scholarly journals Direct Self-Repairing Control for Quadrotor Helicopter Attitude Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Huiliao Yang ◽  
Bin Jiang ◽  
Ke Zhang
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Stability Theory ◽  
Actuator Faults ◽  
Quadrotor Helicopter ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
The Stability ◽  
Lock In ◽  
Better Than

A quadrotor helicopter with uncertain actuator faults, such as loss of effectiveness and lock-in-place, is studied in this paper. An adaptive fuzzy sliding mode controller based on direct self-repairing control is designed for such nonlinear system to track the desired output signal, when any actuator of this quadrotor helicopter is loss of effectiveness or stuck at some place. Moreover, using the Lyapunov stability theory, the stability of the whole system and the convergence of the tracking error can be guaranteed. Finally, the availability of the proposed method is verified by simulation on 3-DOF hover to ensure that the system performance under faulty conditions can be quickly recovered to its normal level. And this proposed method is also proved to be better than that of LQR through simulation.

scholarly journals Fuzzy Sliding Mode Controller Design Using Takagi-Sugeno Modelled Nonlinear Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
S. Bououden ◽  
M. Chadli ◽  
H. R. Karimi
Keyword(s):  
Nonlinear Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Controller ◽  
Adaptive Fuzzy Sliding Mode ◽  
Approximation Errors ◽  
Adaptive Laws ◽  
Fuzzy Sliding Mode ◽  
Takagi Sugeno

Adaptive fuzzy sliding mode controller for a class of uncertain nonlinear systems is proposed in this paper. The unknown system dynamics and upper bounds of the minimum approximation errors are adaptively updated with stabilizing adaptive laws. The closed-loop system driven by the proposed controllers is shown to be stable with all the adaptation parameters being bounded. The performance and stability of the proposed control system are achieved analytically using the Lyapunov stability theory. Simulations show that the proposed controller performs well and exhibits good performance.

Adaptive Fuzzy Sliding-Mode Control Based on Generalized T-S Fuzzy Model

2012 ◽  
Vol 433-440 ◽  
pp. 7387-7393
Author(s):  
Bin Zhong ◽  
Xiao Qing Zhao
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Fuzzy Model ◽  
Boundary Region ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Reference Signals ◽  
Fuzzy Sliding Mode ◽  
Logic System

In order to obtain the controlled object’s better tracking performance within the reference signals’ boundary region, an adaptive fuzzy sliding-mode controller is designed aiming at the uncertain second-order nonlinear system. After taking account of the control sensitivity’s requirement for the membership function, the controller capitalizes on the generalized membership function’s adaptability of the generalized T-S fuzzy model without the supervisory control and boundary control that may compensate the system’s modeling error. So, the generalized T-S fuzzy logic system can better approximate to the controlled object and effectively decrease the tracking error within the reference signals’ boundary region. Using Lyapunove’s stability theory, it is proved that the control system is stable. Simulation results show that the design of the controller is reasonable and available.

scholarly journals An Adaptive Fuzzy Sliding Mode Control Design for a Class of Uncertain Horizontal Platform Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Wei Xiang ◽  
Xiejin Liu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
The Stability ◽  
Terminal Sliding Surface

This paper presents an adaptive fuzzy sliding mode control design for a class of uncertain horizontal platform systems (HPSs). Firstly, a nonsingular terminal sliding surface is proposed for HPSs. Then, a fuzzy logic system is introduced to estimate the system uncertainties. The adaptive fuzzy sliding mode controller can guarantee the stability of the closed-loop system. The corresponding numerical simulations are demonstrated to verify the effectiveness of the proposed method.

Backstepping-Based Adaptive Fuzzy Sliding Mode Control for Autopilot Design

2013 ◽  
Vol 365-366 ◽  
pp. 853-858
Author(s):  
Jin Wang ◽  
Min Zhang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Large Angle ◽  
Control Laws ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
The Stability

A backstepping approach, combined with adaptive fuzzy sliding mode control, is used to design a missile autopilot in this paper. The proposed scheme separated the plant into two subsystems, such that single controllers can be designed and therefore the stability of entire system is reached automatically. The single control laws are designed using sliding mode control based on the Lyapunov stability theorem, and the adaptive law is derived to adapt the value of the lumped uncertainty in real-time. Moreover, with the universal approximation ability, an adaptive fuzzy system is used to approximate strong coupling nonlinear dynamics of the missile during large angle-of-attack flight and provide robustness to parametric uncertainties in the missile aerodynamics.

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