Advances and Applications in Sliding Mode Control systems by Ahmad Taher Azar

By Ahmad Taher Azar

This ebook describes the advances and purposes in Sliding mode keep watch over (SMC) that's regularly occurring as a strong approach to take on doubtful nonlinear platforms. The booklet is geared up into 21 chapters which were organised by way of the editors to mirror a number of the issues of sliding mode keep watch over. The ebook offers the reader with a wide diversity of fabric from first rules as much as the present cutting-edge within the quarter of SMC and commentary provided in a transparent, matter-of-fact variety. As such it really is acceptable for graduate scholars with a simple wisdom of classical keep an eye on conception and a few wisdom of state-space equipment and nonlinear structures. The ensuing layout strategies are emphasised utilizing Matlab/Simulink software.

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Modified NSGAII and Sigma method dramatizes the excellent performance of multi-objective periodic CDPSO in the design of the control method. Finally, the optimal sliding mode tracking control tuned by CDPSO is applied to the control of a biped robot walking in the lateral plane on slope and the ball and beam system. The results and analysis prove the efficiency of the control approach with regard to providing optimal control inputs and low tracking and position errors. 1 Introduction Two-legged robots named biped robots are the most similar kind of robots to human.

17 Angular velocity for θ to their respective phase trajectories. The two limit cycles depicted in these figures show that the oscillations follow a prescribed trajectory until the variables reach the desired values when a disturbance is applied on the system. The phase portraits show that the limit cycles yielded by the periodic oscillations are stable, proving that the PD + sliding mode control law meets the required specifications according to the stabilization of the state variables of the system.

C1 stands for the cognitive learning feature and represents the attraction that a particle has toward its own success. C2 stands for the social learning feature and represents the attraction that a particle has toward the success of the entire swarm. It was obtained that the best solutions were gained when C1 is linearly decreased and C2 is linearly increased over the iterations (Ratnaweera and Halgamuge 2004). W stands for the inertia weight and controls the impact of the previous history of velocities on the current velocity of particle i.

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