Vibration control of an active vehicle suspension systems using optimized model-free fuzzy logic controller based on time delay estimation

It is difficult to model and determine the parameters of the steer-by-wire (SBW) system accurately, and the perturbation is variable with complex and changeable tire–road conditions. In order to improve the control performance of the vehicle SBW system, an adaptive fast super-twisting sliding mode control (AFST-SMC) scheme with time-delay estimation (TDE) is proposed. The proposed scheme uses TDE to acquire the lumped dynamics in a simple way and establishes a practical model-free structure. Then, a fractional order (FO) sliding mode surface and a fast super-twisting sliding mode control structure were designed on the basic super-twisting sliding mode to ensure fast convergence and high control accuracy. Since the uncertain boundary information of the actual system is unknown, a novel adaptive algorithm is proposed to regulate the control gain based on the control errors. Theoretical analysis concerning system stability is given based on the Lyapunov theory. Finally, the effectiveness of the method is verified through comparative experiments. The results show that the proposed TDE-AFST-FOSMC control scheme has the advantages of model-free, fast response and high accuracy.

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A new control method based on fuzzy controller, time delay estimation, deep learning, and non-dominated sorting genetic algorithm-III for powertrain mount system

Journal of Vibration and Control ◽

10.1177/1077546319890188 ◽

2019 ◽

Vol 26 (13-14) ◽

pp. 1187-1198 ◽

Cited By ~ 1

Author(s):

Li-Xin Guo ◽

Dinh-Nam Dao

Keyword(s):

Genetic Algorithm ◽

Fuzzy Logic ◽

Deep Learning ◽

Fuzzy Logic Controller ◽

Control Method ◽

Time Delay Estimation ◽

Delay Estimation ◽

Proportional Integral Derivative ◽

Proportional Integral Derivative Controller ◽

Proportional Integral

This article presents a new control method based on fuzzy controller, time delay estimation, deep learning, and non-dominated sorting genetic algorithm-III for the nonlinear active mount systems. The proposed method, intelligent adapter fractions proportional–integral–derivative controller, is a smart combination of the time delay estimation control and intelligent fractions proportional–integral–derivative with adaptive control parameters following the speed range of engine rotation via the deep neural network with the optimal non-dominated sorting genetic algorithm-III deep learning algorithm. Besides, we proposed optimal fuzzy logic controller with optimal parameters via particle swarm optimization algorithm to control reciprocal compensation to eliminate errors for intelligent adapter fractions proportional–integral–derivative controller. The control objective is to deal with the classical conflict between minimizing engine vibration impacts on the chassis to increase the ride comfort and keeping the dynamic wheel load small to ensure the ride safety. The results of this control method are compared with that of traditional proportional–integral–derivative controller systems, optimal proportional–integral–derivative controller parameter adjustment using genetic algorithms, linear–quadratic regulator control algorithms, and passive drive system mounts. The results are tested in both time and frequency domains to verify the success of the proposed optimal fuzzy logic controller–intelligent adapter fractions proportional–integral–derivative control system. The results show that the proposed optimal fuzzy logic controller–intelligent adapter fractions proportional–integral–derivative control system of the active engine mount system gives very good results in comfort and softness when riding compared with other controllers.

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Model-free based neural network control with time-delay estimation for lower extremity exoskeleton

Neurocomputing ◽

10.1016/j.neucom.2017.06.055 ◽

2018 ◽

Vol 272 ◽

pp. 178-188 ◽

Cited By ~ 34

Author(s):

Xinyi Zhang ◽

Haoping Wang ◽

Yang Tian ◽

Laurent Peyrodie ◽

Xikun Wang

Keyword(s):

Neural Network ◽

Time Delay ◽

Lower Extremity ◽

Time Delay Estimation ◽

Network Control ◽

Delay Estimation ◽

Neural Network Control ◽

Model Free

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A light cable-driven manipulator developed for aerial robots: Structure design and control research

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420926425 ◽

2020 ◽

Vol 17 (3) ◽

pp. 172988142092642

Author(s):

Yaoyao Wang ◽

Rui Zhang ◽

Feng Ju ◽

Jinbo Zhao ◽

Bai Chen ◽

...

Keyword(s):

Time Delay ◽

Sliding Mode ◽

Time Delay Estimation ◽

Delay Estimation ◽

Sliding Mode Controller ◽

Moving Mass ◽

Terminal Sliding Mode ◽

Aerial Robots ◽

Model Free ◽

Nonsingular Terminal Sliding Mode

To effectively reduce the mass and simplify the structure of traditional aerial manipulators, we propose novel light cable-driven manipulator for the aerial robots in this article. The drive motors and corresponding reducers are removed from the joints to the base; meanwhile, force and motion are transmitted remotely through cables. Thanks to this design, the moving mass has been greatly reduced. In the meantime, the application of cable-driven technology also brings about extra difficulties for high-precise control of cable-driven manipulators. Hence, we design a nonsingular terminal sliding mode controller using time-delay estimation. The time-delay estimation is applied to obtain lumped system dynamics and found an attractive model-free scheme, while the nonsingular terminal sliding mode controller is utilized to enhance the control performance. Stability is analyzed based on Lyapunov theory. Finally, the designed light cable-driven manipulator and presented time-delay estimation-based nonsingular terminal sliding mode controller are analyzed. Corresponding results show that (1) our proposed cable-driven manipulator has high load to mass ratio of 0.8 if we only consider the moving mass and (2) our proposed time-delay estimation-based nonsingular terminal sliding mode is model-free and can provide higher accuracy than the widely used time-delay estimation-based proportional–derivative (PD) controller.

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Design and verification of a novel motion-decoupled cable-driven manipulator

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651819885205 ◽

2019 ◽

Vol 234 (6) ◽

pp. 690-700

Author(s):

Surong Jiang ◽

Yaoyao Wang ◽

Binbin Li ◽

Bai Chen ◽

Daren Hua

Keyword(s):

Time Delay ◽

Length Change ◽

Time Delay Estimation ◽

Delay Estimation ◽

Fuzzy Algorithm ◽

Practical Applications ◽

Joint Coupling ◽

Model Free ◽

Set Up ◽

Distal Joint

The joint coupling relationship was studied aiming at the motion coupling among multi cable-driven robot joints. A novel motion-decoupled mechanism is proposed and investigated. Two driving cables of distal joint traverse the modular in a specific routing. As a result, cables will wind and unwind at a certain angular along the groove in the following wheel. This design can effectively compensate the length change of cables during the rotating moving of proximal joint. Afterward, a 2–degree-of-freedom cable-driven manipulator platform using this motion-decoupled modular was set up. The verification experiment has shown a productive performance in realizing motion independence. Then, a new robust controller using time-delay estimation and fuzzy algorithm is proposed for the decoupled cable-driven manipulator. Thanks to time-delay estimation and fuzzy algorithm, the proposed controller is model-free, precise and easy to use under practical applications. Finally, contrast control experiments have been performed, and the result illustrates the superiority of the proposed control strategy.

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Development and evaluation of fuzzy logic controller for vehicle suspension systems

Proceedings of the Twenty-Seventh Southeastern Symposium on System Theory ◽

10.1109/ssst.1995.390566 ◽

2002 ◽

Cited By ~ 1

Author(s):

Dae Sung Joe ◽

N. Al-Holou

Keyword(s):

Fuzzy Logic ◽

Fuzzy Logic Controller ◽

Vehicle Suspension ◽

Suspension Systems

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Joint space tracking control of underwater vehicle-manipulator systems using continuous nonsingular fast terminal sliding mode

Proceedings of the Institution of Mechanical Engineers Part M Journal of Engineering for the Maritime Environment ◽

10.1177/1475090217742241 ◽

2017 ◽

Vol 232 (4) ◽

pp. 448-458 ◽

Cited By ~ 5

Author(s):

Yaoyao Wang ◽

Bai Chen ◽

Hongtao Wu

Keyword(s):

Time Delay ◽

Tracking Control ◽

Sliding Mode ◽

Underwater Vehicle ◽

Time Delay Estimation ◽

Delay Estimation ◽

Control Performance ◽

Terminal Sliding Mode ◽

Model Free ◽

Fast Terminal Sliding Mode

To ensure satisfactory control performance for the underwater vehicle-manipulator systems, a novel continuous nonsingular fast terminal sliding mode controller is proposed and investigated using time delay estimation in this article. Complex lumped unknown dynamics including the strong nonlinear couplings and external disturbance are properly compensated with time delay estimation, which are mainly based on the time-delayed signals of underwater vehicle-manipulator systems and can provide with a fascinating model-free feature. Afterwards, the satisfactory tracking control performance and good robustness under heavy lumped uncertainties are ensured using the continuous nonsingular fast terminal sliding mode term with a fast terminal sliding mode–type reaching law. Therefore, the proposed controller is easy to use thanks to time delay estimation, and can ensure good control performance owing to continuous nonsingular fast terminal sliding mode. Stability of the closed-loop control system is analyzed using Lyapunov stability theory, and theoretical tracking errors are calculated and presented. Finally, the effectiveness and advantages of the proposed controller are demonstrated through comparative 7-degree-of-freedom pool experiments.

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