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159
Sliding mode control of a three degrees of freedom anthropoid robot by driving the controller parameters to an equivalent regime
 ASME J. Dynamic Syst., Measur. Control
, 2000
"... Noise rejection, handling the difficulties coming from the mathematical representation of the system under investigation and alleviation of structural or unstructural uncertainties constitute prime challenges that are frequently encountered in the practice of systems and control engineering. Designi ..."
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Cited by 26 (23 self)
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Noise rejection, handling the difficulties coming from the mathematical representation of the system under investigation and alleviation of structural or unstructural uncertainties constitute prime challenges that are frequently encountered in the practice of systems and control engineering. Designing a controller has primarily the aim of achieving the tracking precision as well as a degree of robustness against the difficulties stated. From this point of view, variable structure systems theory offer well formulated solutions to such illposed problems containing uncertainty and imprecision. In this paper, a simple controller structure is discussed. The architecture is known as Adaptive Linear Element (ADALINE) in the framework of neural computing. The parameters of the controller evolve dynamically in time such that a sliding motion is obtained. The inner sliding motion concerns the establishment of a sliding mode in controller parameters, which aims to minimize the error on the controller outputs. The outer sliding motion is designed for the plant. The algorithm discussed drives the error on the output of the controller toward zero learning error level, and the state tracking error vector of the plant is driven toward the origin of the phase space simultaneously. The paper gives the analysis of the equivalence between the two sliding motions and demonstrates the performance of the algorithm on a three degrees of freedom, anthropoid robotic manipulator. In order to clarify the performance of the scheme, together with the dynamic complexity of the plant, the adverse effects of observation noise and nonzero initial conditions are studied. �S00220434�00�017044�
The fusion of computationally intelligent methodologies and slidingmode control—a survey
 IEEE Transactions on Industrial Electronics
, 2001
"... Abstract—This paper surveys how some “intelligence ” can be incorporated in slidingmode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the wellknown problems met in practical implementations of SMCs. The use of variablestructure system theory in des ..."
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Cited by 23 (4 self)
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Abstract—This paper surveys how some “intelligence ” can be incorporated in slidingmode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the wellknown problems met in practical implementations of SMCs. The use of variablestructure system theory in design and stability analysis of fuzzy controllers is also discussed by drawing parallels between fuzzy control and SMCs. An overview of the research and applications reported in the literature in this respect is presented. Index Terms—Computational intelligence, slidingmode control, soft computing.
Sliding Mode Power Control of VariableSpeed Wind Energy Conversion System
 IEEE Transaction on Energy Conversion
, 2008
"... HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte p ..."
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Cited by 14 (2 self)
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HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et a ̀ la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
Autonomous and Distributed Motion Planning for Satellite Swarm
 Journal of Guidance, Control, and Dynamics
, 2007
"... We present a satellite pathplanning technique able to make a set of identical spacecraft acquire a given configuration. The technique exploits a behaviorbased approach to achieve an autonomous and distributed control over the relative geometry,making use of limited sensorial information. A desired ..."
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Cited by 14 (3 self)
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We present a satellite pathplanning technique able to make a set of identical spacecraft acquire a given configuration. The technique exploits a behaviorbased approach to achieve an autonomous and distributed control over the relative geometry,making use of limited sensorial information. A desired velocity is defined for each satellite as a sumof different contributions coming fromgeneric highlevel behaviors. Thebehaviors are further definedbyan inversedynamic calculation dubbed equilibrium shaping.We show that by considering only three different kinds of behavior it is possible to acquire a number of interesting formations, and we describe the theoretical framework needed to find the entire set.We find that by allowing a limited amount of communication the techniquemay be used also to form complex lattice structures. Several control feedbacks able to track the desired velocities are introduced and discussed. Our results suggest that slidingmode control is particularly appropriate in connection with the developed technique. I.
SlidingMode Control With Soft Computing: A Survey
"... Abstract—Slidingmode control (SMC) has been studied extensively for over 50 years and widely used in practical applications due to its simplicity and robustness against parameter variations and disturbances. Despite the extensive research activities carried out, the key technical problems associate ..."
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Abstract—Slidingmode control (SMC) has been studied extensively for over 50 years and widely used in practical applications due to its simplicity and robustness against parameter variations and disturbances. Despite the extensive research activities carried out, the key technical problems associated with SMC remain as challenging research questions due to demands for new industrial applications and technological advances. In this respect, soft computing (SC) is a rather recent development in intelligent systems which has provided alternative means for adaptive learning and control to overcome the key SMC technical problems. Substantial efforts in integration of SMC with SC have been placed in recent years with various successes. In this paper, we provide the state of the art of recent developments in SMC systems with SC, examining key technical research issues and future perspectives. Index Terms—Chaos, chattering, evolutionary computation, fuzzy logic, neural networks, robustness, slidingmode control, variablestructure systems. I.
Control of Robot Manipulator: Design a Novel Tuning MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control
 International Journal of Control and Automation
, 2011
"... This research focuses on design Single Input Single Output (SISO) adaptive sliding mode fuzzy PD fuzzy sliding mode algorithm with estimates the equivalent part derived in the Lyapunov sense. The stability of the closedloop system is proved mathematically based on the Lyapunov method. Proposed meth ..."
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Cited by 13 (12 self)
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This research focuses on design Single Input Single Output (SISO) adaptive sliding mode fuzzy PD fuzzy sliding mode algorithm with estimates the equivalent part derived in the Lyapunov sense. The stability of the closedloop system is proved mathematically based on the Lyapunov method. Proposed method introduces a SISO fuzzy system to compensate for the model uncertainties of the system and eliminate the chattering by linear boundary layer method. This algorithm is used a SISO fuzzy system to alleviate chattering and to estimate the control gain in the control law and presented a scheme to online tune of sliding function. To attenuate the chattering phenomenon this method developed a linear boundary layer
Robust output feed back regulation of minimumphase nonlinear systems using conditional integrators
 Automatica
, 2005
"... Abstract This paper is on the design of robust output feedback integral control for minimumphase nonlinear systems with a welldefined relative degree. Previous work has shown how to design such controllers to achieve asymptotic regulation by a twostep process. First, robust control is designed t ..."
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Abstract This paper is on the design of robust output feedback integral control for minimumphase nonlinear systems with a welldefined relative degree. Previous work has shown how to design such controllers to achieve asymptotic regulation by a twostep process. First, robust control is designed to bring the trajectories to a small neighborhood of an equilibrium point. Within this neighborhood, the control then acts as a highgain feedback that stabilizes the equilibrium point. The asymptotic regulation achieved by integral action happens at the expense of degrading the transient performance. In this paper, we present an approach to improve the transient performance. The control design is a continuous sliding mode control with integral action. However, the integrator is introduced in such a way that it provides integral action only "conditionally", effectively eliminating the performance degradation. There are two main results in the paper: the first is asymptotic regulation and the second confirms the transient performance improvement by showing that the output feedback continuous slidingmode control with integral action can be tuned to recover the performance of a state feedback ideal sliding mode control without integral action.
Stabilizing and robustifying the learning mechanisms of artificial neural networks in control engineering applications
 Int. J. Intell. Syst
, 2000
"... This paper discusses the stabilizability of artificial neural networks trained by utilizing the gradient information. The method proposed constructs a dynamic model of the conventional update mechanism and derives the stabilizing values of the learning rate. The stability in this context corresponds ..."
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Cited by 12 (12 self)
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This paper discusses the stabilizability of artificial neural networks trained by utilizing the gradient information. The method proposed constructs a dynamic model of the conventional update mechanism and derives the stabilizing values of the learning rate. The stability in this context corresponds to the convergence in adjustable parameters of the neural network structure. It is shown that the selection of the learning rate as imposed by the proposed algorithm results in stable training in the sense of Lyapunov. Furthermore, the algorithm devised filters out the high frequency dynamics of the gradient descent method. The excitation of this dynamics typically occurs in the presence of noise and abruptly changing the parameters of the mapping being learned. This adversely influences the learning performance that can be attained during a training cycle. A natural consequence following this excitation is divergence in parameter space. The method analyzed in this paper integrates the gradient descent technique with variable structure systems methodology, which is well known for its robustness to environmental disturbances. In the simulations, control of a three degrees of freedom anthropoid robot is chosen for the evaluation of the performance. For this purpose, a feedforward neural network structure is utilized as the controller. Highly nonlinear dynamics of the plant, existence of a considerable amount of observation noise, and the adverse effects of gravitational forces constitute the difficulties to be alleviated by the neurocontroller trained with the proposed method. In order to come up with a fair comparison, the results obtained with the pure gradient descent technique with the same initial conditions are also presented and discussed. � 2000 John Wiley & Sons, Inc.
Variable Structure Systems Theory Based Training Strategies for Computationally Intelligent Systems
 IECON'01: THE 27TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY
, 2001
"... Variable Structure Systems (VSS) Theory, which is particularly well developed for tracking control of uncertain nonlinear systems, has inspired the scientists in developing solutions to illposed problems like the design of training criteria under a set of conditions and performance metrics. The u ..."
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Cited by 10 (7 self)
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Variable Structure Systems (VSS) Theory, which is particularly well developed for tracking control of uncertain nonlinear systems, has inspired the scientists in developing solutions to illposed problems like the design of training criteria under a set of conditions and performance metrics. The underlying idea has been to exploit the invariance properties introduced by the theory together with the parametric flexibility of the architectures of computational intelligence. Since the traditional approaches utilizing the gradient information are oversensitive against disturbances, the robustification becomes an inevitable need, and as a powerful tool for handling the nonlinearity, timedelays, saturations and similar system specific difficulties, VSS theory becomes a good candidate for safely expanding the search space. The tutorial focuses on the architectures of common use, and postulates several tuning laws based on the VSS theory.
Rezaie ,”Methodology of Mathematical ErrorBased Tuning Sliding Mode Controller
 International Journal of Engineering
, 2012
"... Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical errorbased tuning sliding mode controller (MTSMC) for highly nonlinear dynamic robot manipulator, i ..."
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Cited by 8 (8 self)
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Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical errorbased tuning sliding mode controller (MTSMC) for highly nonlinear dynamic robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller is selected. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the switching function in presence of mathematical errorbased method instead of switching function method in pure sliding mode controller. The results demonstrate that the sliding mode controller with switching function is a