Sliding Mode Controller Design Using Fuzzy Sliding Surface for Flexible Joint Manipulator

2021 ◽  
pp. 1-8
Author(s):  
Ayça Ak
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Flexible Joint ◽  
Flexible Joint Manipulator

scholarly journals Sliding Mode Controller Design with Optimized PID Sliding Surface Using Particle Swarm Algorithm

2017 ◽  
Vol 105 ◽  
pp. 235-239 ◽  
Author(s):  
Chong Chee Soon ◽  
Rozaimi Ghazali ◽  
Hazriq Izzuan Jaafar ◽  
Sharifah Yuslinda Syed Hussien
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Particle Swarm ◽  
Particle Swarm Algorithm ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Swarm Algorithm ◽  
Pid Sliding Surface

State and Extended Disturbance Observer for Sliding Mode Control of Mismatched Uncertain Systems

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
Divyesh Ginoya ◽  
P. D. Shendge ◽  
S. B. Phadke
Keyword(s):  
Disturbance Observer ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Hydraulic Actuator ◽  
Ultimate Boundedness ◽  
Flexible Joint ◽  
System States ◽  
Flexible Joint Manipulator ◽  
Derivatives Of

In this paper, a state and extended disturbance observer (DO) is designed for mismatched uncertain systems. Apart from system states and disturbances, the proposed observer estimates the derivatives of the disturbances and thereby improves the accuracy of estimation of disturbances as well as the states. No knowledge of bounds of disturbances or their derivatives is assumed. An observer–controller combination for a sliding mode controller that requires the estimates of the derivatives of disturbances is described, and the ultimate boundedness of the overall system is proved. The proposed observer is illustrated by simulation of a numerical example and a rotary hydraulic actuator. The proposed observer–controller combination is validated on a serial flexible joint manipulator in laboratory.

A new sliding-mode controller design methodology with derivative switching function for anti-lock brake system

2013 ◽  
Vol 227 (11) ◽  
pp. 2487-2503 ◽  
Author(s):  
Ahmet Okyay ◽  
Ender Cigeroglu ◽  
S Çağlar Başlamışlı
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Brake System ◽  
Design Parameters ◽  
Switching Function ◽  
System Control ◽  
Sliding Mode Controller ◽  
Optimized Design ◽  
Sliding Surface ◽  
Integral Sliding Surface

In this study, anti-lock brake system control using sliding-mode controller is investigated. Different alternatives for the switching function and the sliding surface, involved in the structure of the sliding-mode controller, are explored. It was aimed to reach a better controller performance with less chattering and robustness to actuator imperfections. Regarding applicability, tire force response was modeled as a uniformly distributed uncertain parameter during controller designs. Controllers are simulated for both constant and varying coefficient of friction roads, with optimized design parameters. The effects of actuator first-order dynamics and transportation delay, which come up in practical implementations, were considered. The sliding-mode control structure which employs derivative switching function with integral sliding surface is originally proposed in this study. It is found to produce less chattering and provide more robustness, which could not be achieved side by side using former designs.

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