An active disturbances rejection controller based on fuzzy compensator

Purpose – Recently, the micro-positioning technology has become more important for achieving the requirement of precision machinery. The piezo-actuator plays a very important role in this application area. A model-free adaptive sliding controller with fuzzy compensation is proposed for a piezo-actuated micro-drilling process control in this paper. The paper aims to discuss these issues. Design/methodology/approach – Due to the system's nonlinear and time-varying characteristics, this control strategy employs the functional approximation technique to establish the unknown function for releasing the model-based requirement of the sliding mode control. In addition, a fuzzy scheme with online learning ability is augmented to compensate for the finite approximation error and facilitate the controller design. Findings – The Lyapunov direct method can be applied to find adaptive laws for updating coefficients in the approximating series and tuning parameter in the fuzzy compensator to guarantee the control system stability. With the addition adaptive fuzzy compensator, as less as five Fourier series functions can be used to approximate the nonlinear time-varying function for designing a sliding mode controller for micro-drilling process control. Originality/value – The important advantages of this approach are to achieve the sliding mode controller design without the system dynamic model requirement and release the trial-and-error work of selecting approximation function.

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Robust Adaptive Control of MEMS Triaxial Gyroscope Using Fuzzy Compensator

IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) ◽

10.1109/tsmcb.2012.2196039 ◽

2012 ◽

Vol 42 (6) ◽

pp. 1599-1607 ◽

Cited By ~ 109

Author(s):

Juntao Fei ◽

Jian Zhou

Keyword(s):

Adaptive Control ◽

Robust Adaptive Control ◽

Fuzzy Compensator ◽

Robust Adaptive

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Motion Planning and Coordinated Control of Underwater Vehicle-Manipulator Systems with Inertial Delay Control and Fuzzy Compensator

Applied Sciences ◽

10.3390/app10113944 ◽

2020 ◽

Vol 10 (11) ◽

pp. 3944

Author(s):

Han Han ◽

Yanhui Wei ◽

Xiufen Ye ◽

Wenzhi Liu

Keyword(s):

Motion Planning ◽

Trajectory Tracking ◽

Feedback Linearization ◽

Nonlinear Function ◽

Coordinated Control ◽

Underwater Vehicle ◽

Redundancy Resolution ◽

Tracking Errors ◽

Delay Control ◽

Fuzzy Compensator

This paper presents new motion planning and robust coordinated control schemes for trajectory tracking of the underwater vehicle-manipulator system (UVMS) subjected to model uncertainties, time-varying external disturbances, payload and sensory noises. A redundancy resolution technique with a new secondary task and nonlinear function is proposed to generate trajectories for the vehicle and manipulator. In this way, the vehicle attitude and manipulator position are aligned in such a way that the interactive forces are reduced. To resist sensory measurement noises, an extended Kalman filter (EKF) is utilized to estimate the UVMS states. Using these estimates, a tracking controller based on feedback Linearization with both the joint-space and task-space tracking errors is proposed. Moreover, the inertial delay control (IDC) is incorporated in the proposed control scheme to estimate the lumped uncertainties and disturbances. In addition, a fuzzy compensator based on these estimates via IDC is introduced for reducing the undesired effects of perturbations. Trajectory tracking tasks on a five-degrees-of-freedom (5-DOF) underwater vehicle equipped with a 3-DOF manipulator are numerically simulated. The comparative results demonstrate the performance of the proposed controller in terms of tracking errors, energy consumption and robustness against uncertainties and disturbances.

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