In this paper, an improved Sliding Mode Control (SMC) scheme, reformed from the conventional SMC approaches, is developed for position tracking of a robot manipulator with parameter uncertainties and external disturbances. The improved SMC scheme, which uses saturation-type SMC laws, is shown to be able to surpass the level of uniformly ultimate boundedness to achieve asymptotic stability. In addition, the presented first-order SMC laws are continuous; as a result, this scheme can also alleviate the undesirable chattering behavior that is characteristic of sign-type SMC laws. Simulation results demonstrate the benefits of the proposed scheme.
This study investigates reliable output tracking control issues. Both passive and active reliable control laws are proposed using Variable Structure Control (VSC) technique.These reliable controllers need not the solution of Hamilton-Jacobi equation or inequality, which are essentials in optimal approaches such as reliable LQR and €€-infinity designs. As a matter of fact, this approach is able to relax the computational load. The proposed reliable designs are also applied to bank-toturn missile systems to illustrate their benefits.Index Termsnonlinear systems, reliable control, bank-toturn missile systems, variabIe structure control, fault detection and diagnosis.
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