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This paper proposes a novel adaptive intelligent global sliding mode control for the tracking control of a DC-DC buck converter with time-varying uncertainties/disturbances. The proposed control law is formulated using a switching surface that eliminates the reaching phase and ensures the existence of the sliding action from the start. The control law is derived based on the Lyapunov stability theory. The effectiveness of the proposed approach is illustrated via high-fidelity simulations by means of Simscape simulation environment in MATLAB. Satisfactory tracking accuracy, efficient suppression of the chattering phenomenon in the control input, and high robustness against uncertainties/disturbances are among the attributes of the proposed control approach.

This paper presents a state machine based architecture which enhances flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating presented approach versus traditional robot programming techniques.