Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

2009 ◽  
Vol 47 (3) ◽  
pp. 265-284 ◽  
Author(s):  
Alireza Alfi ◽  
Mohammad Farrokhi
2019 ◽  
Vol 15 (1) ◽  
pp. 112-116
Author(s):  
Normaisharah Mamat ◽  
Fitri Yakub ◽  
Sheikh Ahmad Zaki Sheikh Salim

Two degree of freedom (2 DOF) mass spring damper system is used in representing as building structure that dealing with the earthquake vibration. The real analytical input is used to the system that taken at El Centro earthquake that occurred in May 1940 with magnitude of 7.1 Mw. Two types of controller are presented in controlling the vibration which are fuzzy logic (FL) and sliding mode controller (SMC). The paper was aimed to improve the performance of building structure towards vibration based on proposed controllers. Fuzzy logic and sliding mode controller are widely known with robustness character. The mathematical model of two degree of freedom mass spring damper wasis derived to obtain the relationship between mass, spring, damper, force and actuator. Fuzzy logic and sliding mode controllers were implemented to 2 DOF system to suppress the earthquake vibration of two storeys building. Matlab/Simulink was used in designing the system and controllers to present the result of two storeys displacement time response and input control voltage for uncontrolled and controlled system. Then the data of earthquake disturbance was taken based on real seismic occurred at El Centro to make it as the force disturbance input to the building structure system. The controllers proposed would minimize the vibration that used in sample earthquake disturbance data. The simulation result was carried out by using Matlab/Simulink. The simulation result showed sliding mode controller was better controller than fuzzy logic. In specific, by using the controller, earthquake vibration can be reduced.


2012 ◽  
Vol 22 (3) ◽  
pp. 315-342 ◽  
Author(s):  
Samir Zeghlache ◽  
Djamel Saigaa ◽  
Kamel Kara ◽  
Abdelghani Harrag ◽  
Abderrahmen Bouguerra

Abstract In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.


2000 ◽  
Author(s):  
J. Choi ◽  
C. W. de Silva ◽  
V. J. Modi ◽  
A. K. Misra

Abstract This paper focuses a robust and knowledge-based control approach for multi-link robot manipulator systems. Based on the concepts of sliding-mode control and fuzzy logic control (FLC), a fuzzy sliding-mode controller has been developed in previous work. This controller possesses good robustness properties of sliding-mode control and the flexibility and ‘intelligent’ capabilities of knowledge-based control through the use of fuzzy logic. This paper presents experimental studies with fuzzy sliding-mode control as well as conventional sliding-mode control. The results show that the tracking error is guaranteed to converge to a specification in the presence of uncertainties. The performance of the fuzzy sliding-mode controller is found to be somewhat better than that of the conventional sliding-mode controller.


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