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sliding manifolds</title> <meta name="description" content="Search results for: nonlinear sliding manifolds"> <meta name="keywords" content="nonlinear sliding manifolds"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button 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action="https://publications.waset.org/abstracts/search"> <div id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="nonlinear sliding manifolds"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 1598</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: nonlinear sliding manifolds</h1> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1598</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/abstracts/search?q=M.%20Zamurad%20Shah">M. Zamurad Shah</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Kemal%20Ozgoren"> M. Kemal Ozgoren</a>, <a href="https://publications.waset.org/abstracts/search?q=Raza%20Samar"> Raza Samar</a> </p> <p class="card-text"><strong>Abstract:</strong></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 class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=unmanned%20aerial%20vehicles" title="unmanned aerial vehicles">unmanned aerial vehicles</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=3D%20guidance" title=" 3D guidance"> 3D guidance</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20sliding%20manifolds" title=" nonlinear sliding manifolds"> nonlinear sliding manifolds</a> </p> <a href="https://publications.waset.org/abstracts/14296/3d-guidance-of-unmanned-aerial-vehicles-using-sliding-mode-approach" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/14296.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">451</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1597</span> Fast Terminal Sliding Mode Controller For Quadrotor UAV</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Vahid%20Tabrizi">Vahid Tabrizi</a>, <a href="https://publications.waset.org/abstracts/search?q=Reza%20GHasemi">Reza GHasemi</a>, <a href="https://publications.waset.org/abstracts/search?q=Ahmadreza%20Vali">Ahmadreza Vali</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents robust nonlinear control law for a quadrotor UAV using fast terminal sliding mode control. Fast terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Then, in reaching phase for removing chattering and producing smooth control signal, continuous approximation idea is used. Simulation results show that the proposed algorithm is robust against parameter uncertainty and has better performance than conventional sliding mode for controlling a quadrotor UAV. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=quadrotor%20UAV" title="quadrotor UAV">quadrotor UAV</a>, <a href="https://publications.waset.org/abstracts/search?q=fast%20terminal%20sliding%20mode" title=" fast terminal sliding mode"> fast terminal sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=second%20order%20sliding%20mode%20t" title=" second order sliding mode t"> second order sliding mode t</a> </p> <a href="https://publications.waset.org/abstracts/16258/fast-terminal-sliding-mode-controller-for-quadrotor-uav" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/16258.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">547</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1596</span> Static Output Feedback Control of a Two-Wheeled Inverted Pendulum Using Sliding Mode Technique</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Yankun%20Yang">Yankun Yang</a>, <a href="https://publications.waset.org/abstracts/search?q=Xinggang%20Yan"> Xinggang Yan</a>, <a href="https://publications.waset.org/abstracts/search?q=Konstantinos%20Sirlantzis"> Konstantinos Sirlantzis</a>, <a href="https://publications.waset.org/abstracts/search?q=Gareth%20Howells"> Gareth Howells</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a static output feedback sliding mode control method to regulate a two-wheeled inverted pendulum system with considerations of matched and unmatched uncertainties. A sliding surface is designed and the associated sliding motion stability is analysed based on the reduced-order dynamics. A static output sliding mode control law is synthesised to drive the system to the sliding surface and maintain a sliding motion afterwards. The nonlinear bounds on the uncertainties are employed in the stability analysis and control design to improve the robustness. The simulation results demonstrate the effectiveness of the proposed control. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=two-wheeled%20inverted%20pendulum" title="two-wheeled inverted pendulum">two-wheeled inverted pendulum</a>, <a href="https://publications.waset.org/abstracts/search?q=output%20feedback%20sliding%20mode%20control" title=" output feedback sliding mode control"> output feedback sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20systems" title=" nonlinear systems"> nonlinear systems</a>, <a href="https://publications.waset.org/abstracts/search?q=robotics" title=" robotics"> robotics</a> </p> <a href="https://publications.waset.org/abstracts/139281/static-output-feedback-control-of-a-two-wheeled-inverted-pendulum-using-sliding-mode-technique" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/139281.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">249</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1595</span> Second Order Optimality Conditions in Nonsmooth Analysis on Riemannian Manifolds</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Seyedehsomayeh%20Hosseini">Seyedehsomayeh Hosseini</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Much attention has been paid over centuries to understanding and solving the problem of minimization of functions. Compared to linear programming and nonlinear unconstrained optimization problems, nonlinear constrained optimization problems are much more difficult. Since the procedure of finding an optimizer is a search based on the local information of the constraints and the objective function, it is very important to develop techniques using geometric properties of the constraints and the objective function. In fact, differential geometry provides a powerful tool to characterize and analyze these geometric properties. Thus, there is clearly a link between the techniques of optimization on manifolds and standard constrained optimization approaches. Furthermore, there are manifolds that are not defined as constrained sets in R^n an important example is the Grassmann manifolds. Hence, to solve optimization problems on these spaces, intrinsic methods are used. In a nondifferentiable problem, the gradient information of the objective function generally cannot be used to determine the direction in which the function is decreasing. Therefore, techniques of nonsmooth analysis are needed to deal with such a problem. As a manifold, in general, does not have a linear structure, the usual techniques, which are often used in nonsmooth analysis on linear spaces, cannot be applied and new techniques need to be developed. This paper presents necessary and sufficient conditions for a strict local minimum of extended real-valued, nonsmooth functions defined on Riemannian manifolds. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Riemannian%20manifolds" title="Riemannian manifolds">Riemannian manifolds</a>, <a href="https://publications.waset.org/abstracts/search?q=nonsmooth%20optimization" title=" nonsmooth optimization"> nonsmooth optimization</a>, <a href="https://publications.waset.org/abstracts/search?q=lower%20semicontinuous%20functions" title=" lower semicontinuous functions"> lower semicontinuous functions</a>, <a href="https://publications.waset.org/abstracts/search?q=subdifferential" title=" subdifferential"> subdifferential</a> </p> <a href="https://publications.waset.org/abstracts/35809/second-order-optimality-conditions-in-nonsmooth-analysis-on-riemannian-manifolds" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/35809.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">361</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1594</span> Smooth Second Order Nonsingular Terminal Sliding Mode Control for a 6 DOF Quadrotor UAV</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=V.%20Tabrizi">V. Tabrizi</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Vali"> A. Vali</a>, <a href="https://publications.waset.org/abstracts/search?q=R.%20GHasemi"> R. GHasemi</a>, <a href="https://publications.waset.org/abstracts/search?q=V.%20Behnamgol"> V. Behnamgol</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this article, a nonlinear model of an under actuated six degrees of freedom (6 DOF) quadrotor UAV is derived on the basis of the Newton-Euler formula. The derivation comprises determining equations of the motion of the quadrotor in three dimensions and approximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics. The robust nonlinear control strategy includes a smooth second order non-singular terminal sliding mode control which is applied to stabilizing this model. The control method is on the basis of super twisting algorithm for removing the chattering and producing smooth control signal. Also, nonsingular terminal sliding mode idea is used for introducing a nonlinear sliding variable that guarantees the finite time convergence in sliding phase. Simulation results show that the proposed algorithm is robust against uncertainty or disturbance and guarantees a fast and precise control signal. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=quadrotor%20UAV" title="quadrotor UAV">quadrotor UAV</a>, <a href="https://publications.waset.org/abstracts/search?q=nonsingular%20terminal%20sliding%20mode" title=" nonsingular terminal sliding mode"> nonsingular terminal sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=second%20order%20sliding%20mode%20t" title=" second order sliding mode t"> second order sliding mode t</a>, <a href="https://publications.waset.org/abstracts/search?q=electronics" title=" electronics"> electronics</a>, <a href="https://publications.waset.org/abstracts/search?q=control" title=" control"> control</a>, <a href="https://publications.waset.org/abstracts/search?q=signal%20processing" title=" signal processing"> signal processing</a> </p> <a href="https://publications.waset.org/abstracts/13906/smooth-second-order-nonsingular-terminal-sliding-mode-control-for-a-6-dof-quadrotor-uav" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/13906.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">441</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1593</span> Designing Back-Stepping Sliding Mode Controller for a Class of 4Y Octorotor</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=I.%20Khabbazi">I. Khabbazi</a>, <a href="https://publications.waset.org/abstracts/search?q=R.%20Ghasemi"> R. Ghasemi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a combination of both robust nonlinear controller and nonlinear controller for a class of nonlinear 4Y Octorotor UAV using Back-stepping and sliding mode controller. The robustness against internal and external disturbance and decoupling control are the merits of the proposed paper. The proposed controller decouples the Octorotor dynamical system. The controller is then applied to a 4Y Octorotor UAV and its feature will be shown. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode" title="sliding mode">sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=backstepping" title=" backstepping"> backstepping</a>, <a href="https://publications.waset.org/abstracts/search?q=decoupling" title=" decoupling"> decoupling</a>, <a href="https://publications.waset.org/abstracts/search?q=octorotor%20UAV" title=" octorotor UAV"> octorotor UAV</a> </p> <a href="https://publications.waset.org/abstracts/14595/designing-back-stepping-sliding-mode-controller-for-a-class-of-4y-octorotor" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/14595.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">440</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1592</span> A Combined High Gain-Higher Order Sliding Mode Controller for a Class of Uncertain Nonlinear Systems</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Abderraouf%20Gaaloul">Abderraouf Gaaloul</a>, <a href="https://publications.waset.org/abstracts/search?q=Faouzi%20Msahli"> Faouzi Msahli</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The use of standard sliding mode controller, usually, leads to the appearing of an undesirable chattering phenomenon affecting the control signal. Such problem can be overcome using a higher-order sliding mode controller (HOSMC) which preserves the main properties of the standard sliding mode and deliberately increases the control smoothness. In this paper, we propose a new HOSMC for a class of uncertain multi-input multi-output nonlinear systems. Based on high gain and integral sliding mode paradigms, the established control scheme removes theoretically the chattering phenomenon and provides the stability of the control system. Numerical simulations are developed to show the effectiveness of the proposed controller when applied to solve a control problem of two water levels into a quadruple-tank process. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20systems" title="nonlinear systems">nonlinear systems</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=high%20gain" title=" high gain"> high gain</a>, <a href="https://publications.waset.org/abstracts/search?q=higher%20order" title=" higher order"> higher order</a> </p> <a href="https://publications.waset.org/abstracts/84589/a-combined-high-gain-higher-order-sliding-mode-controller-for-a-class-of-uncertain-nonlinear-systems" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/84589.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">327</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1591</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/abstracts/search?q=R.%20Loukil">R. Loukil</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Chtourou"> M. Chtourou</a>, <a href="https://publications.waset.org/abstracts/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/abstracts/search?q=fault%20detection%20and%20isolation%20FDI" title="fault detection and isolation FDI">fault detection and isolation FDI</a>, <a href="https://publications.waset.org/abstracts/search?q=fault%20tolerant%20control%20FTC" title=" fault tolerant control FTC"> fault tolerant control FTC</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20observer" title=" sliding mode observer"> sliding mode observer</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20system" title=" nonlinear system"> nonlinear system</a>, <a href="https://publications.waset.org/abstracts/search?q=robustness" title=" robustness"> robustness</a>, <a href="https://publications.waset.org/abstracts/search?q=stability" title=" stability"> stability</a> </p> <a href="https://publications.waset.org/abstracts/41716/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/abstracts/41716.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">374</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1590</span> Comparative Study Performance of the Induction Motor between SMC and NLC Modes Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=A.%20Oukaci">A. Oukaci</a>, <a href="https://publications.waset.org/abstracts/search?q=R.%20Toufouti"> R. Toufouti</a>, <a href="https://publications.waset.org/abstracts/search?q=D.%20Dib"> D. Dib</a>, <a href="https://publications.waset.org/abstracts/search?q=l.%20Atarsia"> l. Atarsia</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This article presents a multitude of alternative techniques to control the vector control, namely the nonlinear control and sliding mode control. Moreover, the implementation of their control law applied to the high-performance to the induction motor with the objective to improve the tracking control, ensure stability robustness to parameter variations and disturbance rejection. Tests are performed numerical simulations in the Matlab/Simulink interface, the results demonstrate the efficiency and dynamic performance of the proposed strategy. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Induction%20Motor%20%28IM%29" title="Induction Motor (IM)">Induction Motor (IM)</a>, <a href="https://publications.waset.org/abstracts/search?q=Non-linear%20Control%20%28NLC%29" title=" Non-linear Control (NLC)"> Non-linear Control (NLC)</a>, <a href="https://publications.waset.org/abstracts/search?q=Sliding%20Mode%20Control%20%28SMC%29" title=" Sliding Mode Control (SMC)"> Sliding Mode Control (SMC)</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20sliding%20surface" title=" nonlinear sliding surface "> nonlinear sliding surface </a> </p> <a href="https://publications.waset.org/abstracts/19496/comparative-study-performance-of-the-induction-motor-between-smc-and-nlc-modes-control" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/19496.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">572</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1589</span> Sliding Mode Control of Autonomous Underwater Vehicles</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ahmad%20Forouzantabar">Ahmad Forouzantabar</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohammad%20Azadi"> Mohammad Azadi</a>, <a href="https://publications.waset.org/abstracts/search?q=Alireza%20Alesaadi"> Alireza Alesaadi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper describes a sliding mode controller for autonomous underwater vehicles (AUVs). The dynamic of AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of AUV and improve trajectory tracking. Moreover, the proposed controller can profoundly attenuate the effects of uncertainties and external disturbances in the closed-loop system. Using the Lyapunov theory the boundedness of AUV tracking errors and the stability of the proposed control system are also guaranteed. Numerical simulation studies of an AUV are included to illustrate the effectiveness of the presented approach. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=lyapunov%20stability" title="lyapunov stability">lyapunov stability</a>, <a href="https://publications.waset.org/abstracts/search?q=autonomous%20underwater%20vehicle" title=" autonomous underwater vehicle"> autonomous underwater vehicle</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20controller" title=" sliding mode controller"> sliding mode controller</a>, <a href="https://publications.waset.org/abstracts/search?q=electronics%20engineering" title=" electronics engineering"> electronics engineering</a> </p> <a href="https://publications.waset.org/abstracts/6715/sliding-mode-control-of-autonomous-underwater-vehicles" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/6715.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">612</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1588</span> Evolved Bat Algorithm Based Adaptive Fuzzy Sliding Mode Control with LMI Criterion</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=P.-W.%20Tsai">P.-W. Tsai</a>, <a href="https://publications.waset.org/abstracts/search?q=C.-Y.%20Chen"> C.-Y. Chen</a>, <a href="https://publications.waset.org/abstracts/search?q=C.-W.%20Chen"> C.-W. Chen</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the stability analysis of a GA-Based adaptive fuzzy sliding model controller for a nonlinear system is discussed. First, a nonlinear plant is well-approximated and described with a reference model and a fuzzy model, both involving FLC rules. Then, FLC rules and the consequent parameter are decided on via an Evolved Bat Algorithm (EBA). After this, we guarantee a new tracking performance inequality for the control system. The tracking problem is characterized to solve an eigenvalue problem (EVP). Next, an adaptive fuzzy sliding model controller (AFSMC) is proposed to stabilize the system so as to achieve good control performance. Lyapunov’s direct method can be used to ensure the stability of the nonlinear system. It is shown that the stability analysis can reduce nonlinear systems into a linear matrix inequality (LMI) problem. Finally, a numerical simulation is provided to demonstrate the control methodology. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=adaptive%20fuzzy%20sliding%20mode%20control" title="adaptive fuzzy sliding mode control">adaptive fuzzy sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=Lyapunov%20direct%20method" title=" Lyapunov direct method"> Lyapunov direct method</a>, <a href="https://publications.waset.org/abstracts/search?q=swarm%20intelligence" title=" swarm intelligence"> swarm intelligence</a>, <a href="https://publications.waset.org/abstracts/search?q=evolved%20bat%20algorithm" title=" evolved bat algorithm"> evolved bat algorithm</a> </p> <a href="https://publications.waset.org/abstracts/11231/evolved-bat-algorithm-based-adaptive-fuzzy-sliding-mode-control-with-lmi-criterion" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/11231.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">445</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1587</span> Power Series Solution to Sliding Velocity in Three-Dimensional Multibody Systems with Impact and Friction</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Hesham%20A.%20Elkaranshawy">Hesham A. Elkaranshawy</a>, <a href="https://publications.waset.org/abstracts/search?q=Amr%20M.%20Abdelrazek"> Amr M. Abdelrazek</a>, <a href="https://publications.waset.org/abstracts/search?q=Hosam%20M.%20Ezzat"> Hosam M. Ezzat</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The system of ordinary nonlinear differential equations describing sliding velocity during impact with friction for a three-dimensional rigid-multibody system is developed. No analytical solutions have been obtained before for this highly nonlinear system. Hence, a power series solution is proposed. Since the validity of this solution is limited to its convergence zone, a suitable time step is chosen and at the end of it a new series solution is constructed. For a case study, the trajectory of the sliding velocity using the proposed method is built using 6 time steps, which coincides with a Runge-Kutta solution using 38 time steps. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=impact%20with%20friction" title="impact with friction">impact with friction</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20ordinary%20differential%20equations" title=" nonlinear ordinary differential equations"> nonlinear ordinary differential equations</a>, <a href="https://publications.waset.org/abstracts/search?q=power%20series%20solutions" title=" power series solutions"> power series solutions</a>, <a href="https://publications.waset.org/abstracts/search?q=rough%20collision" title=" rough collision"> rough collision</a> </p> <a href="https://publications.waset.org/abstracts/37962/power-series-solution-to-sliding-velocity-in-three-dimensional-multibody-systems-with-impact-and-friction" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/37962.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">488</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1586</span> Neural Network Approach for Solving Integral Equations</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Bhavini%20Pandya">Bhavini Pandya</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper considers Hη: T2 → T2 the Perturbed Cerbelli-Giona map. That is a family of 2-dimensional nonlinear area-preserving transformations on the torus T2=[0,1]×[0,1]= ℝ2/ ℤ2. A single parameter η varies between 0 and 1, taking the transformation from a hyperbolic toral automorphism to the “Cerbelli-Giona” map, a system known to exhibit multifractal properties. Here we study the multifractal properties of the family of maps. We apply a box-counting method by defining a grid of boxes Bi(δ), where i is the index and δ is the size of the boxes, to quantify the distribution of stable and unstable manifolds of the map. When the parameter is in the range 0.51< η <0.58 and 0.68< η <1 the map is ergodic; i.e., the unstable and stable manifolds eventually cover the whole torus, although not in a uniform distribution. For accurate numerical results we require correspondingly accurate construction of the stable and unstable manifolds. Here we use the piecewise linearity of the map to achieve this, by computing the endpoints of line segments which define the global stable and unstable manifolds. This allows the generalized fractal dimension Dq, and spectrum of dimensions f(α), to be computed with accuracy. Finally, the intersection of the unstable and stable manifold of the map will be investigated, and compared with the distribution of periodic points of the system. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=feed%20forward" title="feed forward">feed forward</a>, <a href="https://publications.waset.org/abstracts/search?q=gradient%20descent" title=" gradient descent"> gradient descent</a>, <a href="https://publications.waset.org/abstracts/search?q=neural%20network" title=" neural network"> neural network</a>, <a href="https://publications.waset.org/abstracts/search?q=integral%20equation" title=" integral equation"> integral equation</a> </p> <a href="https://publications.waset.org/abstracts/139536/neural-network-approach-for-solving-integral-equations" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/139536.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">189</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1585</span> Design of a Sliding Mode Control Using Nonlinear Sliding Surface and Nonlinear Observer Applied to the Trirotor Mini-Aircraft </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Samir%20Zeghlache">Samir Zeghlache</a>, <a href="https://publications.waset.org/abstracts/search?q=Abderrahmen%20Bouguerra"> Abderrahmen Bouguerra</a>, <a href="https://publications.waset.org/abstracts/search?q=Kamel%20Kara"> Kamel Kara</a>, <a href="https://publications.waset.org/abstracts/search?q=Djamel%20Saigaa"> Djamel Saigaa</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The control of the trirotor helicopter includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. This paper presents a control strategy for an underactuated six degrees of freedom (6 DOF) trirotor helicopter, based on the coupling of the fuzzy logic control and sliding mode control (SMC). The main purpose of this work is to eliminate the chattering phenomenon. To achieve our purpose we have used a fuzzy logic control to generate the hitting control signal, also the non linear observer is then synthesized in order to estimate the unmeasured states. Finally simulation results are included to indicate the trirotor UAV with the proposed controller can greatly alleviate the chattering effect and remain robust to the external disturbances. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=fuzzy%20sliding%20mode%20control" title="fuzzy sliding mode control">fuzzy sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=trirotor%20helicopter" title=" trirotor helicopter"> trirotor helicopter</a>, <a href="https://publications.waset.org/abstracts/search?q=dynamic%20modelling" title=" dynamic modelling"> dynamic modelling</a>, <a href="https://publications.waset.org/abstracts/search?q=underactuated%20systems" title=" underactuated systems "> underactuated systems </a> </p> <a href="https://publications.waset.org/abstracts/21720/design-of-a-sliding-mode-control-using-nonlinear-sliding-surface-and-nonlinear-observer-applied-to-the-trirotor-mini-aircraft" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/21720.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">534</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1584</span> Wet Sliding Wear and Frictional Behavior of Commercially Available Perspex</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=S.%20Reaz%20Ahmed">S. Reaz Ahmed</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20S.%20Kaiser"> M. S. Kaiser</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The tribological behavior of commercially used Perspex was evaluated under dry and wet sliding condition using a pin-on-disc wear tester with different applied loads ranging from 2.5 to 20 N. Experiments were conducted with varying sliding distance from 0.2 km to 4.6 km, wherein the sliding velocity was kept constant, 0.64 ms<sup>-1</sup>. The results reveal that the weight loss increases with applied load and the sliding distance. The nature of the wear rate was very similar in both the sliding environments in which initially the wear rate increased very rapidly with increasing sliding distance and then progressed to a slower rate. Moreover, the wear rate in wet sliding environment was significantly lower than that under dry sliding condition. The worn surfaces were characterized by optical microscope and SEM. It is found that surface modification has significant effect on sliding wear performance of Perspex. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Perspex" title="Perspex">Perspex</a>, <a href="https://publications.waset.org/abstracts/search?q=wear" title=" wear"> wear</a>, <a href="https://publications.waset.org/abstracts/search?q=friction" title=" friction"> friction</a>, <a href="https://publications.waset.org/abstracts/search?q=SEM" title=" SEM"> SEM</a> </p> <a href="https://publications.waset.org/abstracts/73593/wet-sliding-wear-and-frictional-behavior-of-commercially-available-perspex" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/73593.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">272</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1583</span> Multifractal Behavior of the Perturbed Cerbelli-Giona Map: Numerical Computation of ω-Measure</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ibrahim%20Alsendid">Ibrahim Alsendid</a>, <a href="https://publications.waset.org/abstracts/search?q=Rob%20Sturman"> Rob Sturman</a>, <a href="https://publications.waset.org/abstracts/search?q=Benjamin%20Sharp"> Benjamin Sharp</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, we consider a family of 2-dimensional nonlinear area-preserving transformations on the torus. A single parameter η varies between 0 and 1, taking the transformation from a hyperbolic toral automorphism to the “Cerbelli-Giona” map, a system known to exhibit multifractal properties. Here we study the multifractal properties of the family of maps. We apply a box-counting method by defining a grid of boxes Bi(δ), where i is the index and δ is the size of the boxes, to quantify the distribution of stable and unstable manifolds of the map. When the parameter is in the range 0.51< η <0.58 and 0.68< η <1 the map is ergodic; i.e., the unstable and stable manifolds eventually cover the whole torus, although not in a uniform distribution. For accurate numerical results, we require correspondingly accurate construction of the stable and unstable manifolds. Here we use the piecewise linearity of the map to achieve this, by computing the endpoints of line segments that define the global stable and unstable manifolds. This allows the generalized fractal dimension Dq, and spectrum of dimensions f(α), to be computed with accuracy. Finally, the intersection of the unstable and stable manifold of the map will be investigated and compared with the distribution of periodic points of the system. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Discrete-time%20dynamical%20systems" title="Discrete-time dynamical systems">Discrete-time dynamical systems</a>, <a href="https://publications.waset.org/abstracts/search?q=Fractal%20geometry" title=" Fractal geometry"> Fractal geometry</a>, <a href="https://publications.waset.org/abstracts/search?q=Multifractal%20behaviour%20of%20the%20Perturbed%20map" title=" Multifractal behaviour of the Perturbed map"> Multifractal behaviour of the Perturbed map</a>, <a href="https://publications.waset.org/abstracts/search?q=Multifractal%20of%20Dynamical%20systems" title=" Multifractal of Dynamical systems"> Multifractal of Dynamical systems</a> </p> <a href="https://publications.waset.org/abstracts/139556/multifractal-behavior-of-the-perturbed-cerbelli-giona-map-numerical-computation-of-o-measure" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/139556.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">211</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1582</span> Sliding Mode Control of Bilateral Teleoperation System with Time Delay</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ahmad%20Forouzantabar">Ahmad Forouzantabar</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohammad%20Azadi"> Mohammad Azadi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents sliding mode controller for bilateral teleoperation systems with robotic master and slave under constant communication delays. We extend the passivity-based coordination architecture to enhance position and force tracking in the presence of offset in initial conditions, environmental contacts and unknown parameters such as friction coefficient. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of master and slave robots and improve both position and force tracking. Using the Lyapunov theory, the boundedness of master- slave tracking errors and the stability of the teleoperation system are also guaranteed. Numerical simulations show that proposed controller position and force tracking performances are superior to that of conventional coordination controller tracking performances. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Lyapunov%20stability" title="Lyapunov stability">Lyapunov stability</a>, <a href="https://publications.waset.org/abstracts/search?q=teleoperation%20system" title=" teleoperation system"> teleoperation system</a>, <a href="https://publications.waset.org/abstracts/search?q=time%20delay" title=" time delay"> time delay</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20controller" title=" sliding mode controller"> sliding mode controller</a> </p> <a href="https://publications.waset.org/abstracts/45830/sliding-mode-control-of-bilateral-teleoperation-system-with-time-delay" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/45830.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">385</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1581</span> Frobenius Manifolds Pairing and Invariant Theory</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Zainab%20Al-Maamari">Zainab Al-Maamari</a>, <a href="https://publications.waset.org/abstracts/search?q=Yassir%20Dinar"> Yassir Dinar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The orbit space of an irreducible representation of a finite group is a variety with the ring of invariant polynomials as a coordinate ring. The invariant ring is a polynomial ring if and only if the representation is a reflection representation. Boris Dubrovin shows that the orbits spaces of irreducible real reflection representations acquire the structure of polynomial Frobenius manifolds. Dubrovin's method was also used to construct different examples of Frobenius manifolds on certain reflection representations. By successfully applying Dubrovin’s method on non-polynomial invariant rings of linear representations of dicyclic groups, it gives some results that magnify the relation between invariant theory and Frobenius manifolds. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=invariant%20ring" title="invariant ring">invariant ring</a>, <a href="https://publications.waset.org/abstracts/search?q=Frobenius%20manifold" title=" Frobenius manifold"> Frobenius manifold</a>, <a href="https://publications.waset.org/abstracts/search?q=inversion" title=" inversion"> inversion</a>, <a href="https://publications.waset.org/abstracts/search?q=representation%20theory" title=" representation theory"> representation theory</a> </p> <a href="https://publications.waset.org/abstracts/143099/frobenius-manifolds-pairing-and-invariant-theory" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/143099.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">98</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1580</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/abstracts/search?q=N.%20Tadrisi%20Parsa">N. Tadrisi Parsa</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20R.%20Vali"> A. R. Vali</a>, <a href="https://publications.waset.org/abstracts/search?q=R.%20Ghasemi"> R. Ghasemi</a> </p> <p class="card-text"><strong>Abstract:</strong></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 class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=bergman%20model" title="bergman model">bergman model</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20control" title=" nonlinear control"> nonlinear control</a>, <a href="https://publications.waset.org/abstracts/search?q=back%20stepping" title=" back stepping"> back stepping</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control "> sliding mode control </a> </p> <a href="https://publications.waset.org/abstracts/14982/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/abstracts/14982.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">382</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1579</span> Sliding Velocity in Impact with Friction in Three-Dimensional Multibody Systems</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Hesham%20A.%20Elkaranshawy">Hesham A. Elkaranshawy</a>, <a href="https://publications.waset.org/abstracts/search?q=Amr%20Abdelrazek"> Amr Abdelrazek</a>, <a href="https://publications.waset.org/abstracts/search?q=Hosam%20Ezzat"> Hosam Ezzat</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper analyzes a single point rough collision in three dimensional rigid-multibody systems. A set of nonlinear different equations describing the progress and outcome of the impact are obtained. Specifically in case of the tangential, referred to as sliding, component of impact velocity is of great importance. Numerical methods are used to solve this problem. In this work, all these possible sliding behaviors during impact are identified, conditions leading to each behavior are specified, and an appropriate numerical procedure is suggested. A case of a four-degrees-of-freedom spatial robot that collides with its environment is investigated. The phase portrait of the tangential velocity, which presents the flow trajectories for different initial conditions, is calculated. Using the coefficient of friction as a control parameter, few phase portraits are drawn, each for a specific value of this coefficient. In addition, the bifurcation associated with the variation of this coefficient will be investigated. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=friction%20impact" title="friction impact">friction impact</a>, <a href="https://publications.waset.org/abstracts/search?q=three-dimensional%20rigid%20multibody%20systems" title=" three-dimensional rigid multibody systems"> three-dimensional rigid multibody systems</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20velocity" title=" sliding velocity"> sliding velocity</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20ordinary%20differential%20equations" title=" nonlinear ordinary differential equations"> nonlinear ordinary differential equations</a>, <a href="https://publications.waset.org/abstracts/search?q=phase%20portrait" title=" phase portrait"> phase portrait</a> </p> <a href="https://publications.waset.org/abstracts/44096/sliding-velocity-in-impact-with-friction-in-three-dimensional-multibody-systems" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/44096.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">381</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1578</span> Sliding Mode Controlled Quadratic Boost Converter</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Viji%20Vijayakumar">Viji Vijayakumar</a>, <a href="https://publications.waset.org/abstracts/search?q=R.%20Divya"> R. Divya</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Vivek"> A. Vivek</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper deals with a quadratic boost converter which belongs to cascade boost family, controlled by sliding mode controller. In the cascade boost family, quadratic boost converter is the best trade-off when circuit complexity and modulator saturation is considered. Sliding mode control being a nonlinear control results in a robust and stable system when applied to switching converters which are inherently variable structured systems. The stability of this system is analyzed through Lyapunov’s approach. Analysis is done for load regulation, line regulation and step response of the system. Also these results are compared with that of PID controller based system. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=DC-DC%20converter" title="DC-DC converter">DC-DC converter</a>, <a href="https://publications.waset.org/abstracts/search?q=quadratic%20boost%20converter" title=" quadratic boost converter"> quadratic boost converter</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=PID%20control" title=" PID control"> PID control</a> </p> <a href="https://publications.waset.org/abstracts/7140/sliding-mode-controlled-quadratic-boost-converter" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/7140.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">993</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1577</span> Two-Dimensional Seismic Response of Concrete Gravity Dams Including Base Sliding</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Djamel%20Ouzandja">Djamel Ouzandja</a>, <a href="https://publications.waset.org/abstracts/search?q=Boualem%20Tiliouine"> Boualem Tiliouine</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The safety evaluation of the concrete gravity dams subjected to seismic excitations is really very complex as the earthquake response of the concrete gravity dam depends upon its contraction joints with foundation soil. This paper presents the seismic response of concrete gravity dams considering friction contact and welded contact. Friction contact is provided using contact elements. Two-dimensional (2D) finite element model of Oued Fodda concrete gravity dam, located in Chlef at the west of Algeria, is used for this purpose. Linear and nonlinear analyses considering dam-foundation soil interaction are performed using ANSYS software. The reservoir water is modeled as added mass using the Westergaard approach. The Drucker-Prager model is preferred for dam and foundation rock in nonlinear analyses. The surface-to-surface contact elements based on the Coulomb's friction law are used to describe the friction. These contact elements use a target surface and a contact surface to form a contact pair. According to this study, the seismic analysis of concrete gravity dams including base sliding. When the friction contact is considered in joints, the base sliding displacement occurs along the dam-foundation soil contact interface. Besides, the base sliding may generally decrease the principal stresses in the dam. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=concrete%20gravity%20dam" title="concrete gravity dam">concrete gravity dam</a>, <a href="https://publications.waset.org/abstracts/search?q=dynamic%20soil-structure%20interaction" title=" dynamic soil-structure interaction"> dynamic soil-structure interaction</a>, <a href="https://publications.waset.org/abstracts/search?q=friction%20contact" title=" friction contact"> friction contact</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding" title=" sliding"> sliding</a> </p> <a href="https://publications.waset.org/abstracts/27934/two-dimensional-seismic-response-of-concrete-gravity-dams-including-base-sliding" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/27934.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">407</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1576</span> Discrete Sliding Modes Regulator with Exponential Holder for Non-Linear Systems</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=G.%20Obregon-Pulido">G. Obregon-Pulido </a>, <a href="https://publications.waset.org/abstracts/search?q=G.%20C.%20Solis-Perales"> G. C. Solis-Perales</a>, <a href="https://publications.waset.org/abstracts/search?q=J.%20A.%20Meda-Campa%C3%B1a"> J. A. Meda-Campaña</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, we present a sliding mode controller in discrete time. The design of the controller is based on the theory of regulation for nonlinear systems. In the problem of disturbance rejection and/or output tracking, it is known that in discrete time, a controller that uses the zero-order holder only guarantees tracking at the sampling instances but not between instances. It is shown that using the so-called exponential holder, it is possible to guarantee asymptotic zero output tracking error, also between the sampling instant. For stabilizing the problem of close loop system we introduce the sliding mode approach relaxing the requirements of the existence of a linear stabilizing control law. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=regulation%20theory" title="regulation theory">regulation theory</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20modes" title=" sliding modes"> sliding modes</a>, <a href="https://publications.waset.org/abstracts/search?q=discrete%20controller" title=" discrete controller"> discrete controller</a>, <a href="https://publications.waset.org/abstracts/search?q=ripple-free%20tracking" title=" ripple-free tracking"> ripple-free tracking</a> </p> <a href="https://publications.waset.org/abstracts/178771/discrete-sliding-modes-regulator-with-exponential-holder-for-non-linear-systems" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/178771.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">54</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1575</span> Dry Sliding Wear Behaviour of Ti3SiC2 and the Effect of TiC on Its</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Bendaoudi%20Seif-Eddine">Bendaoudi Seif-Eddine</a>, <a href="https://publications.waset.org/abstracts/search?q=Bounazef%20Mokhtar"> Bounazef Mokhtar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Wear behaviour of Ti3SiC2 coating in contact sliding under dry condition have been investigated on different pressures (0.1-0.8 MPa) at various speeds from 5 to 60 m/s. The ball-on-disc sliding-wear test was performed in ambient air with a relative humidity of 20%. An equation has been proposed to predict wear rates and describe sliding wear caused by Corundum ball on the studied material. The results show how the wear rate, measured by mass loss, varies in the range of (0.6 – 3.8 x E-6 mm3/Nm) with normal sliding distance under various test conditions; it increases with increasing load and rapidly with speed. The influence of TiC impurities on the wear behaviours was also investigated. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=ball-on-disc" title="ball-on-disc">ball-on-disc</a>, <a href="https://publications.waset.org/abstracts/search?q=dry-sliding" title=" dry-sliding"> dry-sliding</a>, <a href="https://publications.waset.org/abstracts/search?q=Ti3SiC2" title=" Ti3SiC2"> Ti3SiC2</a>, <a href="https://publications.waset.org/abstracts/search?q=wear" title=" wear"> wear</a> </p> <a href="https://publications.waset.org/abstracts/44824/dry-sliding-wear-behaviour-of-ti3sic2-and-the-effect-of-tic-on-its" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/44824.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">270</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1574</span> Second Order MIMO Sliding Mode Controller for Nonlinear Modeled Wind Turbine</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Alireza%20Toloei">Alireza Toloei</a>, <a href="https://publications.waset.org/abstracts/search?q=Ahmad%20R.%20Saffary"> Ahmad R. Saffary</a>, <a href="https://publications.waset.org/abstracts/search?q=Reza%20Ghasemi"> Reza Ghasemi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Due to the growing need for energy and limited fossil resources, the use of renewable energy, particularly wind is strongly favored. We all wind energy can’t be saved. Betz law, 59% of the total kinetic energy of the wind turbine is extracting. Therefore turbine control to achieve maximum performance and maintain stable conditions seem necessary. In this article, we plan for a horizontal axis wind turbine variable-speed variable-pitch nonlinear controller to obtain maximum output power. The model presented in this article, including a wide range of wind turbines are horizontal axis. However, the parameters used in this model is from Vestas V29 225 kW wind turbine. We designed second order sliding mode controller, which was robust in the face of changes in wind speed and it eliminated chattering by using of super twisting algorithm. Finally, using MATLAB software to simulate the results we considered the accuracy of the simulation results. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=non%20linear%20controller" title="non linear controller">non linear controller</a>, <a href="https://publications.waset.org/abstracts/search?q=robust" title=" robust"> robust</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode" title=" sliding mode"> sliding mode</a>, <a href="https://publications.waset.org/abstracts/search?q=kinetic%20energy" title=" kinetic energy"> kinetic energy</a> </p> <a href="https://publications.waset.org/abstracts/15508/second-order-mimo-sliding-mode-controller-for-nonlinear-modeled-wind-turbine" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/15508.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">499</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1573</span> Adaptive Control Approach for an Unmanned Aerial Manipulator</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Samah%20Riache">Samah Riache</a>, <a href="https://publications.waset.org/abstracts/search?q=Madjid%20Kidouche"> Madjid Kidouche</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, we propose a nonlinear controller for Aerial Manipulator (AM) consists of a Quadrotor equipped with two degrees of freedom robotic arm. The kinematic and dynamic models were developed by considering the aerial manipulator as a coupled system. The proposed controller was designed using Nonsingular Terminal Sliding Mode Control. The objective of our approach is to improve performances and attenuate the chattering drawback using an adaptive algorithm in the discontinuous control part. Simulation results prove the effectiveness of the proposed control strategy compared with Sliding Mode Controller. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=adaptive%20algorithm" title="adaptive algorithm">adaptive algorithm</a>, <a href="https://publications.waset.org/abstracts/search?q=quadrotor" title=" quadrotor"> quadrotor</a>, <a href="https://publications.waset.org/abstracts/search?q=robotic%20arm" title=" robotic arm"> robotic arm</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control" title=" sliding mode control"> sliding mode control</a> </p> <a href="https://publications.waset.org/abstracts/143411/adaptive-control-approach-for-an-unmanned-aerial-manipulator" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/143411.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">184</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1572</span> Introduction of Para-Sasaki-Like Riemannian Manifolds and Construction of New Einstein Metrics</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Mancho%20Manev">Mancho Manev</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The concept of almost paracontact Riemannian manifolds (abbr., apcR manifolds) was introduced by I. Sato in 1976 as an analogue of almost contact Riemannian manifolds. The notion of an apcR manifold of type (p,q) was defined by S. Sasaki in 1980, where p and q are respectively the numbers of the multiplicity of the structure eigenvalues 1 and -1. It also has a simple eigenvalue of 0. In our work, we consider (2n+1)-dimensional apcR manifolds of type (n,n), i.e., the paracontact distribution of the studied manifold can be considered as a 2n-dimensional almost paracomplex Riemannian distribution with almost paracomplex structure and structure group O(n) × O(n). The aim of the present study is to introduce a new class of apcR manifolds. Such a manifold is obtained using the construction of a certain Riemannian cone over it, and the resulting manifold is a paraholomorphic paracomplex Riemannian manifold (abbr., phpcR manifold). We call it a para-Sasaki-like Riemannian manifold (abbr., pSlR manifold) and give some explicit examples. We study the structure of pSlR spaces and find that the paracontact form η is closed and each pSlR manifold locally can be considered as a certain product of the real line with a phpcR manifold, which is locally a Riemannian product of two equidimensional Riemannian spaces. We also obtain that the curvature of the pSlR manifolds is completely determined by the curvature of the underlying local phpcR manifold. Moreover, the ξ-directed Ricci curvature is equal to -2n, while in the Sasaki case, it is 2n. Accordingly, the pSlR manifolds can be interpreted as the counterpart of the Sasaki manifolds; the skew-symmetric part of ∇η vanishes, while in the Sasaki case, the symmetric part vanishes. We define a hyperbolic extension of a (complete) phpcR manifold that resembles a certain warped product, and we indicate that it is a (complete) pSlR manifold. In addition, we consider the hyperbolic extension of a phpcR manifold and prove that if the initial manifold is a complete Einstein manifold with negative scalar curvature, then the resulting manifold is a complete Einstein pSlR manifold with negative scalar curvature. In this way, we produce new examples of a complete Einstein Riemannian manifold with negative scalar curvature. Finally, we define and study para contact conformal/homothetic deformations by deriving a subclass that preserves the para-Sasaki-like condition. We then find that if we apply a paracontact homothetic deformation of a pSlR space, we obtain that the Ricci tensor is invariant. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=almost%20paracontact%20Riemannian%20manifolds" title="almost paracontact Riemannian manifolds">almost paracontact Riemannian manifolds</a>, <a href="https://publications.waset.org/abstracts/search?q=Einstein%20manifolds" title=" Einstein manifolds"> Einstein manifolds</a>, <a href="https://publications.waset.org/abstracts/search?q=holomorphic%20product%20manifold" title=" holomorphic product manifold"> holomorphic product manifold</a>, <a href="https://publications.waset.org/abstracts/search?q=warped%20product%20manifold" title=" warped product manifold"> warped product manifold</a> </p> <a href="https://publications.waset.org/abstracts/138178/introduction-of-para-sasaki-like-riemannian-manifolds-and-construction-of-new-einstein-metrics" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/138178.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">206</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1571</span> Applying Sliding Autonomy for a Human-Robot Team on USARSim</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Fang%20Tang">Fang Tang</a>, <a href="https://publications.waset.org/abstracts/search?q=Jacob%20Longazo"> Jacob Longazo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper describes a sliding autonomy approach for coordinating a team of robots to assist the human operator to accomplish tasks while adapting to new or unexpected situations by requesting help from the human operator. While sliding autonomy has been well studied in the context of controlling a single robot. Much work needs to be done to apply sliding autonomy to a multi-robot team, especially human-robot team. Our approach aims at a hierarchical sliding control structure, with components that support human-robot collaboration. We validated our approach in the USARSim simulation and demonstrated that the human-robot team's overall performance can be improved under the sliding autonomy control. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sliding%20autonomy" title="sliding autonomy">sliding autonomy</a>, <a href="https://publications.waset.org/abstracts/search?q=multi-robot%20team" title=" multi-robot team"> multi-robot team</a>, <a href="https://publications.waset.org/abstracts/search?q=human-robot%20collaboration" title=" human-robot collaboration"> human-robot collaboration</a>, <a href="https://publications.waset.org/abstracts/search?q=USARSim" title=" USARSim"> USARSim</a> </p> <a href="https://publications.waset.org/abstracts/27177/applying-sliding-autonomy-for-a-human-robot-team-on-usarsim" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/27177.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">545</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1570</span> Design Fractional-Order Terminal Sliding Mode Control for Synchronization of a Class of Fractional-Order Chaotic Systems with Uncertainty and External Disturbances</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Shabnam%20Pashaei">Shabnam Pashaei</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohammadali%20Badamchizadeh"> Mohammadali Badamchizadeh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a new fractional-order terminal sliding mode control for synchronization of two different fractional-order chaotic systems with uncertainty and external disturbances. A fractional-order integral type nonlinear switching surface is presented. Then, using the Lyapunov stability theory and sliding mode theory, a fractional-order control law is designed to synchronize two different fractional-order chaotic systems. Finally, a simulation example is presented to illustrate the performance and applicability of the proposed method. Based on numerical results, the proposed controller ensures that the states of the controlled fractional-order chaotic response system are asymptotically synchronized with the states of the drive system. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=terminal%20sliding%20mode%20control" title="terminal sliding mode control">terminal sliding mode control</a>, <a href="https://publications.waset.org/abstracts/search?q=fractional-order%20calculus" title=" fractional-order calculus"> fractional-order calculus</a>, <a href="https://publications.waset.org/abstracts/search?q=chaotic%20systems" title=" chaotic systems"> chaotic systems</a>, <a href="https://publications.waset.org/abstracts/search?q=synchronization" title=" synchronization"> synchronization</a> </p> <a href="https://publications.waset.org/abstracts/67276/design-fractional-order-terminal-sliding-mode-control-for-synchronization-of-a-class-of-fractional-order-chaotic-systems-with-uncertainty-and-external-disturbances" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/67276.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">411</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">1569</span> Sliding Mode MRAS Observer for Optimized Backstepping Control of Induction Motor</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Chaouch%20Souad">Chaouch Souad</a>, <a href="https://publications.waset.org/abstracts/search?q=Abdou%20Latifa"> Abdou Latifa</a>, <a href="https://publications.waset.org/abstracts/search?q=Larbi%20Chrifi%20Alaoui"> Larbi Chrifi Alaoui</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper deals with sensorless backstepping control of induction motor using MRAS technique associated to sliding mode approach. A high order genetic algorithm structure is used to approximate a control law designed by the Backstepping technique, and to find the best parameters globally optimized. However, the Backstepping control approach is unsuitable for high performance applications because the need of a speed sensor for increased accuracy and the absence of any error decay mechanism. In this paper a nonlinear observer, obtained by combining sliding mode structure and model reference adaptive system (MRAS), is designed for the rotor flux and rotor speed estimations. To validate the proposed method, the results are presented for showing the improved drive characteristics and performances. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Backstepping%20Control" title="Backstepping Control">Backstepping Control</a>, <a href="https://publications.waset.org/abstracts/search?q=Induction%20Motor" title=" Induction Motor"> Induction Motor</a>, <a href="https://publications.waset.org/abstracts/search?q=Genetic%20Algorithm" title=" Genetic Algorithm"> Genetic Algorithm</a>, <a href="https://publications.waset.org/abstracts/search?q=Sliding%20Mode%20observer" title=" Sliding Mode observer"> Sliding Mode observer</a> </p> <a href="https://publications.waset.org/abstracts/23501/sliding-mode-mras-observer-for-optimized-backstepping-control-of-induction-motor" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/23501.pdf" target="_blank" class="btn btn-primary 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