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In this paper, speed and direction angle of a four wheel skid-steered mobile robot (4 WD SSMR) has been controlled via adaptive-fuzzy fractional-order sliding mode controller (AFFOSMC) under different speed and angle reference signals. The hybrid control method is designed to combine all advantages that controllers have such as flexibility realized by fractional order calculation, robustness to disturbances and parameters variations provided by sliding mode controller (SMC) as well as adaptation of G constant of SMC via fuzzy controller, simultaneously. Also, a fractionalorder SMC is applied to the system for the same reference speed and angle references to show the effects of the changes and adaptation of G constant. Experimental results show that the AFFOSMC has better trajectory tracking performance than the FOSMC. [ABSTRACT FROM AUTHOR]

In this paper, a nonlinear Continuous Sliding Mode control (CSMC) application is presented for trajectory tracking control of a four rotor unmanned aerial vehicle (UAV) called the Quadrotor, also known as micro helicopter. The proposed controller is tested with different time-varying reference routes to provide a stable flight for position control. To show the effectiveness of the designed CSMC, well-tuned PI controller is also applied to quadrotor for the same routes. The current position of the quadrotor is taken from accelerometer, gyroscope and ultrasonic sensors. The experimental results show that the CSMC is adequate to dealing with parameter uncertainties occur in the system dynamics while flying and has satisfactory performance in terms of robustness against to disturbances and error elimination when it compared with PI controller. [ABSTRACT FROM AUTHOR]

This paper presents the experimental validation of a robust position control structure of an indirect field oriented (IFO) induction motor (IM) based on chattering free sliding mode (CFSM) controller. The controller has been tested for various command positions through the simulation and experiment. The results verify the control theory and demonstrate the usefulness of the proposed control scheme. The experimental results are given for step position references that change from 1 rad to 30 rad. It is observed that the tracking performance is very good at all references and the resulting control signals are smooth. Finally, the simulation and experimental results are shown to be in a very close agreement. Copyright © 2012 Praise Worthy Prize S.r.l. - All rights reserved. [ABSTRACT FROM AUTHOR]