A robust position controller for induction motors is proposed based on sliding mode theory. Robustness of the controller is very important aspect for especially when it is aimed to track a certain trajectory. In this work, the flux observer and current controller are also based on sliding modes. Whole system is analyzed under rotor and stator time uncertainty, torque variations and external disturbances. The performance of the proposed control scheme is confirmed by simulation results.

In this paper Sliding Mode Control (SMC) with estimated equivalent control is presented. A equivalent control in SMC is a continuous control which is introduced to analyze the sliding mode motion on the manifolds. Using a equivalent control as a control input after reaching manifolds is very useful method from a view point of eliminating chattering and analyzing of sliding mode motion on the manifolds. We presents a design method of on-line estimator which estimates a part of equivalent control containing a system's nonlinear term by use of one of a Neural Network's most powerful ability, that is, function approximation. This control algorithm doesn't require abundant information about controlled plant to calculate a equivalent control. The controller is designed to provide sliding mode motion on the selected manifolds in the state space and to satisfy selected Lyapunov function and stability criteria. This resulting control is continuous, so chattering is eliminated. Under the condition of estimation of on-line estimator converging to real value, the motion of sliding mode is equal to that one of SMC with discontinous control.

We present a design method of online estimator which estimates a part of equivalent control containing a system's nonlinear term, input-matrix uncertainty and unknown disturbance by use of one of a neural network's most powerful ability, that is, function approximation, The controller using that estimated equivalent control is designed to have continuous control to eliminate chattering and to provide sliding mode motion on the selected manifolds in the state space.

In this paper, various VSS techniques based on sliding mode control (SMC) including a novel approach are proposed for the control of automated guided vehicles (AGV). The first approach is a classical SMC based on Lyapunov design. The second approach is classical SMC with the estimation of the equivalent control, and the third one is a novel approach and eliminates the chattering. The third method is also modified with a different estimation of the equivalent control. The last scheme is observed to be the most powerful method and easily applicable in real systems. The methods are compared and implementation results are presented.

In this paper, we propose a control algorithm for current-type converter with LC filter placed on the ac side. To improve the sinusoidal waveform of ac input current, we introduce an approach based on sliding mode. It is shown that the PWM pattern is gotten as a natural result of the control process, robust property to parameter variation can be introduced into the control algorithm easily. Because all of the control processes is completed in software and the switching signals are accessed directly within the control strategy, hardware of control circuits can be simplified. To confirm the validity of proposed control algorithm an experimental investigation is also made. The result of experiment verified the properties of tracking to reference, source power factor appointablity and suppressing effect on LC filter resonant oscillation.

A vision-controlled robot conveyor tracking system is presented here. The vision system utilizes a constant in-time sensing field. In its normal mode of operation, this system takes a picture, analyses the image, recognises the object, extracts position information from it. Utilising this information along with the velocity information from the conveyor belt, the robot maneuvers to track and grasp the recognised object.<<ETX>>

In this paper, the design of current control loop and selection of the switching logic for PWM three-phase switching power converters (inverters and rectifiers) and AC electrical machines are presented. The approach is based on the deliberate introduction of the sliding mode motion in the control system. It is shown that the selection of the PWM pattern is a direct result of sliding mode existence in the current control closed-loop system. The PWM pattern selection for three-phase inverters, three-phase rectifiers and AC electrical machines is the same, due to the fact that the switching matrix is the same for all plants considered. Simulation results show that the proposed algorithm has an advantage, namely that the current ripple can be set as a fraction of the reference current while the switching frequency does not increase.<<ETX>>

It has been shown in the literature that by including an end state vector weighting in the cost function, the stability of the generalized predictive controller can be guaranteed. This paper reports the formulation of this approach for trajectory control of a two axis direct drive manipulator. An I/O model is assumed for the plant and the partial state of the system is used for end state weighting. Experimental results presented indicate the practical applicability of the approach.<<ETX>>

Load distortion currents in the three phase system can be suppressed by employing active power filters. This paper describes a sliding mode control strategy of the three phase voltage source converter. The validity of the control circuit is verified by simulation results. Considering the new control approach, the dynamics of the active filter as well as its compensating characteristics are also analyzed through energy storage elements. The system performance is valid for steady and transient states in the three phase circuits.<<ETX>>

In this paper, the selection of the switching logic for PWM three phase switching converters (inverters and rectifiers) is presented. The approach is based on the deliberate introduction of the sliding mode motion in the control system. It is shown that the selection of the PWM pattern is a direct result of the sliding mode existence in the closed-loop system. The PWM pattern selection for three phase inverters and three phase rectifiers is the same, due to the fact that their switching matrix is the same. Simulation results show that proposed algorithm has an advantage that the current ripple can be set as a fraction of the reference current while the switching frequency does not increase.<<ETX>>

In this paper, the sliding mode control (SMC) of the systems linear with respect to control is presented. The controller is designed to have continuous control to eliminate chattering and to provide sliding mode motion on the selected manifolds in the state space. These manifolds are selected as a linear combination of the state coordinates. Control is selected to satisfy selected Lyapunov function and stability criteria.

A new control technique for voltage-fed and current-fed PWM three-phase converters (inverters and rectifiers) is presented. Approach is based on the application of the sliding mode design methods. A general mathematical description of the three-phase converters (buck and boost inverters and rectifiers) is developed. On the basis of this description the sliding mode controller is designed to obtain optimal PWM and desired closed-loop dynamics. Both, the PWM switching pattern and the closed-loop dynamics are addressed as a single control problem and the output of the controller provides direct commands for the converter's switches. It is shown that the same controller can be applied for all analyzed converters. The controller has a simple structure and is suitable for digital implementation. Simulation results are provided to confirm theoretical predictions.