Micro-drilling process control by using adaptive sliding controller

2014 ◽  
Vol 31 (2) ◽  
pp. 201-215
Author(s):  
Hung-Yi Chen
Keyword(s):  
Process Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Learning Ability ◽  
Sliding Mode Controller ◽  
Drilling Process ◽  
Time Varying ◽  
Content Type ◽  
Micro Drilling ◽  
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.

Piezo-Actuated Micro-Drilling Process Control by Using an Adaptive Sliding Controller with Fuzzy Compensation

2013 ◽  
Vol 284-287 ◽  
pp. 1899-1903
Author(s):  
Hung Yi Chen
Keyword(s):  
Process Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Direct Method ◽  
Approximation Error ◽  
Learning Ability ◽  
System Stability ◽  
Tuning Parameter ◽  
Drilling Process ◽  
Micro Drilling

A model-free adaptive sliding controller with fuzzy compensation is proposed for a piezo-actuated micro-drilling process control in this paper. 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. 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. The Lyapunov direct method is 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.

A novel robust finite-time tracking control of uncertain robotic manipulators with disturbances

2020 ◽  
pp. 107754632098244
Author(s):  
Hamid Razmjooei ◽  
Mohammad Hossein Shafiei ◽  
Elahe Abdi ◽  
Chenguang Yang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
State Variables ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Finite Time Boundedness

In this article, an innovative technique to design a robust finite-time state feedback controller for a class of uncertain robotic manipulators is proposed. This controller aims to converge the state variables of the system to a small bound around the origin in a finite time. The main innovation of this article is transforming the model of an uncertain robotic manipulator into a new time-varying form to achieve the finite-time boundedness criteria using asymptotic stability methods. First, based on prior knowledge about the upper bound of uncertainties and disturbances, an innovative finite-time sliding mode controller is designed. Then, the innovative finite-time sliding mode controller is developed for finite-time tracking of time-varying reference signals by the outputs of the system. Finally, the efficiency of the proposed control laws is illustrated for serial robotic manipulators with any number of links through numerical simulations, and it is compared with the nonsingular terminal sliding mode control method as one of the most powerful finite-time techniques.

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