scholarly journals MIMO Fuzzy Sliding Mode Control for Three-Axis Inertially Stabilized Platform

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1658 ◽  
Author(s):  
Zhanmin Zhou ◽  
Bao Zhang ◽  
Dapeng Mao
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Stability And Convergence ◽  
Tracking Accuracy ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

In this paper, a MIMO (Multi-Input Multi-Output) fuzzy sliding mode control method is proposed for a three-axis inertially stabilized platform. This method is based on the MIMO coupling model of the three-axis inertially stabilized platform in which the dynamic coupling among the three frames, namely the azimuth frame, the pitch frame and the roll frame, is fully considered. Firstly, the dynamic equation of the three-axis inertially stabilized platform is analyzed and its linearized model is obtained. After this, the controller is designed based on the model, during which fuzzy logic is introduced to deal with the frame coupling and the adaptive fuzzy coupling compensation factor is designed to be part of the algorithm. A complete proof of the stability and convergence is also provided in this paper. Finally, the performance of the platform with a MIMO fuzzy sliding mode controller and PI controller is analyzed. The simulation results show that the proposed scheme can guarantee tracking accuracy and effectively suppress the coupling interference between the three frames.

scholarly journals Vibration Reduction of the Nonlinearly Tufted Carpet Yarn by a Modified Sliding Mode Control Method

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Shuang Huang ◽  
Xin Wu ◽  
Peixing Li
Keyword(s):  
Sliding Mode Control ◽  
High Frequency ◽  
Control Algorithm ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Control Force ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode

The yarn vibration causes the yarn tension value to fluctuate, causing a change in the amount of yarn feed, thus causing a deviation of the carpet pile height from the predetermined value. To solve this problem, the sliding mode control algorithm is used to design the sliding mode function and the sliding mode control law. And four variables in the yarn vibration system are controlled by the MATLAB software. For solving the chattering problem of the control law, the sliding mode control law is improved. The fuzzy sliding mode control algorithm based on the quasisliding mode is adopted. The results show that the sliding mode control algorithm is effective, but the sliding mode control force needs to be switched at high frequency and there is severe chattering. The fuzzy sliding mode control algorithm based on quasisliding mode is adopted to achieve better control effect with a smaller force. In addition, the control force does not have high-frequency switching, and the change is relatively stable, which reduces the chattering phenomenon of sliding mode control.

Precision Control of a Piezo-Actuate System Using Fuzzy Sliding-Mode Control with Feedforward Predictor-Based Compensation

2008 ◽  
Vol 594 ◽  
pp. 401-406 ◽  
Author(s):  
Jin Wei Liang ◽  
Hung Yi Chen ◽  
Shy Yaw Chiang
Keyword(s):  
Sliding Mode Control ◽  
Piezoelectric Actuator ◽  
Sliding Mode ◽  
Tracking Error ◽  
Tracking Accuracy ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Control Schemes ◽  
Fuzzy Sliding Mode ◽  
Hysteretic Characteristics

The fuzzy sliding-mode control strategy is used to tackle tracking problem of a piezo-actuated stage in this paper. The piezo-actuated system is composed of the piezoelectric actuator and a positioning mechanism. Due to hysteretic nonlinearity of the piezoelectric actuator, the tracking accuracy of the system is limited. To compensate for this nonlinearity, a feedback fuzzy sliding-mode control augmented with a predictor-based feedforward compensator is proposed. The controller, denoted as the feedforward-feedback fuzzy sliding-mode controller (FF-FSMC), can be applied to eliminate tracking error caused by the hysteretic characteristics. Experimental results on different types of reference inputs indicate that the proposed control schemes may suppress the tracking error of the piezo-actuated system effectively.

scholarly journals Fuzzy Sliding Mode Control Method for AUV Buoyancy Regulation System

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Wende Zhao ◽  
Decheng Wang ◽  
Zhenzhong Chu ◽  
Mingjun Zhang
Keyword(s):  
Sliding Mode Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Sliding Mode ◽  
Regulation System ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Control Scheme ◽  
Fuzzy Sliding Mode ◽  
Control Accuracy

This paper investigates the control problem of the buoyancy regulation system for autonomous underwater vehicle (AUV). There are some problems to be considered in the oil-water conversion-based buoyancy regulation system, including the external seawater pressure, the pressure fluctuations, and the slow switching speed of the ball valve. The control accuracy of the buoyancy regulation under the traditional PID controller cannot meet the requirements of the project. In this paper, a fuzzy sliding mode control scheme is developed for the buoyancy regulation system to solve the abovementioned problems. At first, a mathematical model of the buoyancy regulation system is established, and the stability of the system is analyzed. Then, the sliding mode control algorithm is combined with the fuzzy system to improve the control accuracy. Finally, the pool-experiment results on a prototype show that the developed control scheme can meet the requirements of the control accuracy for the buoyancy regulation system.

scholarly journals Applications of Fuzzy Sliding Mode Control for a Gyroscope System

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Shih-Chung Chen ◽  
Chao-Lin Kuo ◽  
Chia-Hung Lin ◽  
Chih-Hung Hsu ◽  
Chien-Kuo Tsui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
System Stability ◽  
Stability And Convergence ◽  
Response Analysis ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Gyroscope System ◽  
Highly Nonlinear ◽  
Fuzzy Sliding Mode

The study proposed the application of the fuzzy sliding mode for a gyroscope system status control. The state response analysis of the gyroscope system revealed highly nonlinear and chaotic subharmonic motions of2Tduring state formation. The current study discussed the use of tracking control on the sliding mode control and fuzzy sliding mode control of a gyroscope control system. Consequently, the gyroscope system drives from chaotic motion to periodic motion. The numerical simulation results confirm that the proposed controller provides good system stability and convergence without chattering phenomena.

Fast Terminal Fuzzy Sliding Mode Control for a Three-Links Spatial Robot

2012 ◽  
Vol 226-228 ◽  
pp. 840-843 ◽  
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Da Min Cao ◽  
Hai Rong Xu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode

To achieve high performance tracing control of the three-links spatial robot, a fast terminal fuzzy sliding mode control method is proposed in this paper. Firstly, the control method can efficiently solve the singularity of the controller through switching between terminal sliding mode surface and linear sliding mode surface. Secondly, 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. The proposed controller is then applied to the control of a three-links spatial robot. Simulation results show the validity of the proposed control scheme.

scholarly journals Adaptive Fractional Fuzzy Sliding Mode Control for Multivariable Nonlinear Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Junhai Luo ◽  
Heng Liu
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Control Method ◽  
Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Integer Order ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Multivariable Nonlinear Systems

This paper presents a robust adaptive fuzzy sliding mode control method for a class of uncertain nonlinear systems. The fractional order calculus is employed in the parameter updating stage. The underlying stability analysis as well as parameter update law design is carried out by Lyapunov based technique. In the simulation, two examples including a comparison with the traditional integer order counterpart are given to show the effectiveness of the proposed method. The main contribution of this paper consists in the control performance is better for the fractional order updating law than that of traditional integer order.

scholarly journals Sliding Mode Control with Adaptive Fuzzy Compensation for Uncertain Nonlinear System

2018 ◽  
Vol 2018 ◽  
pp. 1-6 ◽  
Author(s):  
Lina Wang ◽  
Haihui Zhang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Stability And Convergence ◽  
Closed Loop System ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Adaptive Weight ◽  
Fuzzy Sliding Mode ◽  
The Stability

Fuzzy sliding mode control as a robust and intelligent nonlinear control technique is proposed to control processes with severe nonlinearity and unknown models. This paper proposes a new adaptive tracking fuzzy sliding mode controller for nonlinear systems in the presence of fuzzy compensation. The main contribution of the proposed method is that the fuzzy system is used to realize the adaptive approximation of the unknown part of the model, and the fuzzy gain can be reduced effectively. The fuzzy self-adaptive rate is derived through the Lyapunov method, and the stability and convergence of the whole closed-loop system are guaranteed by adjusting the adaptive weight value. The performance of the proposed approach is evaluated for double joint rigid manipulator problems. The simulation results illustrate the effectiveness of our proposed controller.

scholarly journals New approach of sliding mode control for nonlinear uncertain pneumatic artificial muscle manipulator enhanced with adaptive fuzzy estimator

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877320 ◽  
Author(s):  
Ho Pham Huy Anh ◽  
Cao Van Kien ◽  
Nguyen Ngoc Son ◽  
Nguyen Thanh Nam
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

A new enhanced adaptive fuzzy sliding mode control approach is proposed in this article with its good availability for application in control of a highly uncertain nonlinear two-link pneumatic artificial muscle manipulator. Stability demonstration of the robust convergence of the closed-loop pneumatic artificial muscle manipulator system based on a novel enhanced adaptive fuzzy sliding mode control is experimentally proved using Lyapunov stability theorem. Obtained result confirms that the new enhanced adaptive fuzzy sliding mode control method, applied to the two-link uncertain nonlinear pneumatic artificial muscle manipulator system, is fully investigated with better robustness and precision than the standard sliding mode control and fuzzy sliding mode control techniques.

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