scholarly journals Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Faten Baklouti ◽  
Sinda Aloui ◽  
Abdessattar Chaari
Keyword(s):  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Underactuated System ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Fuzzy Logic Systems ◽  
Control Laws ◽  
Adaptive Fuzzy ◽  
Hierarchical Sliding Mode

The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller. The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws. The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory. Two comparative studies are made in this paper. The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon. The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system. The tracking performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made.

Trajectory Tracking of Underactuated Surface Vessels Based on Hierarchical Sliding Mode

2014 ◽  
Author(s):  
Cheng Liu ◽  
Zaojian Zou ◽  
Jianchuan Yin
Keyword(s):  
Trajectory Tracking ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Sliding Mode ◽  
Underactuated System ◽  
Sliding Mode Controller ◽  
Control Field ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Hierarchical Sliding Mode

Trajectory tracking is an importance practice in ship motion control field. It attracts more attention recently due to its difficulties. Trajectory tracking requires the ship to arrive pinpoint location at exact time. It is a underactuated system because the degrees of freedom of control inputs are fewer than the degrees of freedom that needed to be controlled. In this paper, a hierarchical sliding mode controller and a common sliding mode controller are proposed to deal with the trajectory tracking problem of underactuated surface vessels. Simulation results validate the tracking performance of the proposed controllers. The closed-loop stability is testified by the Lyapunov stability theorem.

scholarly journals A neural network combined with sliding mode controller for the two-wheel self-balancing robot

2021 ◽  
Vol 10 (3) ◽  
pp. 592
Author(s):  
Duc-Minh Nguyen ◽  
Van-Tiem Nguyen ◽  
Trong-Thang Nguyen
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Laws ◽  
Noise Compensation ◽  
Simulation Results ◽  
Balancing Robot ◽  
The Stability

This article presents the sliding control method combined with the selfadjusting neural network to compensate for noise to improve the control system's quality for the two-wheel self-balancing robot. Firstly, the dynamic equations of the two-wheel self-balancing robot built by Euler–Lagrange is the basis for offering control laws with a neural network of noise compensation. After disturbance-compensating, the sliding mode controller is applied to control quickly the two-wheel self-balancing robot reached the desired position. The stability of the proposed system is proved based on the Lyapunov theory. Finally, the simulation results will confirm the effectiveness and correctness of the control method suggested by the authors.

scholarly journals Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Van Dong Hai Nguyen ◽  
Xuan-Dung Huynh ◽  
Minh-Tam Nguyen ◽  
Ionel Cristian Vladu ◽  
Mircea Ivanescu
Keyword(s):  
Genetic Algorithm ◽  
Sliding Mode ◽  
Mimo System ◽  
Dynamic Equations ◽  
Robot Motion ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Lagrange Method ◽  
Hierarchical Sliding Mode ◽  
Simulation Results

Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Successful simulation results show the motion of athlete robot.

Adaptive Fuzzy Fractional-Order Sliding Mode Controller Design for Antilock Braking Systems

2016 ◽  
Vol 138 (4) ◽  
Author(s):  
Yinggan Tang ◽  
Ying Wang ◽  
Mingyu Han ◽  
Qiusheng Lian
Keyword(s):  
Fractional Order ◽  
Fuzzy Logic Controller ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Adaptive Fuzzy ◽  
Antilock Braking System ◽  
Antilock Braking

Antilock braking system (ABS) has been designed to attain maximum negative acceleration and prevent the wheels from locking. Many efforts had been paid to design controller for ABS to improve the brake performance, especially when road condition changes. In this paper, an adaptive fuzzy fractional-order sliding mode controller (AFFOSMC) design method is proposed for ABS. The proposed AFFOSMC combines the fractional-order sliding mode controller (FOSMC) and fuzzy logic controller (FLC). In FOSMC, the sliding surface is PDα, which is based on fractional calculus (FC) and is more robust than conventional sliding mode controllers. The FLC is designed to compensate the effects of parameters varying of ABS. The tuning law of the controller is derived based on Lyapunov theory, and the stability of the system can be guaranteed. Simulation results demonstrate the effectiveness of AFFOSMC for ABS under different road conditions.

A novel robust finite-time tracking control of uncertain robotic manipulators with disturbances

2020 ◽  
pp. 107754632098244
Author(s):  
Hamid Razmjooei ◽  
Mohammad Hossein Shafiei ◽  
Elahe Abdi ◽  
Chenguang Yang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
State Variables ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Finite Time Boundedness

In this article, an innovative technique to design a robust finite-time state feedback controller for a class of uncertain robotic manipulators is proposed. This controller aims to converge the state variables of the system to a small bound around the origin in a finite time. The main innovation of this article is transforming the model of an uncertain robotic manipulator into a new time-varying form to achieve the finite-time boundedness criteria using asymptotic stability methods. First, based on prior knowledge about the upper bound of uncertainties and disturbances, an innovative finite-time sliding mode controller is designed. Then, the innovative finite-time sliding mode controller is developed for finite-time tracking of time-varying reference signals by the outputs of the system. Finally, the efficiency of the proposed control laws is illustrated for serial robotic manipulators with any number of links through numerical simulations, and it is compared with the nonsingular terminal sliding mode control method as one of the most powerful finite-time techniques.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

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