Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Maryam Farahmandrad ◽  
Soheil Ganjefar ◽  
Heidar Ali Talebi ◽  
Mahdi Bayati
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Robotic System ◽  
Robot Dynamics ◽  
Lyapunov Theorem ◽  
Decomposition Approach ◽  
Control Framework ◽  
Control Scheme ◽  
Sliding Mode Controllers ◽  
Fuzzy Sliding Mode

This paper proposes a control framework for a cooperative robotic system to grasp and handle an object with known geometry in the presence of uncertainty in robot dynamics. Based on passive decomposition approach, dynamic equations of the cooperative robotic system are decomposed into two decoupled systems, shape and locked systems. The locked system and the shape system are controlled by two fuzzy sliding mode controllers (SMCs). Stability is studied through passivity property and Lyapunov theorem. Simulation results confirm that the proposed control scheme works well.

A Novel Cooperative Teleoperation Framework for Nonlinear Time-Delayed Single-Master/Multi-Slave System

Robotica ◽  
2019 ◽  
Vol 38 (3) ◽  
pp. 475-492 ◽  
Author(s):  
Maryam Farahmandrad ◽  
Soheil Ganjefar ◽  
Heidar Ali Talebi ◽  
Mahdi Bayati
Keyword(s):  
Communication Channel ◽  
Sliding Mode ◽  
Synchronization Control ◽  
Decomposition Approach ◽  
Time Varying Delay ◽  
Teleoperation System ◽  
Control Framework ◽  
Sliding Mode Controllers ◽  
Control Methodology ◽  
Varying Delay

SummaryThis paper proposes a novel control framework for a single-master/multi-slave teleoperation system to grasp and handle an object, considering nonlinearity and uncertainty in the dynamics of the slaves and time-varying delay in the communication channel. Based on passive decomposition approach, the dynamics of the slaves are decomposed into two decoupled systems, and then two higher order sliding mode controllers are designed to control them. Also, a synchronization control methodology for the master is developed. Stability is fully studied using the passivity property and Lyapunov theorem. Finally, simulation and practical results confirm that the control system works well against the conditions.

scholarly journals Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Energies ◽  
2020 ◽  
Vol 13 (22) ◽  
pp. 6041
Author(s):  
Fredy A. Valenzuela ◽  
Reymundo Ramírez ◽  
Fermín Martínez ◽  
Onofre A. Morfín ◽  
Carlos E. Castañeda
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Dc Motor ◽  
Experimental Results ◽  
Resistive Load ◽  
Velocity Control ◽  
Velocity Sensor ◽  
Control Scheme ◽  
Mechanical Sensors ◽  
Twisting Algorithm

A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

scholarly journals Electronic Differential and Neuro-Fuzzy Sliding Mode Control with Extended State Observer for an Electric Vehicle System

2018 ◽  
Vol 61 ◽  
pp. 00007
Author(s):  
Ibrahim Farouk Bouguenna ◽  
Ahmed Azaiz ◽  
Ahmed Tahour ◽  
Ahmed Larbaoui
Keyword(s):  
Sliding Mode Control ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Current Loop ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Neuro Fuzzy ◽  
Control Scheme ◽  
Fuzzy Sliding Mode ◽  
Hybrid Control Scheme

In this paper a neuro-fuzzy-sliding mode control (NFSMC) with extended state observer (ESO) technique; is designed to guarantee the traction of an electric vehicle with two distinct permanent magnet synchronous motor (PMSM). Each PMSM systems (source-convertermotor) are attached to an electronic differential (ED), in order to adjust the senses of direction of the vehicle, and sustain a stable speed by adapting the difference in velocity of each motor-wheel according to the direction in the case of a turn. Two types of controllers are employed by a hybrid control scheme to assure the control and the performance of the vehicle. This hybrid control scheme guarantees the stability of the vehicle by ED, reduces the chattering phenomena in the PMSM electric motor, and improves the disturbance rejection ability which employs tow types of controllers. The neuro-fuzzy sliding mode control on the direct current loop and ESO controller on the speed loop, and the quadratic current loop; taking into account the dynamic of the vehicle. Simulation runs under Matlab/Simulink to assess the efficiency, and strength of the recommended control method on the closed loop system.

Fast Terminal Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2013 ◽  
Vol 427-429 ◽  
pp. 1179-1182
Author(s):  
Sheng Bin Hu ◽  
Jin Yuan Xu ◽  
Xuan Wu ◽  
Chi Zhang ◽  
Yi Hao He
Keyword(s):  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

A fast terminal fuzzy sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a fast terminal sliding mode controller is designed. To diminish the chattering in the control input, a fuzzy controller is designed to adjust the generalized gain of fast terminal fuzzy sliding mode controller according to fast terminal sliding mode surface. The stability of the control algorithm is verified by using Lyapunov theory. Simulation results show that the proposed control scheme is effective.

Adaptive Decentralized Vibration Control of a Cable-Stayed Bridge in the Presence of Seismic Excitation

1999 ◽  
Author(s):  
Ningsu Luo ◽  
Jose Rodellar ◽  
Manuel De la Sen ◽  
Josep Vehi
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
A Priori ◽  
Seismic Excitation ◽  
Upper And Lower Bounds ◽  
Nonlinear Mathematical Model ◽  
Scaled Model ◽  
Cable Stayed Bridge ◽  
Sliding Motion ◽  
Control Scheme

Abstract In this paper, an adaptive decentralized controller is presented to attenuate the transversal vibration of a flexible cable-stayed bridge induced by seismic excitation, in which only local sensor information has been used to generate the control signal that is sent to the actuator. The dynamic behavior of the beam structure is characterized by a nonlinear mathematical model with interconnection terms, which was obtained by using technique of finite element. The controller design is made based on the principle of sliding mode such that a priori knowledge on the exact value of system parameters, structural disturbances and the seismic excitation is not required. In particular, it is assumed that the upper and lower bounds for the seismic excitation are also unknown. The closed-loop robust stability has been achieved through the generation of a sliding motion in the system. Numerical simulation is done to illustrate the effectiveness of the proposed control scheme for a scaled model of the bridge subject to the Taft earthquake.

Genetic Optimization of Fuzzy Sliding Mode Controllers: An Experimental Study

2003 ◽  
pp. 193-205 ◽  
Author(s):  
Mariagrazia Dotoli ◽  
Paolo Lino ◽  
Bruno Maione ◽  
David Naso ◽  
Biagio Turchiano
Keyword(s):  
Experimental Study ◽  
Sliding Mode ◽  
Genetic Optimization ◽  
Sliding Mode Controllers ◽  
Fuzzy Sliding Mode

scholarly journals Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-23 ◽  
Author(s):  
Guoqiang Zhu ◽  
Sen Wang ◽  
Lingfang Sun ◽  
Weichun Ge ◽  
Xiuyu Zhang
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Process ◽  
Nonlinear Observer ◽  
Dynamic Surface ◽  
Mode Control ◽  
Control Scheme

In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.

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