Deep Reinforcement Learning Based Self-Configuring Integral Sliding Mode Control Scheme for Robot Manipulators

2018 ◽  
Author(s):  
Bianca Sangiovanni ◽  
Gian Paolo Incremona ◽  
Antonella Ferrara ◽  
Marco Piastra
Keyword(s):  
Reinforcement Learning ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Control Scheme

scholarly journals Nonlinear Integral Sliding Mode Control for a Second Order Nonlinear System

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Xie Zheng ◽  
Xie Jian ◽  
Du Wenzheng ◽  
Cheng Hongjie
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Second Order ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
Sliding Manifold

A nonlinear integral sliding-mode control (NISMC) scheme is proposed for second order nonlinear systems. The new control scheme is characterized by a nonlinear integral sliding manifold which inherits the desired properties of the integral sliding manifold, such as robustness to system external disturbance. In particular, compared with four kinds of sliding mode control (SMC), the proposed control scheme is able to provide better transient performances. Furthermore, the proposed scheme ensures the zero steady-state error in the presence of a constant disturbance or an asymptotically constant disturbance is proved by Lyapunov stability theory and LaSalle invariance principle. Finally, both the theoretical analysis and simulation examples demonstrate the validity of the proposed scheme.

scholarly journals Fuzzy Integral Sliding Mode Control Based on Microbial Fuel Cell

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Lei Lian ◽  
Peng Ji ◽  
Tianyu OuYang ◽  
Fengying Ma ◽  
Shanwen Xu ◽  
...  
Keyword(s):  
Fuel Cell ◽  
Sliding Mode Control ◽  
Microbial Fuel Cell ◽  
Sliding Mode ◽  
Fuzzy Integral ◽  
Sliding Surface ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Control Scheme

Microbial fuel cell (MFC) is a renewable clean energy. Microorganisms are used as catalysts to convert the chemical energy of organic matter in the sewage into electrical energy to realize sewage treatment and recover energy at the same time. It has good development prospects. However, the output power of MFC is affected by many factors, and it is difficult to achieve a stable voltage output. For the control-oriented single-chamber MFC, a fuzzy integral sliding mode control is designed. The continuous adjustment of the sliding surface ensures that the system only moves on the sliding surface, which eliminates the arrival stage and improves robustness. For chattering existing in the system, the control scheme is further optimized to obtain fuzzy integral sliding mode control, and the fuzzy module adaptively adjusts the control parameters according to the system state, which effectively reduces the system chattering. Experiments prove that the control scheme reduces chattering while ensuring the stable output of the system.

scholarly journals Integral sliding mode-based formation control of multiple unertain robots via nonlinear disturbane observer

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141667769 ◽  
Author(s):  
Dianwei Qian ◽  
Chengdong Li ◽  
Shiwen Tong ◽  
Lu Yu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Formation Control ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
Nonlinear Disturbance

This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader–follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov’s theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.

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