject disturbances and noises, the chattering problem is not good for actuators. To decrease the chattering phenomena, the optimal control is added to the sliding mode control. Not only the proposed method can decline the intense variations in the inputs of the system but also it can produce the efficient responses respect to the sliding mode control and optimal control that are shown by performing some numerical simulations.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Structural%20Control" title="Structural Control">Structural Control</a>, <a href="https://publications.waset.org/search?q=optimal%20control" title=" optimal control"> optimal control</a>, <a href="https://publications.waset.org/search?q=optimal%20sliding%20mode%20controller" title=" optimal sliding mode controller"> optimal sliding mode controller</a>, <a href="https://publications.waset.org/search?q=modified%20sliding%20surface." title=" modified sliding surface."> modified sliding surface.</a> </p> <a href="https://publications.waset.org/2560/an-improved-optimal-sliding-mode-control-for-structural-stability" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/2560/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/2560/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/2560/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/2560/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/2560/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/2560/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/2560/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/2560/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/2560/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/2560/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/2560.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2009</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4474</span> Trajectory Control of a Robotic Manipulator Utilizing an Adaptive Fuzzy Sliding Mode</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=T.%20C.%20Kuo">T. C. Kuo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptation law to alleviate the input chattering effectively. Stability of the control system is proven by using the Lyapunov method. An application to a three-degree-of-freedom robotic manipulator is carried out. Accurate trajectory tracking as well as robustness is achieved. Input chattering is greatly eliminated. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Fuzzy%20control" title="Fuzzy control">Fuzzy control</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/search?q=roboticmanipulator" title=" roboticmanipulator"> roboticmanipulator</a>, <a href="https://publications.waset.org/search?q=adaptive%20control." title=" adaptive control."> adaptive control.</a> </p> <a href="https://publications.waset.org/13174/trajectory-control-of-a-robotic-manipulator-utilizing-an-adaptive-fuzzy-sliding-mode" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/13174/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/13174/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/13174/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/13174/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/13174/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/13174/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/13174/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/13174/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/13174/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/13174/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/13174.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1948</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4473</span> Chattering Phenomenon Supression of Buck Boost DC-DC Converter with Fuzzy Sliding Modes Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Abdelaziz%20Sahbani">Abdelaziz Sahbani</a>, <a href="https://publications.waset.org/search?q=Kamel%20Ben%20Saad"> Kamel Ben Saad</a>, <a href="https://publications.waset.org/search?q=Mohamed%20Benrejeb"> Mohamed Benrejeb</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper proposes a Fuzzy Sliding Mode Control (FSMC) as a control strategy for Buck-Boost DC-DC converter. The proposed fuzzy controller specifies changes in the control signal based on the knowledge of the surface and the surface change to satisfy the sliding mode stability and attraction conditions. The performances of the proposed fuzzy sliding controller are compared to those obtained by a classical sliding mode controller. The satisfactory simulation results show the efficiency of the proposed control law which reduces the chattering phenomenon. Moreover, the obtained results prove the robustness of the proposed control law against variation of the load resistance and the input voltage of the studied converter.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Buck%20Boost%20converter" title="Buck Boost converter">Buck Boost converter</a>, <a href="https://publications.waset.org/search?q=Sliding%20Mode%20Control" title=" Sliding Mode Control"> Sliding Mode Control</a>, <a href="https://publications.waset.org/search?q=Fuzzy%20Sliding%20Mode%20Control" title=" Fuzzy Sliding Mode Control"> Fuzzy Sliding Mode Control</a>, <a href="https://publications.waset.org/search?q=robustness" title=" robustness"> robustness</a>, <a href="https://publications.waset.org/search?q=chattering." title=" chattering."> chattering.</a> </p> <a href="https://publications.waset.org/1831/chattering-phenomenon-supression-of-buck-boost-dc-dc-converter-with-fuzzy-sliding-modes-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/1831/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/1831/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/1831/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/1831/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/1831/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/1831/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/1831/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/1831/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/1831/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/1831/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/1831.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2761</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4472</span> Backstepping Sliding Mode Controller Coupled to Adaptive Sliding Mode Observer for Interconnected Fractional Nonlinear System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=D.%20Elleuch">D. Elleuch</a>, <a href="https://publications.waset.org/search?q=T.%20Damak"> T. Damak</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Performance control law is studied for an interconnected fractional nonlinear system. Applying a backstepping algorithm, a backstepping sliding mode controller (BSMC) is developed for fractional nonlinear system. To improve control law performance, BSMC is coupled to an adaptive sliding mode observer have a filtered error as a sliding surface. The both architecture performance is studied throughout the inverted pendulum mounted on a cart. Simulation result show that the BSMC coupled to an adaptive sliding mode observer have stable control law and eligible control amplitude than the BSMC. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Backstepping%20sliding%20mode%20controller" title="Backstepping sliding mode controller">Backstepping sliding mode controller</a>, <a href="https://publications.waset.org/search?q=interconnected%20fractional%20nonlinear%20system" title=" interconnected fractional nonlinear system"> interconnected fractional nonlinear system</a>, <a href="https://publications.waset.org/search?q=adaptive%20sliding%20mode%0Aobserver." title=" adaptive sliding mode observer."> adaptive sliding mode observer.</a> </p> <a href="https://publications.waset.org/2358/backstepping-sliding-mode-controller-coupled-to-adaptive-sliding-mode-observer-for-interconnected-fractional-nonlinear-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/2358/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/2358/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/2358/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/2358/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/2358/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/2358/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/2358/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/2358/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/2358/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/2358/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/2358.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2292</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4471</span> Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=T.%20C.%20Kuo">T. C. Kuo</a>, <a href="https://publications.waset.org/search?q=Y.%20J.%20Huang"> Y. J. Huang</a>, <a href="https://publications.waset.org/search?q=B.%20W.%20Hong"> B. W. Hong</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robotic%20manipulators" title="Robotic manipulators">Robotic manipulators</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/search?q=adaptive%20law" title=" adaptive law"> adaptive law</a>, <a href="https://publications.waset.org/search?q=Lyapunov%20theorem" title=" Lyapunov theorem"> Lyapunov theorem</a>, <a href="https://publications.waset.org/search?q=robustness." title=" robustness."> robustness.</a> </p> <a href="https://publications.waset.org/15705/design-of-adaptive-sliding-mode-controller-for-robotic-manipulators-tracking-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15705/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15705/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15705/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15705/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15705/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15705/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15705/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15705/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15705/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15705/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15705.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">3046</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4470</span> Sliding Mode Control with Fuzzy Boundary Layer to Air-Air Interception Problem</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Mustafa%20Resa%20Becan">Mustafa Resa Becan</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The performance of a type of fuzzy sliding mode control is researched by considering the nonlinear characteristic of a missile-target interception problem to obtain a robust interception process. The variable boundary layer by using fuzzy logic is proposed to reduce the chattering around the switching surface then is applied to the interception model which was derived. The performances of the sliding mode control with constant and fuzzy boundary layer are compared at the end of the study and the results are evaluated.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Sliding%20mode%20control" title="Sliding mode control">Sliding mode control</a>, <a href="https://publications.waset.org/search?q=fuzzy" title=" fuzzy"> fuzzy</a>, <a href="https://publications.waset.org/search?q=boundary%20layer" title=" boundary layer"> boundary layer</a>, <a href="https://publications.waset.org/search?q=interception%20problem." title=" interception problem."> interception problem.</a> </p> <a href="https://publications.waset.org/9908/sliding-mode-control-with-fuzzy-boundary-layer-to-air-air-interception-problem" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9908/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9908/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9908/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9908/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9908/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9908/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9908/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9908/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9908/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9908/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9908.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2010</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4469</span> Fuzzy Sliding Mode Speed Controller for a Vector Controlled Induction Motor</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=S.%20Massoum">S. Massoum</a>, <a href="https://publications.waset.org/search?q=A.%20Bentaallah"> A. Bentaallah</a>, <a href="https://publications.waset.org/search?q=A.%20Massoum"> A. Massoum</a>, <a href="https://publications.waset.org/search?q=F.%20Benaimeche"> F. Benaimeche</a>, <a href="https://publications.waset.org/search?q=P.%20Wira"> P. Wira</a>, <a href="https://publications.waset.org/search?q=A.%20Meroufel"> A. Meroufel</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a speed fuzzy sliding mode controller for a vector controlled induction machine (IM) fed by a voltage source inverter (PWM). The sliding mode based fuzzy control method is developed to achieve fast response, a best disturbance rejection and to maintain a good decoupling. The problem with sliding mode control is that there is high frequency switching around the sliding mode surface. The FSMC is the combination of the robustness of Sliding Mode Control (SMC) and the smoothness of Fuzzy Logic (FL). To reduce the torque fluctuations (chattering), the sign function used in the conventional SMC is substituted with a fuzzy logic algorithm. The proposed algorithm was simulated by Matlab/Simulink software and simulation results show that the performance of the control scheme is robust and the chattering problem is solved. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=IM" title="IM">IM</a>, <a href="https://publications.waset.org/search?q=FOC" title=" FOC"> FOC</a>, <a href="https://publications.waset.org/search?q=FLC" title=" FLC"> FLC</a>, <a href="https://publications.waset.org/search?q=SMC" title=" SMC"> SMC</a>, <a href="https://publications.waset.org/search?q=and%20FSMC." title=" and FSMC."> and FSMC.</a> </p> <a href="https://publications.waset.org/9893/fuzzy-sliding-mode-speed-controller-for-a-vector-controlled-induction-motor" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9893/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9893/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9893/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9893/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9893/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9893/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9893/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9893/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9893/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9893/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9893.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2814</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4468</span> Trajectory Tracking of a 2-Link Mobile Manipulator Using Sliding Mode Control Method</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Abolfazl%20Mohammadijoo">Abolfazl Mohammadijoo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, we are investigating sliding mode control approach for trajectory tracking of a two-link-manipulator with wheeled mobile robot in its base. The main challenge of this work is dynamic interaction between mobile base and manipulator which makes trajectory tracking more difficult than n-link manipulators with fixed base. Another challenging part of this work is to avoid chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of sliding mode control approach for desired trajectory. </p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Mobile%20manipulator" title="Mobile manipulator">Mobile manipulator</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/search?q=dynamic%20interaction" title=" dynamic interaction"> dynamic interaction</a>, <a href="https://publications.waset.org/search?q=mobile%20robotics." title=" mobile robotics."> mobile robotics.</a> </p> <a href="https://publications.waset.org/10013083/trajectory-tracking-of-a-2-link-mobile-manipulator-using-sliding-mode-control-method" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10013083/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10013083/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10013083/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10013083/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10013083/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10013083/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10013083/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10013083/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10013083/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10013083/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10013083.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">504</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4467</span> Sliding Mode Control of a Bus Suspension System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Mujde%20Turkkan">Mujde Turkkan</a>, <a href="https://publications.waset.org/search?q=Nurkan%20Yagiz"> Nurkan Yagiz</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The vibrations, caused by the irregularities of the road surface, are to be suppressed via suspension systems. In this paper, sliding mode control for a half bus model with air suspension system is presented. The bus is modelled as five degrees of freedom (DoF) system. The mathematical model of the half bus is developed using Lagrange Equations. For time domain analysis, the bus model is assumed to travel at certain speed over the bump road. The numerical results of the analysis indicate that the sliding mode controllers can be effectively used to suppress the vibrations and to improve the ride comfort of the busses.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Sliding%20mode%20control" title="Sliding mode control">Sliding mode control</a>, <a href="https://publications.waset.org/search?q=bus%20model" title=" bus model"> bus model</a>, <a href="https://publications.waset.org/search?q=air%20suspension." title=" air suspension."> air suspension.</a> </p> <a href="https://publications.waset.org/10005218/sliding-mode-control-of-a-bus-suspension-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10005218/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10005218/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10005218/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10005218/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10005218/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10005218/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10005218/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10005218/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10005218/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10005218/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10005218.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1771</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4466</span> On Two Control Approaches for The Output Voltage Regulation of a Boost Converter</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Abdelaziz%20Sahbani">Abdelaziz Sahbani</a>, <a href="https://publications.waset.org/search?q=Kamel%20Ben%20Saad"> Kamel Ben Saad</a>, <a href="https://publications.waset.org/search?q=Mohamed%20Benrejeb"> Mohamed Benrejeb</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper deals with the comparison between two proposed control strategies for a DC-DC boost converter. The first control is a classical Sliding Mode Control (SMC) and the second one is a distance based Fuzzy Sliding Mode Control (FSMC). The SMC is an analytical control approach based on the boost mathematical model. However, the FSMC is a non-conventional control approach which does not need the controlled system mathematical model. It needs only the measures of the output voltage to perform the control signal. The obtained simulation results show that the two proposed control methods are robust for the case of load resistance and the input voltage variations. However, the proposed FSMC gives a better step voltage response than the one obtained by the SMC.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Boost%20DC-DC%20converter" title="Boost DC-DC converter">Boost DC-DC converter</a>, <a href="https://publications.waset.org/search?q=Sliding%20Mode%20Control%20%28SMC%29" title=" Sliding Mode Control (SMC)"> Sliding Mode Control (SMC)</a>, <a href="https://publications.waset.org/search?q=Fuzzy%20Sliding%20Mode%20Control%20%28FSMC%29" title=" Fuzzy Sliding Mode Control (FSMC)"> Fuzzy Sliding Mode Control (FSMC)</a>, <a href="https://publications.waset.org/search?q=Robustness." title=" Robustness."> Robustness.</a> </p> <a href="https://publications.waset.org/848/on-two-control-approaches-for-the-output-voltage-regulation-of-a-boost-converter" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/848/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/848/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/848/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/848/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/848/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/848/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/848/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/848/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/848/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/848/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/848.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1543</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4465</span> Sliding Mode Control of an Internet Teleoperated PUMA 600 Robot</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Abdallah%20Ghoul">Abdallah Ghoul</a>, <a href="https://publications.waset.org/search?q=Bachir%20Ouamri"> Bachir Ouamri</a>, <a href="https://publications.waset.org/search?q=Ismail%20Khalil%20Bousserhane"> Ismail Khalil Bousserhane</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, we have developed a sliding mode controller for PUMA 600 manipulator robot, to control the remote robot a teleoperation system was developed. This system includes two sites, local and remote. The sliding mode controller is installed at the remote site. The client asks for a position through an interface and receives the real positions after running of the task by the remote robot. Both sites are interconnected via the Internet. In order to verify the effectiveness of the sliding mode controller, that is compared with a classic PID controller. The developed approach is tested on a virtual robot. The results confirmed the high performance of this approach. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Internet" title="Internet">Internet</a>, <a href="https://publications.waset.org/search?q=manipulator%20robot" title=" manipulator robot"> manipulator robot</a>, <a href="https://publications.waset.org/search?q=PID%20controller" title=" PID controller"> PID controller</a>, <a href="https://publications.waset.org/search?q=remote%0D%0Acontrol" title=" remote control"> remote control</a>, <a href="https://publications.waset.org/search?q=sliding%20mode" title=" sliding mode"> sliding mode</a>, <a href="https://publications.waset.org/search?q=teleoperation." title=" teleoperation."> teleoperation.</a> </p> <a href="https://publications.waset.org/10008814/sliding-mode-control-of-an-internet-teleoperated-puma-600-robot" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10008814/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10008814/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10008814/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10008814/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10008814/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10008814/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10008814/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10008814/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10008814/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10008814/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10008814.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">963</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4464</span> Robust Adaptive Vibration Control with Application to a Robot Beam</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=J.%20Fei">J. Fei</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents the adaptive control scheme with sliding mode compensator for vibration control problem in the presence of disturbance. The dynamic model of the flexible cantilever beam using finite element modeling is derived. The adaptive control with sliding mode compensator using output feedback for output tracking is developed to reject the external disturbance, and to improve the tracking performance. Satisfactory simulation results verify that the effectiveness of adaptive control scheme with sliding mode compensator. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=finite%20element%20model" title="finite element model">finite element model</a>, <a href="https://publications.waset.org/search?q=adaptive%20control" title=" adaptive control"> adaptive control</a>, <a href="https://publications.waset.org/search?q=sliding%20modecontrol" title=" sliding modecontrol"> sliding modecontrol</a>, <a href="https://publications.waset.org/search?q=vibration%20suppression" title=" vibration suppression"> vibration suppression</a> </p> <a href="https://publications.waset.org/6777/robust-adaptive-vibration-control-with-application-to-a-robot-beam" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6777/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6777/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/6777/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/6777/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/6777/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/6777/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/6777/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/6777/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/6777/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/6777/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/6777.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1432</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4463</span> Output Regulation of Perturbed Nonlinear Systems by Nested Sliding Mode Control </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Aras%20Adhami%20Mirhoseini">Aras Adhami Mirhoseini</a>, <a href="https://publications.waset.org/search?q=Mohammad%20J.%20Yazdanpanah"> Mohammad J. Yazdanpanah</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, we consider nested sliding mode control of SISO nonlinear systems, perturbed by bounded matched and unmatched uncertainties. The systems are assumed to be in strict-feedback form. A step wise procedure is introduced to obtain the controller. In each step, a continuous sliding mode controller is designed as virtual control law. Then the next step sliding surface is defined by using this virtual controller. These sliding surfaces are selected as nonlinear static functions of the system states. Finally in the last step, smooth static state feedback control law is determined such that the output reaches the desired set-point while the system is forced arbitrary close to the intersection of sliding surfaces and the states remain bounded.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Sliding%20mode%20control" title="Sliding mode control">Sliding mode control</a>, <a href="https://publications.waset.org/search?q=Strict-feedback%20form" title=" Strict-feedback form"> Strict-feedback form</a>, <a href="https://publications.waset.org/search?q=Unmatched%20uncertainty" title=" Unmatched uncertainty"> Unmatched uncertainty</a>, <a href="https://publications.waset.org/search?q=output%20regulation." title=" output regulation."> output regulation.</a> </p> <a href="https://publications.waset.org/12147/output-regulation-of-perturbed-nonlinear-systems-by-nested-sliding-mode-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/12147/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/12147/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/12147/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/12147/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/12147/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/12147/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/12147/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/12147/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/12147/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/12147/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/12147.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2151</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4462</span> Fuzzy Sliding Mode Control of an MR Mount for Vibration Attenuation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Jinsiang%20Shaw">Jinsiang Shaw</a>, <a href="https://publications.waset.org/search?q=Ray%20Pan"> Ray Pan</a>, <a href="https://publications.waset.org/search?q=Yin-Chieh%20Chang"> Yin-Chieh Chang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, an magnetorheological (MR) mount with fuzzy sliding mode controller (FSMC) is studied for vibration suppression when the system is subject to base excitations. In recent years, magnetorheological fluids are becoming a popular material in the field of the semi-active control. However, the dynamic equation of an MR mount is highly nonlinear and it is difficult to identify. FSMC provides a simple method to achieve vibration attenuation of the nonlinear system with uncertain disturbances. This method is capable of handling the chattering problem of sliding mode control effectively and the fuzzy control rules are obtained by using the Lyapunov stability theory. The numerical simulations using one-dimension and two-dimension FSMC show effectiveness of the proposed controller for vibration suppression. Further, the well-known skyhook control scheme and an adaptive sliding mode controller are also included in the simulation for comparison with the proposed FSMC. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=adaptive%20sliding%20mode%20controller" title="adaptive sliding mode controller">adaptive sliding mode controller</a>, <a href="https://publications.waset.org/search?q=fuzzy%20sliding%20modecontroller" title=" fuzzy sliding modecontroller"> fuzzy sliding modecontroller</a>, <a href="https://publications.waset.org/search?q=magnetorheological%20mount" title=" magnetorheological mount"> magnetorheological mount</a>, <a href="https://publications.waset.org/search?q=skyhook%20control." title=" skyhook control."> skyhook control.</a> </p> <a href="https://publications.waset.org/15690/fuzzy-sliding-mode-control-of-an-mr-mount-for-vibration-attenuation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15690/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15690/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15690/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15690/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15690/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15690/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15690/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15690/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15690/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15690/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15690.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1796</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4461</span> Fuzzy Boundary Layer Solution to Nonlinear Hydraulic Position Control Problem</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Mustafa%20Resa%20Becan">Mustafa Resa Becan</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Sliding mode control with a fuzzy boundary layer is presented to hydraulic position control problem in this paper. A nonlinear hydraulic servomechanism which has an asymmetric cylinder is modeled and simulated first, then the proposed control scheme is applied to this model versus the conventional sliding mode control. Simulation results proved that the chattering free position control is achieved by tuning the fuzzy scaling factors properly.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Hydraulic%20servomechanism" title="Hydraulic servomechanism">Hydraulic servomechanism</a>, <a href="https://publications.waset.org/search?q=position%20control" title=" position control"> position control</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/search?q=chattering" title=" chattering"> chattering</a>, <a href="https://publications.waset.org/search?q=fuzzy%20boundary%20layer." title=" fuzzy boundary layer."> fuzzy boundary layer.</a> </p> <a href="https://publications.waset.org/2589/fuzzy-boundary-layer-solution-to-nonlinear-hydraulic-position-control-problem" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/2589/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/2589/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/2589/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/2589/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/2589/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/2589/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/2589/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/2589/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/2589/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/2589/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/2589.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1827</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4460</span> The Exploitation of Balancing an Inverted Pendulum System Using Sliding Mode Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Sheren%20H.%20Salah">Sheren H. Salah</a>, <a href="https://publications.waset.org/search?q=Ahmed%20Y.%20Ben%20Sasi"> Ahmed Y. Ben Sasi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The inverted pendulum system is a classic control problem that is used in universities around the world. It is a suitable process to test prototype controllers due to its high non-linearities and lack of stability. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. This paper presents the possibility of balancing an inverted pendulum system using sliding mode control (SMC). The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart's position. Therefore, proportional-integral-derivative (PID) is used for comparison. Results have proven SMC control produced better response compared to PID control in both normal and noisy systems. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Inverted%20pendulum%20%28IP%29%20proportional-integralderivative%0D%0A%28PID%29" title="Inverted pendulum (IP) proportional-integralderivative (PID)">Inverted pendulum (IP) proportional-integralderivative (PID)</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control%20%28SMC%29." title=" sliding mode control (SMC)."> sliding mode control (SMC).</a> </p> <a href="https://publications.waset.org/10003417/the-exploitation-of-balancing-an-inverted-pendulum-system-using-sliding-mode-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10003417/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10003417/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10003417/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10003417/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10003417/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10003417/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10003417/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10003417/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10003417/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10003417/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10003417.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2060</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4459</span> Sliding Mode Based Behavior Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Selim%20Yannier">Selim Yannier</a>, <a href="https://publications.waset.org/search?q=Asif%20Sabanovic"> Asif Sabanovic</a>, <a href="https://publications.waset.org/search?q=Ahmet%20Onat"> Ahmet Onat</a>, <a href="https://publications.waset.org/search?q=Muhammet%20Bastan"> Muhammet Bastan</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20Mobile%20Robot" title="Autonomous Mobile Robot">Autonomous Mobile Robot</a>, <a href="https://publications.waset.org/search?q=Behavior%20Based%20Control" title=" Behavior Based Control"> Behavior Based Control</a>, <a href="https://publications.waset.org/search?q=Fast%20Local%20Obstacle%20Avoidance" title=" Fast Local Obstacle Avoidance"> Fast Local Obstacle Avoidance</a>, <a href="https://publications.waset.org/search?q=Sliding%20Mode%20Control." title=" Sliding Mode Control."> Sliding Mode Control.</a> </p> <a href="https://publications.waset.org/11065/sliding-mode-based-behavior-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/11065/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/11065/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/11065/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/11065/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/11065/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/11065/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/11065/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/11065/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/11065/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/11065/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/11065.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1754</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4458</span> Sliding-Mode Control of Synchronous Reluctance Motor</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Mostafa.A.%20Fellani">Mostafa.A. Fellani</a>, <a href="https://publications.waset.org/search?q=Dawo.E.%20Abaid"> Dawo.E. Abaid</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a controller design technique for Synchronous Reluctance Motor to improve its dynamic performance with fast response and high accuracy. The sliding mode control is the most attractive and suitable method to use for this purpose, since it is simple in design and for its insensitivity to parameter variations or external disturbances. When this method implemented it yields fast dynamic response without overshoot and a zero steady-state error. The current loop control with decentralized sliding mode is presented in this paper. The mathematical model for the synchronous machine, the inverter and the controller is developed. The stability of the sliding mode controller is analyzed. Simulation of synchronous reluctance motor and the controller with PWM-inverter has been curried out, using the SIMULINK software package of MATLAB. Simulation results are presented to show the effectiveness of the approach. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Dynamic%20Simulation" title="Dynamic Simulation">Dynamic Simulation</a>, <a href="https://publications.waset.org/search?q=MATLAB" title=" MATLAB"> MATLAB</a>, <a href="https://publications.waset.org/search?q=PWM-inverter" title=" PWM-inverter"> PWM-inverter</a>, <a href="https://publications.waset.org/search?q=Reluctance%20Machine" title="Reluctance Machine">Reluctance Machine</a>, <a href="https://publications.waset.org/search?q=Sliding-mode." title=" Sliding-mode."> Sliding-mode.</a> </p> <a href="https://publications.waset.org/12137/sliding-mode-control-of-synchronous-reluctance-motor" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/12137/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/12137/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/12137/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/12137/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/12137/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/12137/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/12137/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/12137/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/12137/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/12137/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/12137.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">3106</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4457</span> Stability Analysis of a Class of Nonlinear Systems Using Discrete Variable Structures and Sliding Mode Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Vivekanandan%20C.">Vivekanandan C.</a>, <a href="https://publications.waset.org/search?q=Prabhakar%20.R."> Prabhakar .R.</a>, <a href="https://publications.waset.org/search?q=Prema%20D."> Prema D.</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents the application of discrete-time variable structure control with sliding mode based on the 'reaching law' method for robust control of a 'simple inverted pendulum on moving cart' - a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is carried out using pole placement technique to find state feedback gain matrix , which decides the dynamic behavior of the system during sliding mode. This is followed by feedback gain realization using the control law which is synthesized from 'Gao-s reaching law'. The model of a single inverted pendulum and the discrete variable structure control controller are developed, simulated in MATLAB-SIMULINK and results are presented. The response of this simulation is compared with that of the discrete linear quadratic regulator (DLQR) and the advantages of sliding mode controller over DLQR are also presented <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Inverted%20pendulum" title="Inverted pendulum">Inverted pendulum</a>, <a href="https://publications.waset.org/search?q=Variable%20Structure" title=" Variable Structure"> Variable Structure</a>, <a href="https://publications.waset.org/search?q=Sliding%20mode%0D%0Acontrol" title=" Sliding mode control"> Sliding mode control</a>, <a href="https://publications.waset.org/search?q=Discrete-time%20systems" title=" Discrete-time systems"> Discrete-time systems</a>, <a href="https://publications.waset.org/search?q=Nonlinear%20systems." title=" Nonlinear systems."> Nonlinear systems.</a> </p> <a href="https://publications.waset.org/9651/stability-analysis-of-a-class-of-nonlinear-systems-using-discrete-variable-structures-and-sliding-mode-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9651/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9651/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9651/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9651/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9651/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9651/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9651/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9651/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9651/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9651/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9651.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2003</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4456</span> Design of Moving Sliding Surfaces in A Variable Structure Plant and Chattering Phenomena</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=T.C.%20Manjunath">T.C. Manjunath</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper deals with the design of a moving sliding surface in a variable structure plant for a second order system. The chattering phenomena is also dealt with during the switching process for an unstable sliding surface condition. The simulation examples considered in this paper shows the effectiveness of the sliding mode control method used for the design of the moving sliding surfaces. A simulink model of the continuous system was also developed in MATLAB-SIMULINK for the design and hence demonstrated. The phase portraits and the state plots shows the demonstration of the powerful control technique which can be applied for second order systems. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Sliding%20mode%20control" title="Sliding mode control">Sliding mode control</a>, <a href="https://publications.waset.org/search?q=VSC" title=" VSC"> VSC</a>, <a href="https://publications.waset.org/search?q=Reaching%20phase" title=" Reaching phase"> Reaching phase</a>, <a href="https://publications.waset.org/search?q=Sliding%0D%0Aphase" title=" Sliding phase"> Sliding phase</a>, <a href="https://publications.waset.org/search?q=Moving%20surfaces" title=" Moving surfaces"> Moving surfaces</a>, <a href="https://publications.waset.org/search?q=Chattering" title=" Chattering"> Chattering</a>, <a href="https://publications.waset.org/search?q=Trajectories." title=" Trajectories."> Trajectories.</a> </p> <a href="https://publications.waset.org/14193/design-of-moving-sliding-surfaces-in-a-variable-structure-plant-and-chattering-phenomena" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/14193/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/14193/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/14193/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/14193/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/14193/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/14193/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/14193/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/14193/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/14193/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/14193/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/14193.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2336</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4455</span> Sliding Mode Control for Active Suspension System with Actuator Delay</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Aziz%20Sezgin">Aziz Sezgin</a>, <a href="https://publications.waset.org/search?q=Yuksel%20Hacioglu"> Yuksel Hacioglu</a>, <a href="https://publications.waset.org/search?q=Nurkan%20Yagiz"> Nurkan Yagiz</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Sliding mode controller for a vehicle active suspension system is designed in this study. The widely used quarter car model is preferred and it is aimed to improve the ride comfort of the passengers. The effect of the actuator time delay, which may arise due to the information processing, sensors or actuator dynamics, is also taken into account during the design of the controller. A sliding mode controller was designed that has taken into account the actuator time delay by using Smith predictor. The successful performance of the designed controller is confirmed via numerical results. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Sliding%20mode%20control" title="Sliding mode control">Sliding mode control</a>, <a href="https://publications.waset.org/search?q=active%20suspension%20system" title=" active suspension system"> active suspension system</a>, <a href="https://publications.waset.org/search?q=actuator%20time%20delay." title=" actuator time delay."> actuator time delay.</a> </p> <a href="https://publications.waset.org/10005107/sliding-mode-control-for-active-suspension-system-with-actuator-delay" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10005107/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10005107/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10005107/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10005107/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10005107/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10005107/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10005107/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10005107/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10005107/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10005107/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10005107.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1642</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4454</span> Control of a DC Servomotor Using Fuzzy Logic Sliding Mode Model Following Controller</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Phongsak%20Phakamach">Phongsak Phakamach</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>A DC servomotor position control system using a Fuzzy Logic Sliding mode Model Following Control or FLSMFC approach is presented. The FLSMFC structure consists of an integrator and variable structure system. The integral control is introduced into it in order to eliminated steady state error due to step and ramp command inputs and improve control precision, while the fuzzy control would maintain the insensitivity to parameter variation and disturbances. The FLSMFC strategy is implemented and applied to a position control of a DC servomotor drives. Experimental results indicated that FLSMFC system performance with respect to the sensitivity to parameter variations is greatly reduced. Also, excellent control effects and avoids the chattering phenomenon.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Sliding%20mode%20model%20following%20control" title="Sliding mode model following control">Sliding mode model following control</a>, <a href="https://publications.waset.org/search?q=fuzzy%20logic" title=" fuzzy logic"> fuzzy logic</a>, <a href="https://publications.waset.org/search?q=DC%20servomotor." title=" DC servomotor."> DC servomotor.</a> </p> <a href="https://publications.waset.org/8216/control-of-a-dc-servomotor-using-fuzzy-logic-sliding-mode-model-following-controller" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/8216/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/8216/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/8216/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/8216/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/8216/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/8216/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/8216/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/8216/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/8216/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/8216/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/8216.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1915</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4453</span> Robust Nonlinear Control of a Miniature Autonomous Helicopter using Sliding Mode Control Structure </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=H.%20Ifassiouen">H. Ifassiouen</a>, <a href="https://publications.waset.org/search?q=M.%20Guisser"> M. Guisser</a>, <a href="https://publications.waset.org/search?q=H.Medromi"> H.Medromi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents an investigation into the design of a flight control system, using a robust sliding mode control structure, designed using the exact feedback linearization procedure of the dynamic of a small-size autonomous helicopter in hover. The robustness of the controller in the context of stabilization and trajectory tracking with respect to small body forces and air resistance on the main and tail rotor, is analytically proved using Lyapunov approach. Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robust%20control" title="Robust control">Robust control</a>, <a href="https://publications.waset.org/search?q=sliding%20mode" title=" sliding mode"> sliding mode</a>, <a href="https://publications.waset.org/search?q=stability" title=" stability"> stability</a>, <a href="https://publications.waset.org/search?q=Lyapunovapproach." title=" Lyapunovapproach."> Lyapunovapproach.</a> </p> <a href="https://publications.waset.org/6615/robust-nonlinear-control-of-a-miniature-autonomous-helicopter-using-sliding-mode-control-structure" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6615/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6615/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/6615/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/6615/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/6615/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/6615/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/6615/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/6615/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/6615/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/6615/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/6615.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1803</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4452</span> Second Order Sliding Mode Observer Using MRAS Theory for Sensorless Control of Multiphase Induction Machine</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Mohammad%20Jafarifar">Mohammad Jafarifar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a speed estimation scheme based on second-order sliding-mode Super Twisting Algorithm (STA) and Model Reference Adaptive System (MRAS) estimation theory for Sensorless control of multiphase induction machine. A stator current observer is designed based on the STA, which is utilized to take the place of the reference voltage model of the standard MRAS algorithm. The observer is insensitive to the variation of rotor resistance and magnetizing inductance when the states arrive at the sliding mode. Derivatives of rotor flux are obtained and designed as the state of MRAS, thus eliminating the integration. Compared with the first-order sliding-mode speed estimator, the proposed scheme makes full use of the auxiliary sliding-mode surface, thus alleviating the chattering behavior without increasing the complexity. Simulation results show the robustness and effectiveness of the proposed scheme. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Multiphase%20induction%20machine" title="Multiphase induction machine">Multiphase induction machine</a>, <a href="https://publications.waset.org/search?q=field%20oriented%0D%0Acontrol" title=" field oriented control"> field oriented control</a>, <a href="https://publications.waset.org/search?q=sliding%20mode" title=" sliding mode"> sliding mode</a>, <a href="https://publications.waset.org/search?q=super%20twisting%20algorithm" title=" super twisting algorithm"> super twisting algorithm</a>, <a href="https://publications.waset.org/search?q=MRAS%20algorithm." title=" MRAS algorithm."> MRAS algorithm.</a> </p> <a href="https://publications.waset.org/10002560/second-order-sliding-mode-observer-using-mras-theory-for-sensorless-control-of-multiphase-induction-machine" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10002560/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10002560/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10002560/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10002560/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10002560/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10002560/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10002560/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10002560/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10002560/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10002560/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10002560.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2295</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4451</span> 3D Guidance of Unmanned Aerial Vehicles Using Sliding Mode Approach</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=M.%20Zamurad%20Shah">M. Zamurad Shah</a>, <a href="https://publications.waset.org/search?q=M.%20Kemal%20%C3%96zg%C3%B6ren"> M. Kemal Özgören</a>, <a href="https://publications.waset.org/search?q=Raza%20Samar"> Raza Samar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents a 3D guidance scheme for Unmanned Aerial Vehicles (UAVs). The proposed guidance scheme is based on the sliding mode approach using nonlinear sliding manifolds. Generalized 3D kinematic equations are considered here during the design process to cater for the coupling between longitudinal and lateral motions. Sliding mode based guidance scheme is then derived for the multiple-input multiple-output (MIMO) system using the proposed nonlinear manifolds. Instead of traditional sliding surfaces, nonlinear sliding surfaces are proposed here for performance and stability in all flight conditions. In the reaching phase control inputs, the bang-bang terms with signum functions are accompanied with proportional terms in order to reduce the chattering amplitudes. The Proposed 3D guidance scheme is implemented on a 6-degrees-of-freedom (6-dof) simulation of a UAV and simulation results are presented here for different 3D trajectories with and without disturbances.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Unmanned%20Aerial%20Vehicles" title="Unmanned Aerial Vehicles">Unmanned Aerial Vehicles</a>, <a href="https://publications.waset.org/search?q=Sliding%20mode%20control" title=" Sliding mode control"> Sliding mode control</a>, <a href="https://publications.waset.org/search?q=3D%20Guidance" title=" 3D Guidance"> 3D Guidance</a>, <a href="https://publications.waset.org/search?q=Path%20following" title=" Path following"> Path following</a>, <a href="https://publications.waset.org/search?q=trajectory%20tracking" title=" trajectory tracking"> trajectory tracking</a>, <a href="https://publications.waset.org/search?q=nonlinear%20sliding%0D%0Amanifolds." title=" nonlinear sliding manifolds."> nonlinear sliding manifolds.</a> </p> <a href="https://publications.waset.org/9999545/3d-guidance-of-unmanned-aerial-vehicles-using-sliding-mode-approach" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9999545/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9999545/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9999545/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9999545/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9999545/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9999545/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9999545/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9999545/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9999545/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9999545/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9999545.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2703</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4450</span> Sliding Mode Position Control for Permanent Magnet Synchronous Motors Based On Passivity Approach</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Jenn-Yih%20Chen">Jenn-Yih Chen</a>, <a href="https://publications.waset.org/search?q=Bean-Yin%20Lee"> Bean-Yin Lee</a>, <a href="https://publications.waset.org/search?q=Yuan-Chuan%20Hsu"> Yuan-Chuan Hsu</a>, <a href="https://publications.waset.org/search?q=Jui-Cheng%20Lin"> Jui-Cheng Lin</a>, <a href="https://publications.waset.org/search?q=Kuang-Chyi%20Lee"> Kuang-Chyi Lee</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, a sliding mode control method based on the passivity approach is proposed to control the position of surface-mounted permanent magnet synchronous motors (PMSMs). Firstly, the dynamics of a PMSM was proved to be strictly passive. The position controller with an adaptive law was used to estimate the load torque to eliminate the chattering effects associated with the conventional sliding mode controller. The stability analysis of the overall position control system was carried out by adopting the passivity theorem instead of Lyapunov-type arguments. Finally, experimental results were provided to show that the good position tracking can be obtained, and exhibit robustness in the variations of the motor parameters and load torque disturbances.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Adaptive%20law" title="Adaptive law">Adaptive law</a>, <a href="https://publications.waset.org/search?q=passivity%20theorem" title=" passivity theorem"> passivity theorem</a>, <a href="https://publications.waset.org/search?q=permanent%20magnet%20synchronous%20motor" title=" permanent magnet synchronous motor"> permanent magnet synchronous motor</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20control." title=" sliding mode control. "> sliding mode control. </a> </p> <a href="https://publications.waset.org/9998727/sliding-mode-position-control-for-permanent-magnet-synchronous-motors-based-on-passivity-approach" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9998727/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9998727/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9998727/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9998727/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9998727/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9998727/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9998727/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9998727/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9998727/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9998727/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9998727.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2130</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4449</span> Actuator Fault Detection and Fault Tolerant Control of a Nonlinear System Using Sliding Mode Observer</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=R.%20Loukil">R. Loukil</a>, <a href="https://publications.waset.org/search?q=M.%20Chtourou"> M. Chtourou</a>, <a href="https://publications.waset.org/search?q=T.%20Damak"> T. Damak </a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this work, we use the Fault detection and isolation and the Fault tolerant control based on sliding mode observer in order to introduce the well diagnosis of a nonlinear system. The robustness of the proposed observer for the two techniques is tested through a physical example. The results in this paper show the interaction between the Fault tolerant control and the Diagnosis procedure. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Fault%20detection%20and%20isolation%20%E2%80%9CFDI%E2%80%9D" title="Fault detection and isolation “FDI”">Fault detection and isolation “FDI”</a>, <a href="https://publications.waset.org/search?q=Fault%20tolerant%20control%20%E2%80%9CFTC%E2%80%9D" title=" Fault tolerant control “FTC”"> Fault tolerant control “FTC”</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20observer" title=" sliding mode observer"> sliding mode observer</a>, <a href="https://publications.waset.org/search?q=nonlinear%20system" title=" nonlinear system"> nonlinear system</a>, <a href="https://publications.waset.org/search?q=robustness" title=" robustness"> robustness</a>, <a href="https://publications.waset.org/search?q=stability." title=" stability."> stability.</a> </p> <a href="https://publications.waset.org/10003568/actuator-fault-detection-and-fault-tolerant-control-of-a-nonlinear-system-using-sliding-mode-observer" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10003568/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10003568/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10003568/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10003568/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10003568/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10003568/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10003568/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10003568/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10003568/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10003568/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10003568.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1653</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4448</span> Back Stepping Sliding Mode Control of Blood Glucose for Type I Diabetes</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=N.%20Tadrisi%20Parsa">N. Tadrisi Parsa</a>, <a href="https://publications.waset.org/search?q=A.%20R.%20Vali"> A. R. Vali</a>, <a href="https://publications.waset.org/search?q=R.%20Ghasemi"> R. Ghasemi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Diabetes is a growing health problem in worldwide. Especially, the patients with Type 1 diabetes need strict glycemic control because they have deficiency of insulin production. This paper attempts to control blood glucose based on body mathematical body model. The Bergman minimal mathematical model is used to develop the nonlinear controller. A novel back-stepping based sliding mode control (B-SMC) strategy is proposed as a solution that guarantees practical tracking of a desired glucose concentration. In order to show the performance of the proposed design, it is compared with conventional linear and fuzzy controllers which have been done in previous researches. The numerical simulation result shows the advantages of sliding mode back stepping controller design to linear and fuzzy controllers.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Back%20stepping" title="Back stepping">Back stepping</a>, <a href="https://publications.waset.org/search?q=Bergman%20Model" title=" Bergman Model"> Bergman Model</a>, <a href="https://publications.waset.org/search?q=Nonlinear%20control" title=" Nonlinear control"> Nonlinear control</a>, <a href="https://publications.waset.org/search?q=Sliding%20mode%20control." title=" Sliding mode control."> Sliding mode control.</a> </p> <a href="https://publications.waset.org/9999695/back-stepping-sliding-mode-control-of-blood-glucose-for-type-i-diabetes" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9999695/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9999695/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9999695/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9999695/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9999695/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9999695/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9999695/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9999695/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9999695/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9999695/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9999695.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">3536</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4447</span> Non-Linear Control Based on State Estimation for the Convoy of Autonomous Vehicles</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=M-M.%20Mohamed%20Ahmed">M-M. Mohamed Ahmed</a>, <a href="https://publications.waset.org/search?q=Nacer%20K.%20M%E2%80%99Sirdi"> Nacer K. M’Sirdi</a>, <a href="https://publications.waset.org/search?q=Aziz%20Naamane"> Aziz Naamane</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature for the control of multi vehicles. The modeling of the convoy of the vehicles is revisited using a robotic method for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20vehicles" title="Autonomous vehicles">Autonomous vehicles</a>, <a href="https://publications.waset.org/search?q=convoy" title=" convoy"> convoy</a>, <a href="https://publications.waset.org/search?q=nonlinear%20control" title=" nonlinear control"> nonlinear control</a>, <a href="https://publications.waset.org/search?q=nonlinear%20observer" title=" nonlinear observer"> nonlinear observer</a>, <a href="https://publications.waset.org/search?q=sliding%20mode." title=" sliding mode."> sliding mode.</a> </p> <a href="https://publications.waset.org/10011221/non-linear-control-based-on-state-estimation-for-the-convoy-of-autonomous-vehicles" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10011221/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10011221/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10011221/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10011221/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10011221/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10011221/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10011221/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10011221/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10011221/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10011221/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10011221.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">726</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4446</span> Fuel Cell/DC-DC Convertor Control by Sliding Mode Method</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Farzad%20Abdous">Farzad Abdous</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Fuel cell's system requires regulating circuit for voltage and current in order to control power in case of connecting to other generative devices or load. In this paper Fuel cell system and convertor, which is a multi-variable system, are controlled using sliding mode method. Use of weighting matrix in design procedure made it possible to regulate speed of control. Simulation results show the robustness and accuracy of proposed controller for controlling desired of outputs. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=DC-DC%20converter" title="DC-DC converter">DC-DC converter</a>, <a href="https://publications.waset.org/search?q=Fuel%20cell" title=" Fuel cell"> Fuel cell</a>, <a href="https://publications.waset.org/search?q=PEM" title=" PEM"> PEM</a>, <a href="https://publications.waset.org/search?q=Slides%20mode%0Acontrol." title=" Slides mode control."> Slides mode control.</a> </p> <a href="https://publications.waset.org/6637/fuel-celldc-dc-convertor-control-by-sliding-mode-method" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6637/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6637/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a 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