Tracking guidance commands for a time-varying aerospace launch vehicle during the atmospheric flight is considered in this paper. Hence, the dynamic Terminal sliding mode control law is constructed for this purpose and dynamic sliding mode control is utilized.The Terminal sliding manifold causes the dynamic sliding mode to converge asymptotically to zero in finite-time. The actuator and rate gyro dynamics are included in the model of launch vehicle. Dynamic sliding mode control accommodates unmatched disturbances, while the Terminal sliding mode control is used to accelerate the system to reach the dynamic sliding manifold. Finally, the effectiveness of the proposed control is demonstrated in the presence of unmatched disturbances and is compared with the dynamic sliding mode.

Due to the development of renewable energy and the need for sustainable electricity, AC microgrids (MGs) have received a lot of attention and the growing need for them is becoming more and more apparent. Medium voltage MGs will be very important in providing electrical energy in the near future. This paper represents a robust and effective control method with rather simple implementation capability for islanded MGs based on master-slave (MS) technique. The designed control is a type of Terminal sliding mode control, which has a high response speed and good convergence with robustness against some uncertainties. Stability and high performance are very essential for islanded MGs. The designed control meets these requirements so that the output voltage of the inverter based distributed generation (DG) sources includes a very low amount of harmonics and the generated active and reactive powers track their reference values perfectly. The effectiveness of the proposed control method is evaluated by simulation in SIMULINK/MATLAB environment. The simulation results are presented considering five cases, which include feedback linearization control (FLC) and conventional sliding mode control (CSMC) of DGs, harmonic load and high impedance transmission lines simulation results. The obtained results show the perfect  tracking  and  robustness  of  the proposed control scheme considering uncertainties in parameters and it is illustrated that a high accuracy power sharing between DG sources is achieved.

sliding mode control is one of the most effective methods of controlling nonlinear systems with bounded uncertainty. Exponential convergence of tracking error is one of the most important problem of classic sliding mode control. One way to solve this problem is use of Terminal sliding mode control. The great thing about Terminal sliding mode control, is it’, s robustness in face of model uncertainty and external disturbances while can guarantee tracking error converge to zero in finite time simultaneously. Usually Terminal sliding mode controller, is limited by singularity at the origin and infinite control signal. This article attempts to the singularity problem in controlling underwater robots and decreasing the convergence time by defining a new sliding surface for Terminal sliding mode controller. simulation results shows the efficiency of proposed controller as it effectively improves the convergence time and accuracy in under water robots with are faced by structural and environmental uncertainties.

This article investigates the problem of simultaneous attitude and vibration control of a flexible spacecraft to perform high precision attitude maneuvers and reduce vibrations caused by the flexible panel excitations in the presence of external disturbances, system uncertainties, and actuator faults. Adaptive integral sliding mode control is used in conjunction with an attitude actuator fault iterative learning observer (based on sliding mode) to develop an active fault tolerant algorithm considering rigid-flexible body dynamic interactions. The discontinuous structure of fault-tolerant control led to discontinuous commands in the control signal, resulting in chattering. This issue was resolved by introducing an adaptive rule for the sliding surface. Furthermore, the utilization of the sign function in the iterative learning observer for estimating actuator faults has not only enhanced its robustness to external disturbances through a straightforward design, but has also led to a decrease in computing workload. The strain rate feedback control algorithm has been employed with the use of piezoelectric sensor/actuator patches to minimize residual vibrations caused by rigid-flexible body dynamic interactions and the effect of attitude actuator faults. Lyapunov's law ensures finite-time overall system stability even with fully coupled rigid-flexible nonlinear dynamics. Numerical simulations demonstrate the performance and advantages of the proposed system compared to other conventional approaches.

In recent years, flying robots have gained popularity in a new application known as aerial robotic manipulation. This technology performs operations in dangerous and inaccessible environments, significantly reducing costs. However, combining a flying robot with a robotic arm increases system nonlinearity and coupling, leading to challenging control and path-tracking scenarios. There are two main approaches to robotic manipulation control: centralized and decentralized. This paper focuses on the decentralized approach, where the forces and torques from the robotic arm are treated as external disturbances acting on the flying robot. A novel adaptive robust Terminal sliding mode controller is employed to implement this decentralized control. The adaptive component estimates the limits of uncertainties and disturbances, ensuring finite-time convergence. Additionally, a backstepping sliding mode controller with a Lyapunov stability guarantee is developed for the flying robot. Finally, a simulation is presented for an unmanned aerial manipulator equipped with a two-degree-of-freedom active robotic arm. The simulation considers mass uncertainties during an oil rig inspection mission. The results demonstrate that the proposed controllers achieve optimal performance, enabling fast and accurate path tracking within a limited time.

In recent years, flying robots have gained popularity in a new application known as aerial robotic manipulation. This technology performs operations in dangerous and inaccessible environments, significantly reducing costs. However, combining a flying robot with a robotic arm increases system nonlinearity and coupling, leading to challenging control and path-tracking scenarios. There are two main approaches to robotic manipulation control: centralized and decentralized. This paper focuses on the decentralized approach, where the forces and torques from the robotic arm are treated as external disturbances acting on the flying robot. A novel adaptive robust Terminal sliding mode controller is employed to implement this decentralized control. The adaptive component estimates the limits of uncertainties and disturbances, ensuring finite-time convergence. Additionally, a backstepping sliding mode controller with a Lyapunov stability guarantee is developed for the flying robot. Finally, a simulation is presented for an unmanned aerial manipulator equipped with a two-degree-of-freedom active robotic arm. The simulation considers mass uncertainties during an oil rig inspection mission. The results demonstrate that the proposed controllers achieve optimal performance, enabling fast and accurate path tracking within a limited time.

A model free Terminal sliding mode controller has been proposed. The proposed controller is data driven i.e. based only on input and output data (thus, model free). This method employs a recursive nonlinear sliding surface. This leads to higher tracking precision and to finite time convergence of the response. The method uses “model Free Adaptive controller” approach, combined with “Discrete time sliding mode controller” method. Boundedness of tracking error is proved analytically. Theoretical analysis also shows the superiority of the proposed method over model Free Linear sliding mode controller. Analysis results are confirmed via simulation.

In this study, a super-twisting algorithm, using the sliding surface as a fractional-order non-singular Terminal sliding mode (NTSM), is presented. In robust control, one of the important problem is the reduction of system error and reduce the chattering. One of the most common applications of sliding mode controllers is about the reduction of chattering. Also, utilizing the fractional calculus in controller design brings more accuracy and reduces system errors. Utilizing a higher-order sliding mode controller using the super-twisting algorithm and the fractional-order non-single Terminal sliding mode for the two-link serial robot is the novelty of the presented research. The design of the suggested controller is such that it is independent of the robotic manipulators model and is based on the system errors. Stability analysis of the close-loop system has performed using Lyapunov's method. The simulation results show high accuracy, fast convergence, and high robustness of the proposed fractional-order super-twisting nonsingular Terminal sliding mode control.