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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 110-115 doi: 10.1007/s11465-007-0019-5

Abstract: A dynamical sliding-mode controller is devised to track the output of mobile manipulators.Moreover, a design method of the dynamical sliding-mode controller that is applied to the output trackingThe simulation results indicate that the dynamical sliding-mode controller can not only track the giventrajectory correctly but also reduce the chattering of sliding-mode control system considerably.

Keywords： lower-dimensional     nonlinear     trajectory     tracking     diffeomorphism    

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Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

Frontiers in Energy 2020, Volume 14, Issue 4,   Pages 836-849 doi: 10.1007/s11708-017-0444-z

Abstract: This paper proposes a design of control and estimation strategy for induction motor based on the variableIt describes a coupling of sliding mode direct torque control (DTC) with sliding mode flux and speedThis algorithm uses direct torque control basics and the sliding mode approach.The sliding mode controller is used to generate reference voltages in stationary frame and give themThe second aim of this paper is to design a sliding mode speed/flux observer which can improve the control

Keywords： induction motor     direct torque control (DTC)     space vector modulation (SVM)     sliding mode control (SMC)     sliding mode observer (SMO)     dS1104    

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 95-101 doi: 10.1007/s11465-015-0332-3

Abstract:

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problemalgorithm enables better high-precision tracking performance with chattering-free than traditional slidingmode control algorithm under various disturbances.

Keywords： weld seam tracking     welding robotic manipulator     adaptive control     sliding mode control    

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 353-362 doi: 10.1007/s11465-020-0620-4

Abstract: This study proposes a gained switching-based discrete-time sliding mode control method to address thethe proposed method can effectively increase the convergence speed while guaranteeing chattering-free control

Keywords： sliding-mode control     robot control     discrete-time uncertain systems     fuzzy logic    

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DFIG sliding mode control fed by back-to-back PWM converter with DC-link voltage control for variable

Youcef BEKAKRA,Djilani BEN ATTOUS

Frontiers in Energy 2014, Volume 8, Issue 3,   Pages 345-354 doi: 10.1007/s11708-014-0330-x

Abstract: This paper proposes an indirect power control of doubly fed induction generator (DFIG) with the rotorAn original control strategy based on a variable structure control theory, also called sliding mode control, is applied to achieve the control of the active and reactive power exchanged between the stator of

Keywords： fed induction generator (DFIG)     wind turbine     back-to-back pulse width modulation (PWM)     DC-link voltage     slidingmode control    

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Exponential response electrical pole-changing method for a five-phase induction machine with a current slidingmode control strategy Article

Jia-qiang YANG, Rong-sen YIN, Xiao-jun ZHANG, Jin HUANG

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 8,   Pages 1151-1166 doi: 10.1631/FITEE.1601728

Abstract: investigate an exponential response electrical pole-changing method for five-phase IM with a current sliding-modecontrol strategy.This control strategy employs the dual-plane (d1–q1 and d2–q2) vector control method, which allows theCurrent sliding-mode controllers are applied instead of conventional proportional integral (PI) controllersCompared with the step response pole-changing with PI control method, the proposed pole-changing method

Keywords： Five-phase induction machine     Pole-change     Sliding-mode control     Exponential response     Torque ripple    

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Extension Controller Design via Sliding Mode Control

Chen Jenyang,Wong Chingchang

Strategic Study of CAE 2001, Volume 3, Issue 9,   Pages 48-51

Abstract:

In this paper, a novel extension controller based on the scheme of sliding mode control is investigatedThe control strategy of the proposed controller is divided into two parts.One part is the equivalent control of sliding mode control.The other part is the well-known robust control.By integrating the essential concept of extension set theory with the sliding mode control , the robust

Keywords： extension set     extension control     sliding mode control     system stability    

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High-gain Sliding Mode Output Tracking for Nonlinear Systems

Wang Xinhua,Chen Zengqiang,Yuan Zhuzhi

Strategic Study of CAE 2004, Volume 6, Issue 2,   Pages 38-43

Abstract: Moreover, a continuously high-gain sliding mode controller is presented by using a sliding mode state

Keywords： nonlinear systems     external dynamics     internal dynamics     sliding mode control     robustness    

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Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

Qi-yan Tian, Jian-hua Wei, Jin-hui Fang, Kai Guo,jhfang@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 1,   Pages 55-66 doi: 10.1631/FITEE.15a0160

Abstract: The model combines the robust characteristics of an integral sliding mode controller with the adaptiveThe stability of the whole system including the fuzzy inference system, integral sliding mode controller

Keywords： Cutting system     Electro-hydraulic system     Cutting velocity control     Adaptive fuzzy integral sliding modecontrol    

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Intelligent fractional-order integral sliding mode control for PMSM based on an improved cascade observer Research Articles

Lingfei XIAO, Leiming MA, Xinhao HUANG,lfxiao@nuaa.edu.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 2,   Pages 328-338 doi: 10.1631/FITEE.2000317

Abstract: In this paper, an intelligent control (FOISMC) strategy based on an improved cascade is proposed.First, an FOISMC strategy is designed to control a .The proposed combines an adaptive sliding mode and an extended high-gain .

Keywords： Permanent magnet synchronous motor     Fractional-order integral sliding mode     Optimization algorithm     Sensorlesscontrol     Observer    

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0753-3

Abstract: collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking controlTo address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) frameworkSpecifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different stages.

Keywords： four-wheeled mobile robot     obstacle-circumventing adaptive control     adaptive anti-disturbance terminalsliding mode control     sub-target dynamic tracking regression obstacle avoidance    

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Finite-time leader-follower consensus of a discrete-time system via sliding mode control Research Article

Ruizhuo SONG, Shi XING, Zhen XU

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1057-1068 doi: 10.1631/FITEE.2100565

Abstract: Our adaptive controller is designed using the traditional sliding mode reaching law, and its advantages

Keywords： Finite-time     Leader-follower consensus     Adaptive sliding mode control     Multi-agent systems    

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A fast integral sliding mode controller with an extended state observer for position control of permanent Research Articles

Jun-feng Jiang, Xiao-jun Zhou, Wei Zhao, Wei Li, Wen-dong Zhang,cmeesky@163.com

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 8,   Pages 1119-1266 doi: 10.1631/FITEE.1900298

Abstract: has been widely used in position control applications.To enhance the control performance of PMSM systems, a new method that has fast response and good robustnessFirst, a modified integral terminal is developed, which has a fast-sliding surface and a continuousCompared with other sliding mode methods, the proposed method has faster response and better robustnessrobustness, and enables high-precision control.

Keywords： Permanent magnet synchronous motor (PMSM)     Sliding mode controller     Extended state observer     Robust control     Motion control    

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Direct field oriented control scheme for space vector modulated AC/DC/AC converter fed induction motor

F. BENCHABANE, A. TITAOUINE, O. BENNIS, K. YAHIA, D. TAIBI

Frontiers in Energy 2012, Volume 6, Issue 2,   Pages 129-137 doi: 10.1007/s11708-012-0183-0

Abstract: This paper investigates a Luenberger flux observer with speed adaptation for a direct field oriented controlSimulation results show that the proposed direct field oriented control with the proposed observer providesThis indirect converter is controlled by a sliding mode technique that enables minimization of harmonicsintroduced by the line converter, as well as the control of the power factor and DC-link voltage.

Keywords： induction motor     direct filed oriented control     Luenberger observer     estimation     space vector modulation(SVM)     sliding mode control     boost-rectifier    

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Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear Article

Xiao-yu ZHANG

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 12,   Pages 1331-1343 doi: 10.1631/FITEE.1500318

Abstract: Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presentedTo obtain adaptiveness and eliminate chattering of sliding mode control, a dynamic fuzzy logical systemis used to implement an equivalent control, in which the parameters are self-tuned online.Stability of the sliding mode control is validated using the Lyapunov analysis theory.application to a robotic arm with two degrees of freedom further verify the good performance of the control

Keywords： Nonlinear system     Discrete system     Dynamic fuzzy logical system     Direct adaptive     Sliding mode control    

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Title Author Date Type Operation

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Journal Article

Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

Journal Article

An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Journal Article

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Journal Article

DFIG sliding mode control fed by back-to-back PWM converter with DC-link voltage control for variable

Youcef BEKAKRA,Djilani BEN ATTOUS

Journal Article

Exponential response electrical pole-changing method for a five-phase induction machine with a current slidingmode control strategy

Jia-qiang YANG, Rong-sen YIN, Xiao-jun ZHANG, Jin HUANG

Journal Article

Extension Controller Design via Sliding Mode Control

Chen Jenyang,Wong Chingchang

Journal Article

High-gain Sliding Mode Output Tracking for Nonlinear Systems

Wang Xinhua,Chen Zengqiang,Yuan Zhuzhi

Journal Article

Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

Qi-yan Tian, Jian-hua Wei, Jin-hui Fang, Kai Guo,jhfang@zju.edu.cn

Journal Article

Intelligent fractional-order integral sliding mode control for PMSM based on an improved cascade observer

Lingfei XIAO, Leiming MA, Xinhao HUANG,lfxiao@nuaa.edu.cn

Journal Article

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Journal Article

Finite-time leader-follower consensus of a discrete-time system via sliding mode control

Ruizhuo SONG, Shi XING, Zhen XU

Journal Article

A fast integral sliding mode controller with an extended state observer for position control of permanent

Jun-feng Jiang, Xiao-jun Zhou, Wei Zhao, Wei Li, Wen-dong Zhang,cmeesky@163.com

Journal Article

Direct field oriented control scheme for space vector modulated AC/DC/AC converter fed induction motor

F. BENCHABANE, A. TITAOUINE, O. BENNIS, K. YAHIA, D. TAIBI

Journal Article

Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear

Xiao-yu ZHANG

Journal Article