Adaptive Fuzzy Backstepping Sliding Mode Control for Omni Mobile Robot Over Network Control System

2020 ◽  
pp. 243-255
Author(s):  
Minh Ngoc Pham ◽  
Vinh Quang Thai ◽  
Duyen Kim Thi Ha ◽  
Tien Manh Ngo ◽  
Cuong Manh Nguyen ◽  
...  
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Mobile Robot ◽  
Sliding Mode ◽  
Network Control ◽  
Network Control System ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Backstepping Sliding Mode Control

Design of adaptive fuzzy backstepping sliding mode control for MIMO uncertain discrete-time nonlinear systems based on noisy measurements

2016 ◽  
Vol 24 (2) ◽  
pp. 393-406 ◽  
Author(s):  
Toshio Yoshimura
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Weighted Least Squares ◽  
Tracking Error ◽  
Design Parameters ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Backstepping Sliding Mode Control

This paper presents an adaptive fuzzy backstepping sliding mode control for multi-input and multi-output uncertain nonlinear systems in semi-strict feedback form. The systems are described by a discrete-time state equation with uncertainties viewed as the modeling errors and the unknown external disturbances, and the observation of the states is taken with independent measurement noises. Combining the adaptive fuzzy backstepping control with the sliding mode control approach for the comprehensive improvement in the stability and the robustness, the adaptive fuzzy backstepping sliding mode control is approximately designed where the design parameters are selected using an appropriate Lyapunov function. The uncertainities are approximated as fuzzy logic systems using the fuzzy inference approach based on the extended single input rule modules to reduce the number of the fuzzy IF-THEN rules. The estimates for the un-measurable states and the adjustable parameters are taken by the proposed simplified weighted least squares estimator. It is proved that the trajectory of the tracking error and the sliding surface is uniformly ultimately bounded. The effectiveness of the proposed approach is indicated through the simulation experiment of a simple numerical system.

scholarly journals Design of Head-Pursuit Guidance Law Based on Backstepping Sliding Mode Control

2019 ◽  
Vol 2019 ◽  
pp. 1-18
Author(s):  
Chenqi Zhu ◽  
Zhengyu Guo
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Three Dimensional ◽  
System Model ◽  
Mode Control ◽  
Guidance Law ◽  
Plane System ◽  
Backstepping Sliding Mode Control ◽  
Second Order Systems

In order to meet the needs of high-precision guidance for intercepting hypersonic targets, a novel head-pursuit guidance law considering the dynamic characteristics of a missile control system and the target mobility is presented via combining a fast power reaching law with backstepping sliding mode control in this paper. Initially, a three-dimensional head-pursuit system model of the missile and target is established. Subsequently, the system model is decomposed into a pitch plane system and lateral plane system, the control system dynamics are equivalent to second-order systems, and finite-time disturbance observers are introduced to estimate the target accelerations. On the basis of the previous work, the head-pursuit guidance laws of the vertical system and the lateral system which can stabilize the closed-loop system are designed separately and strict proofs of the methods are given. Finally, simulations are carried out to verify the effectiveness of this head-pursuit guidance law.

scholarly journals MPPT for Photovoltaic System Using Adaptive Fuzzy Backstepping Sliding Mode Control

2021 ◽  
Vol 23 (5) ◽  
pp. 391-399
Author(s):  
Attoui Hadjira ◽  
Behih Khalissa ◽  
Bouchama Ziyad ◽  
Ziyad Nadjat
Keyword(s):  
Sliding Mode Control ◽  
Fuzzy Systems ◽  
Sliding Mode ◽  
Operating Conditions ◽  
Photovoltaic System ◽  
Control Law ◽  
Pv System ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Backstepping Sliding Mode Control

This paper presents an intelligent monitoring control strategy for a maximum power point tracking (MPPT) in photovoltaic (PV) system applications. The design of the proposed nonlinear adaptive control law (AFBSMC) is formulated based on adaptive fuzzy systems, backstepping approach and sliding mode technique to maximize the power output of a PV system under various sets of conditions and parameters variation. Unlike many conventional controllers, the main contribution of the present paper provides a soften control law which useful to handle parameters variations due to the different operating conditions occurring on the PV system and makes the controller easy to implement. This aim is achieved using fuzzy systems in an adaptive scheme to approximate the switching control function of the global control law while backstepping sliding mode control compensates uncertainties and external disturbances. The analytical stability proof of the closed-loop system is corroborated via Lyapunov synthesis while numerical simulations of different operating conditions of a PV system is conducted to validate the effectiveness of the proposed approach.

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