Tracking Design of an Omni-Direction Autonomous Ground Vehicle by Hierarchical Enhancement Using Fuzzy Second-Order Variable Structure Control

2018 ◽  
Vol 140 (9) ◽  
Author(s):  
Chih-Lyang Hwang ◽  
Yunta Lee
Keyword(s):  
Tracking Error ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Second Order ◽  
Hierarchical Architecture ◽  
Switching Surface ◽  
Ground Vehicle ◽  
Structure Control ◽  
Linear Dynamic ◽  
Order Variable

Owing to the hierarchical architecture of the derived model of the omni-direction autonomous ground vehicle (OD-AGV), the virtual desired trajectory (VDT) is first designed by the first switching surface, which is set as the linear dynamic pose error of the OD-AGV. In sequence, the trajectory tracking control (TTC) is designed by the second switching surface, which is the linear dynamic tracking error of the VDT. To deal with nonlinear time-varying uncertainties including system disturbance and different ground conditions, enhanced fuzzy second-order variable structure control (EF2VSC) is designed into both VDT and TTC. Finally, the experiments for tracking the circular trajectories with different curvatures, traveling velocities, and poses of the OD-AGV are presented to validate the effectiveness and robustness of the proposed hierarchical enhancement using fuzzy second-order variable structure control (HEF2VSC).

scholarly journals Adaptive variable structure control of input delay non-minimum phase hypersonic flight vehicles

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141668561
Author(s):  
Dedong Huang ◽  
Xiaoxiang Hu ◽  
Xunliang Yan
Keyword(s):  
Control Strategy ◽  
Tracking Error ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Input Delay ◽  
Structure Control ◽  
Hypersonic Flight ◽  
Flight Vehicles ◽  
Output Tracking Control ◽  
Tracking Model

An adaptive variable structure control strategy is proposed for the output tracking control of input delay non-minimum hypersonic flight vehicles. The problem is challenging because of the complex nonlinearity of hypersonic flight vehicles and the existence of input delay. The nonlinear model of hypersonic flight vehicles is partially linearized, and a state tracking model is constructed based on the ideal internal dynamics of hypersonic flight vehicles. A filtered tracking error is introduced to handle the input delay. A variable structure control strategy is proposed for the stability of filtered tracking error system, and an adaptive law is established for the unknown perturbations. Finally, the effectiveness of the proposed control method is shown by the simulation results.

Variable Structure Control of the Brushless DC Motor

2011 ◽  
Vol 345 ◽  
pp. 79-82
Author(s):  
Xu Gang Wang ◽  
Xin Hua Li
Keyword(s):  
Control System ◽  
Sliding Mode ◽  
Tracking Error ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Brushless Dc Motors ◽  
Structure Control ◽  
Brushless Dc ◽  
Dc Motors ◽  
Result Show

In order to increase the degree of the angular velocity tracking precision of the brushless DC motors control system, the controller is designed using the variable structure control with sliding mode. The mathematical model of the brushless DC motors is built. The sliding mode function includes tracking error and the differential coefficient of the tracking error. In order to alleviate the chattering, the saturation function replaces the sign function. The simulation result show the tracking precision is high and the controller output has not obvious chattering. The controller meets the tracking precision of he brushless DC motors control system.

Fractional Variable Structure Control

2011 ◽  
Author(s):  
J. A. Tenreiro Machado
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Control Algorithms ◽  
System Response ◽  
Test Bed ◽  
Control Effort ◽  
Structure Control ◽  
Order Variable

This paper studies fractional order variable structure control algorithms. For that purpose the fractional order of the sliding mode is varied and its effect upon the system performance is evaluated. The test bed is constituted by a simple mechanical manipulator. Both the system response and the control effort are analysed. The results show that the fractional order provides an extra method for adjusting the closed loop system response.

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