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A tutorial account of variable structure control with sliding mode is presented in this paper. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent(More)
In this paper a Sliding mode controller (SMC) scheme based on the power rate reaching law approach has been proposed for the inner loop current control of the 3-Phase Brushless DC motor (BLDC) drive. A proportional-integral (PI) controller is used to control the outer loop speed performance. The developed PI-SMC control scheme is simulated on(More)
Abotrut. A hierarchical control strategy is developed in thispaper for robotic systems (multiple robots systems) holding a rig. id body to track a given motion in the presence o f enviromrntal con. draintl. New mathematical formulation to the enviromental con. dralnts is introduced which is simple enough in many caws. The control b constructed following a(More)
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