A robust adaptive sliding mode controller for robotic manipulators

2002 ◽  
Author(s):  
Sze San Chong ◽  
Xinghoo Yu ◽  
Man Zhihong
Keyword(s):  
Sliding Mode ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Robust Adaptive

scholarly journals Adaptive Synchronization for Two Different Stochastic Chaotic Systems with Unknown Parameters via a Sliding Mode Controller

2013 ◽  
Vol 2013 ◽  
pp. 1-12
Author(s):  
Zengyun Wang ◽  
Lihong Huang ◽  
Xuxin Yang ◽  
Dingyang Lu
Keyword(s):  
Chaotic Systems ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Adaptive Synchronization ◽  
Sliding Mode Controller ◽  
Unknown Parameters ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Main Work ◽  
Robust Adaptive

This paper investigates the problem of synchronization for two different stochastic chaotic systems with unknown parameters and uncertain terms. The main work of this paper consists of the following aspects. Firstly, based on the Lyapunov theory in stochastic differential equations and the theory of sliding mode control, we propose a simple sliding surface and discuss the occurrence of the sliding motion. Secondly, we design an adaptive sliding mode controller to realize the asymptotical synchronization in mean squares. Thirdly, we design an adaptive sliding mode controller to realize the almost surely synchronization. Finally, the designed adaptive sliding mode controllers are used to achieve synchronization between two pairs of different stochastic chaos systems (Lorenz-Chen and Chen-Lu) in the presence of the uncertainties and unknown parameters. Numerical simulations are given to demonstrate the robustness and efficiency of the proposed robust adaptive sliding mode controller.

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