scholarly journals Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Hafedh Abid
Keyword(s):  
Mobile Robot ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Control Laws ◽  
Lyapunov Approach ◽  
Kinematic Behavior ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
The Stability ◽  
Takagi Sugeno

This paper focuses on the nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior, while the second relates to the dynamic behavior of the mobile robot. For the kinematic controller, we have used a Takagi–Sugeno fuzzy system to overcome the nonlinearities present in model, whereas for the second controller, we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of the system has been proved based on the Lyapunov approach. The simulation results show the efficiency of the proposed control laws.

scholarly journals Controllers Design based on Takagi-Sugeno Fuzzy Systems and Sliding Mode for a Non-Holonomic Mobile robot

2021 ◽  
Author(s):  
hafedh Abid
Keyword(s):  
Mobile Robot ◽  
Fuzzy Systems ◽  
Sliding Mode ◽  
Control Laws ◽  
Kinematic Behavior ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
The Stability ◽  
Takagi Sugeno ◽  
Holonomic Mobile Robot

Abstract This paper is interesting to a nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior while the second relates to the dynamic behavior of the mobile robot. For the Kinematic controller, we have used a Takagi-Sugeno fuzzy system to overcome the nonlinearities present in model whereas for the second controller we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of system has been proved based on Lyapunov approach. The simulation results show the efficiency of the proposed control laws.

scholarly journals Actuator Saturated Fuzzy Controller Design for Interval Type-2 Takagi-Sugeno Fuzzy Models with Multiplicative Noises

Processes ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 823
Author(s):  
Wen-Jer Chang ◽  
Yu-Wei Lin ◽  
Yann-Horng Lin ◽  
Chin-Lin Pen ◽  
Ming-Hsuan Tsai
Keyword(s):  
Nonlinear Systems ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Actuator Saturation ◽  
Design Method ◽  
Fuzzy Model ◽  
The Stability ◽  
Interval Type ◽  
Takagi Sugeno

In many practical systems, stochastic behaviors usually occur and need to be considered in the controller design. To ensure the system performance under the effect of stochastic behaviors, the controller may become bigger even beyond the capacity of practical applications. Therefore, the actuator saturation problem also must be considered in the controller design. The type-2 Takagi-Sugeno (T-S) fuzzy model can describe the parameter uncertainties more completely than the type-1 T-S fuzzy model for a class of nonlinear systems. A fuzzy controller design method is proposed in this paper based on the Interval Type-2 (IT2) T-S fuzzy model for stochastic nonlinear systems subject to actuator saturation. The stability analysis and some corresponding sufficient conditions for the IT2 T-S fuzzy model are developed using Lyapunov theory. Via transferring the stability and control problem into Linear Matrix Inequality (LMI) problem, the proposed fuzzy control problem can be solved by the convex optimization algorithm. Finally, a nonlinear ship steering system is considered in the simulations to verify the feasibility and efficiency of the proposed fuzzy controller design method.

Lyapunov approach based design of a gain adaptive interval type-2 fuzzy controller for servo systems

2020 ◽  
pp. 1-19
Author(s):  
Ritu Rani De (Maity) ◽  
Rajani K. Mudi ◽  
Chanchal Dey
Keyword(s):  
Fuzzy Logic ◽  
Stability Analysis ◽  
Fuzzy Controller ◽  
Rule Base ◽  
Performance Study ◽  
Servo Systems ◽  
Lyapunov Approach ◽  
The Stability ◽  
Interval Type

This paper focuses on the development of a stable Mamdani type-2 fuzzy logic based controller for automatic control of servo systems. The stability analysis of the fuzzy controller has been done by employing the concept of Lyapunov. The Lyapunov approach results in the derivation of an original stability analysis that can be used for designing the rule base of our proposed online gain adaptive Interval Type-2 Fuzzy Proportional Derivative controller (IT2-GFPD) for servo systems with assured stability. In this approach a Quadratic positive definite Lyapunov function is used and sufficient stability conditions are satisfied by the adaptive type-2 fuzzy logic control system. Illustrative simulation studies with linear and nonlinear models as well as experimental results on a real-time servo system validate the stability and robustness of the developed intelligent IT2-GFPD. A comparative performance study of IT2-GFPD with other controllers in presence of noise and disturbance also proves the superiority of the proposed controller.

Selected Papers from HNICEM 2007

2008 ◽  
Vol 12 (4) ◽  
pp. 327-327
Author(s):  
Elmer P. Dadios ◽  
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Real Time ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Optimal Path ◽  
Image Processing Technique ◽  
Special Issue ◽  
International Conference ◽  
The Third

The Third International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management (HNICEM) was held in Century Park Hotel, Manila, Philippines from March 15 to 18, 2007. The theme on this conference was Technology Creativity and Innovations for Economic Development. As has been done from the previous HNICEM conferences, cutting edge papers presented from this conference are reviewed and selected for JACIII special issue publication. In this special issue, 10 articles are selected that will provide valuable references for researchers and practitioners. The first article presents an integrated algorithm that provides a mobile robot the ability to plan an optimal path and does online collision avoidance in a totally unknown environment. The second article presents a fuzzy controller technique in navigation with obstacle avoidance for a general purpose mobile robot in a given global environment with image processing technique using Open Source Computer Vision. The third article presents a model-based controller for helicopter using the sliding mode approach. The controller assumes that only measured outputs are available and it uses sliding mode observer to estimate the state of the system. The fourth article presents a real-time fuzzy logic based parallel parking system in an FPGA platform. The fifth article presents performance analysis of container unloading operations using simplified analytical model (SAM). The sixth article presents a neuro-fuzzy approach with additional moving average window data filter and fuzzy clustering algorithm use to forecast electrical load. The seventh article presents a new design and implementation of a multi-output fuzzy controller for real time control which utilizes lesser memory and executes faster than an existing type of multiple single-output fuzzy logic controllers. The eight article presents a new method based on multi-objective evolutionary algorithms to evolve low complexity neural controllers that allows an agent to perform two different tasks simultaneously. The ninth and tenth articles present genetic networks programming for stock market trading rules and for traffic systems applications, respectively. We extend our warmest thanks and deepest gratitude to the distinguished authors and reviewers who have contributed to this special issue for their outstanding contributions and cooperation. We are also grateful to Prof. Toshio Fukuda and Prof. Kaoru Hirota, chief editors of JACIII, for their continued support to all the HINICEM International Conferences. Come March 12 to 15, 2009, the 4th HNICEM International Conference will be held in Manila, Philippines. We thank the IEEE Philippines for its continuing sponsorship. Also to JACIII journal, as outstanding papers presented in this conference will be selected for publication in a special issue. We invite you to submit your research papers and to participate in HNICEM 2009. For further information, please visit “http://www.dlsu.edu.ph/conferences/hnicem/”.

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.

Sliding Mode Control Laws Design by the ADAR Method with Subsequent Invariant Manifolds Aggregation

2019 ◽  
Vol 20 (8) ◽  
pp. 451-460 ◽  
Author(s):  
A. A. Kolesnikov ◽  
A. A. Kuz’menko
Keyword(s):  
Robust Control ◽  
Invariant Manifolds ◽  
Closed Loop ◽  
Sliding Mode ◽  
Design Procedure ◽  
Sliding Surface ◽  
Closed Loop System ◽  
External Disturbances ◽  
Control Laws ◽  
The Stability

Sliding mode control (SMC) laws are commonly used in engineering to make a system robust to parameters change, external disturbances and control object unmodeled dynamics. State-of-the-art capabilities of the theory of adaptive and robust control, the theory of fuzzy systems, artificial neural networks, etc., which are combined with SMC, couldn’t resolve current issues of SMC design: vector design and stability analysis of a closed-loop system with SMC are involved with considerable complexity. Generally the classical problem of SMC design consists in solving subtasks for transit an object from an arbitrary initial position onto the sliding surface while providing conditions for existence of a sliding mode at any point of the sliding surface as well as ensuring stable movement to the desired state. As a general rule these subtasks are solved separately. This article presents a methodology for SMC design based on successive aggregation of invariant manifolds by the procedure of method of Analytical Design of Aggregated Regulators (ADAR) from the synergetic control theory. The methodology allows design of robust control laws and simultaneous solution of classical subtasks of SMC design for nonlinear objects. It also simplifies the procedure for closed-loop system stability analyze: the stability conditions are made up of stability criterions for ADAR method functional equations and the stability criterions for the final decomposed system which dimension is substantially less than dimension of the initial system. Despite our paper presents only the scalar SMC design procedure in details, the ideas are also valid for vector design procedure: the main difference is in the number of invariant manifolds introduced at the first and following stages of the design procedure. The methodology is illustrated with design procedure examples for nonlinear engineering systems demonstrating the achievement of control goals: hitting to target invariants, insensitivity to emerging parametric and external disturbances.

Robust Control of Permanent Magnet Synchronous Motor: Synergetic Approach

2020 ◽  
Vol 21 (8) ◽  
pp. 480-488
Author(s):  
A. A. Kuz’menko
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Sliding Mode ◽  
System Stability ◽  
Stability Conditions ◽  
Rotor Speed ◽  
Control Laws ◽  
Mode Control ◽  
The Stability

Permanent magnet synchronous motors (PMSM) are widely used in practice due to its high-energy efficiency, compactness, reliability and high regulation performance. When controlling a PMSM rotor speed, the main control principle is the principle of cascade control with PI-regulators, which includes an external control loop for speed and two internal loops for stator currents along the (d, q)-axes. There are attempts to eliminate the disadvantages of this principle using for the control laws synthesis of modern methods of nonlinear control such methods as linearization feedback, backstepping, predictive control, sliding mode control, methods of robust and adaptive control, fuzzy and neural network control, a combination of these methods etc. However, in most cases, the use of these methods are intended to by means of an appropriate method to synthesize a static or dynamic set points for the standard PI-controllers of rotor speed and currents. In this paper we propose to consider two approaches of synergetic control theory (SCT) to construct a robust control law of PMSM: a sliding mode control laws design by the SCT method with subsequent invariant manifolds aggregation and the principle of integral adaptation (PIA). These approaches implement vector control and are not guided by the standard structure of the principle of cascade regulation of PMSM. The proposed approaches simplify the stability analysis of the closed-loop system: stability conditions consist of stability conditions of functional equations of SCT and the stability conditions for finish decomposed system, which the dimension is substantially less than the dimension of the original system. From the results of the comparisons of synthesized the PMSM robust control laws, we can say that more preferable laws synthesized in accordance with the PIA. The theoretical positions of this paper are illustrated by the results of modeling, which are showing the fulfillment of the control tasks: the achievement of targets, robustness to the change of the PMSM load moment.

scholarly journals Region-Searching of Multiple Autonomous Underwater Vehicles: A Distributed Cooperative Path-Maneuvering Control Approach

2021 ◽  
Vol 9 (4) ◽  
pp. 355
Author(s):  
Tao Chen ◽  
Xingru Qu ◽  
Zhao Zhang ◽  
Xiao Liang
Keyword(s):  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Simulation Studies ◽  
Control Laws ◽  
Lyapunov Approach ◽  
Coverage Path Planning ◽  
Control Approach ◽  
Adaptive Technique ◽  
Globally Asymptotical Stability

In this article, a distributed cooperative path-maneuvering control approach is developed for the region-searching of multiple autonomous underwater vehicles under both dynamic uncertainties and ocean currents. Salient contributions are as follows: (1) by virtue of boustrophedon motions and trigonometric functions, the coverage path-planning design is first proposed to generate multiple parameterized paths, which can guarantee that the region-searching is successfully completed by one trial; (2) combining with sliding mode and adaptive technique, distributed maneuvering control laws for surge and yaw motions are employed to drive vehicles to track the assigned paths, thereby contributing to the cooperative maneuvering performance with high accuracy; (3) by the aid of graph theory, the distributed signal observer-based consensus protocols are developed for path parameter synchronization, and successfully apply to maintain the desired formation configuration. The globally asymptotical stability of the closed-loop signals is analyzed via the direct Lyapunov approach, and simulation studies on WL-II are conducted to illustrate the remarkable performance of the proposed path-maneuvering control approach.

Observer-Based Robust Control With Adaptive Perturbation Estimation for a Piezoelectric Actuator

2010 ◽  
Author(s):  
Hamed Ghafarirad ◽  
Seyed Mehdi Rezaei ◽  
Amir Abdullah ◽  
Mohammad Zareinejad ◽  
Mozafar Saadat
Keyword(s):  
Dynamic Model ◽  
Estimation Error ◽  
Variable Structure ◽  
High Gain ◽  
Multiple Frequency ◽  
Full State ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
The Stability ◽  
Perturbation Estimation

Control of piezoelectric actuators is under the effects of hysteresis that could affect actuators micropositioning accuracy. In this paper a modified Prandtl-Ishlinskii (PI) operator and its inverse is utilized for both identification and real time compensation of the hysteresis effect. As a result, the actuator dynamic model would be transformed to the second order linear dynamic model. Considering the parametric uncertainties, PI estimation error and probably unmodeled dynamics, a variable structure controller coupled with adaptive perturbation estimation is proposed for trajectory tracking of the piezoelectric position. Requiring the velocity state of the actuator, a high-gain observer would estimate the full state from the only measurable position trajectory. The stability of the controller in the presence of the estimated state is demonstrated with the Lyapunov criterion. Comparing to the widely used proportional-integral controller, the experimental results depicts that the proposed approach is achieved in precisely tracking of multiple frequency trajectories.

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