Adaptive model-based event-triggered sliding mode control

2016 ◽  
Vol 30 (8-10) ◽  
pp. 1298-1316 ◽  
Author(s):  
Gian Paolo Incremona ◽  
Antonella Ferrara
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Model ◽  
Model Based ◽  
Mode Control ◽  
Event Triggered

Implementation a fractional-order adaptive model-based PID-type sliding mode speed control for wheeled mobile robot

2019 ◽  
Vol 233 (8) ◽  
pp. 1067-1084 ◽  
Author(s):  
Kağan Koray Ayten ◽  
Muhammet Hüseyin Çiplak ◽  
Ahmet Dumlu
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Fractional Order ◽  
Sliding Mode ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Adaptive Model ◽  
Finite Time Convergence ◽  
Model Based ◽  
Mode Control

This article presents the speed and direction angle control of a wheeled mobile robot based on a fractional-order adaptive model-based PID-type sliding mode control technique. Taking into account the individual benefits of the fractional calculus and the adaptive model-based PID-type sliding mode control method, the fractional order and the adaptive model-based PID-type sliding mode control technique are combined and proposed as an effective controller for the first time in the literature for real-time control of the wheeled mobile robot under the external payload. In this proposed method, several critical issues are considered; first, a kinematic and dynamic model of the wheeled mobile robot is analysed considering the system’s uncertainties. Second, fractional-order calculus and the model-based PID-type sliding mode control is composed to realize the chattering-free control, accurate trajectory tracking response, finite time convergence and robustness for the wheeled mobile robot. Finally, an adaptive process is also employed to meet and overcome the unknown dynamics and uncertain parameters of the system, regardless of the previous information of the uncertainties. The experimental outcomes demonstrate that the proposed controller (fractional-order adaptive model-based PID-type sliding mode controller) delivers an accurate trajectory tracking performance, faster finite-time convergence as well as having a smaller speed error under the external payload when the adaptive model-based PID-type sliding mode control is compared.

scholarly journals Event-triggered Discrete-time Sliding Mode Control for High-order Systems via Reduced-order Model Approach

2020 ◽  
Vol 53 (2) ◽  
pp. 6207-6212
Author(s):  
Kiran Kumari ◽  
Bijnan Bandyopadhyay ◽  
Johann Reger ◽  
Abhisek K. Behera
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
High Order ◽  
Reduced Order Model ◽  
Order Model ◽  
Reduced Order ◽  
Mode Control ◽  
Event Triggered ◽  
Model Approach

Aperiodic Sampled-Data Sliding-Mode Control of Fuzzy Systems With Communication Delays Via the Event-Triggered Method

2016 ◽  
Vol 24 (5) ◽  
pp. 1048-1057 ◽  
Author(s):  
Shiping Wen ◽  
Tingwen Huang ◽  
Xinghuo Yu ◽  
Michael Z. Q. Chen ◽  
Zhigang Zeng
Keyword(s):  
Sliding Mode Control ◽  
Fuzzy Systems ◽  
Sliding Mode ◽  
Communication Delays ◽  
Sampled Data ◽  
Mode Control ◽  
Event Triggered
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