MATLAB Simulation of Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulator

[@mehrdadr9279]

I understand that we should edit the code like this x1dot = [x(3);x(4)];x2dot = inv(M)*(U + D - G0 - C); % G20 = [G1;G2]; and in the second code add x0=[q10 q20 0 0 b00 b10 b20]; % [t,x] = ode45(@ATSMC,[0 10],x0); that will be fix all the problems and erroes. tnx sir

[@akritighosh8473]

Thank yoy sir. it was very helpful. Sir, if you could make videos on robust sliding mode control of robotic exoskeleton technologies it will be of great help. Thank you.

[@arsuable]

AOA Sir. Hope this finds you well. Your videos are really helpful for a clear understanding of the topics pertinent to control systems. If you make a video containing the designing/implementation of the model predictive controller/H infinity controller on a system in MATLAB/SIMULINK (ideally Hybrid AC/DC microgrid), would be grateful. Kind regards,

[@alrawdasuliman6649]

thank you, Sir, for the clear explanation. I'm working on a rehabilitation robot " same dynamic model", my question is, what do you think can be changed in this paper to write an article.

[@cset]

Mostly, people look into the selection of the sliding surface (invent a new sliding surface and prove that it results in better control performance). Another idea could be to use a combination of feedback control and learning (finding a better way of adapting).

[@alrawdasuliman6649]

@@cset I find the ideas interesting, thank you, Sir. may I ask for materials ( books titles, articles.. etc), that can help me with the basics of sliding mode control for ''beginners'', ( I am new to the control area, and part of my project is related to control).

[@cset]

@@alrawdasuliman6649 Yes, you can try Applied Nonlinear Control by Slotin and Li or Nonlinear Systems by Hassan Khalil

[@lifesgood5665]

Plz bring concept of fractional Order Sliding Mode Control

[@reihanmazlumi950]

Helpful thank u

[@nikitashambharkar3833]

Sir,Can we apply event trigger control to this simulation?

[@isahusman9766]

Sir thanks for your contribution to knowledge .Please sir help us implement any work related backstepping control technique.

[@cset]

Please take a look at the video: MATLAB Simulation of RBF Neural Network based Backstepping Control

[@pengyoucn7847]

Sir ,could you explain the sliding mode controller for the electric load simulator?

[@biswanathpaul7813]

Thank you sir for the video, can you please make video for the paper "Higher order sliding mode control of robot manipulator" ICAS 2013 aurhor- Guendouzi, Boubakir, Hamerlain.

[@lifesgood5665]

Sir In adaptive smc we have to put adaptive law in control input Or in system dynamics Or in both While coding ?

[@cset]

Adaptive law is an independent differential equation. In simulation, all of the differential equations are written in the same function file. You can watch the video carefully and you will see how I write the adaptive law, control , and the system dynamics all in one file

[@lifesgood5665]

Plz help me my presentation is very near

[@lifesgood5665]

Adaptation law is R_cap****

[@lifesgood5665]

Nonlinear adaptive control of magnetic levitation system using terminal sliding mode and integral backstepping sliding mode controllers Hafiz Muhammad Salman Yaseen b , Syed Ahmad Siffat b , Iftikhar Ahmad a,∗,1 , Ali Shafiq Malik b I am using this paper as reference

[@mohsenrivaz5995]

can you work on neural network based adapative sliding mode for tracking trajectory 2dof robot paper or something like that please ?

[@aradhanayadav1739]

Sir there is error in 3rd line of this code I have written the same code but still there is error.

[@cset]

Please focus on the statement of the error. I have executed the code in the video. There must have been a typo in the copy.

[@aradhanayadav1739]

​@@csetsir the error is not enough input argument

[@cset]

@@aradhanayadav1739 Maybe you are trying to run the function file instead of the script file.

[@aradhanayadav1739]

Sir code is running and output is same as in video but sir there is error of not enough arguments and in third line

[@cset]

@@aradhanayadav1739 Please note that there are two types of files created in the video. One is a function file in which all the equations are written (you are not supposed to run/execute this file). Second file is the script file where "ode" command is used to call the function (you should run/execute this file). From your comments, I cannot tell which file you are executing but from my experience, I have a hunch that you are trying to run the function file. Please watch the video carefully (especially the part where I execute the file by pressing the play button). Hope that this will help you in finding the issue.

[@joelmawanza]

Good day. I am trying to simulate a TSM for a nonlinear system but l was wondering how can l get the correct values of constants and parameter in the sliding surface of the TSM so that system can be stable.

[@cset]

Usually, the condition for stability is easy. For example in the paper of this video, the condition is that 0

[@mehrdadr9279]

Can you send me the code? I wrote the code but it doesn't run and gives an error. really I need it.tnx

[@cset]

what is the statement of the error that you are getting?