By Ahmad Taher Azar
This e-book describes the advances and functions in Sliding mode keep watch over (SMC) that's everyday as a robust option to take on doubtful nonlinear structures. The publication is geared up into 21 chapters which were organised through the editors to mirror a number of the topics of sliding mode keep watch over. The ebook presents the reader with a vast variety of fabric from first rules as much as the present state-of-the-art within the region of SMC and statement offered in a transparent, matter-of-fact variety. As such it's applicable for graduate scholars with a simple wisdom of classical regulate conception and a few wisdom of state-space tools and nonlinear structures. The ensuing layout techniques are emphasised utilizing Matlab/Simulink software.
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Extra info for Advances and Applications in Sliding Mode Control systems
In: Proceedings of the IEEE American control conference. St. Louis, MO, USA Kunusch C, Puleston P, Mayosky M (2012) Fundamentals of sliding-mode control design. Slidingmode control of PEM fuel cells. : New approach for swinging up the furuta pendulum: theory and experiments. : Quasi-continuous high-order sliding-mode controllers. T. E. Serrano Li H, Bai Y, Su Z (2011) Adaptive sliding mode control of electromechanical actuator with improved parameter estimation. In: Proceedings of the IEEE Asian control conference (ASCC).
This controller is applied to a biped robot modeled and walking in the lateral plane on slope (Mahmoodabadi et al. 2014a, b). The outline of the rest of this chapter is as follows: Sect. 2 discusses the multi-objective particle swarm Optimal Sliding and Decoupled Sliding Mode Tracking Control … 47 optimization including the convergence and divergence operators, the periodic leader selection approach, and the adaptive elimination technique. Section 3 involves the control approach where Canonical and Non-canonical forms of both sliding mode control and decoupled sliding mode control are discussed.
2011). In illustration, Nikkhah et al. utilized a robust sliding mode tracking control algorithm for a biped robot modeled as a five-link planar robot with four actuators following a human-like gait trajectory in the sagittal plane (Nikkhah et al. 2007). Lin et al. proposed a hybrid control approach based upon the sliding mode method and a recurrent cerebellar model articulation controller to control biped robots (Lin et al. 2007). Moreover, the Taylor linearization approach was used to enhance the learning ability of the recurrent cerebellar model articulation controller.
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