By Ahmad Taher Azar

This publication describes the advances and purposes in Sliding mode keep an eye on (SMC) that is familiar as a robust solution to take on doubtful nonlinear structures. The ebook is geared up into 21 chapters which were organised via the editors to mirror a few of the subject matters of sliding mode regulate. The e-book presents the reader with a huge variety of fabric from first rules as much as the present cutting-edge within the quarter of SMC and statement offered in a transparent, matter-of-fact variety. As such it really is applicable for graduate scholars with a uncomplicated wisdom of classical keep an eye on thought and a few wisdom of state-space tools and nonlinear platforms. The ensuing layout approaches are emphasised utilizing Matlab/Simulink software.

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Extra info for Advances and Applications in Sliding Mode Control systems

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The second order or higher order sliding mode control was chosen because of its chattering avoidance properties while ensuring the convergence of the sliding mode variables in finite time, even when this alternative has been extensively used in different kind of mechanical systems (Nersesov et al. 2010; Chang 2013) it has some disadvantages in comparison with other sliding mode control variations. Instead of implementing an classical sliding mode algorithm, such as the twisting and super twisting algorithms, in this example a higher order sliding mode control law was implemented in order to make the system variables to reach the sliding manifold in a defined time.

Azar and Q. 1007/978-3-319-11173-5_2 43 44 M. Taherkhorsandi et al. a convergence and divergence operator, a periodic leader selection method, and an adaptive elimination technique. When the multi-objective optimization algorithms are applied to the design of the controller, there is a trade-off between the tracking error and control inputs. By means of optimal points of the Pareto front obtained from the multi-objective optimization algorithms, plenty of opportunity is provided to engineers to design the control approach.

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. The dynamic model of the biped robot and the Pareto design of sliding mode control of the biped robot based on multi-objective periodic CDPSO, modified NSGAII and sigma method are presented in Sect.

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