Fuzzy Sliding-Mode Control of a Variable Geometry Manipulator: Experimental Investigation

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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Precision Control of a Piezo-Actuate System Using Fuzzy Sliding-Mode Control with Feedforward Predictor-Based Compensation

Materials Science Forum ◽

10.4028/www.scientific.net/msf.594.401 ◽

2008 ◽

Vol 594 ◽

pp. 401-406 ◽

Cited By ~ 4

Author(s):

Jin Wei Liang ◽

Hung Yi Chen ◽

Shy Yaw Chiang

Keyword(s):

Sliding Mode Control ◽

Piezoelectric Actuator ◽

Sliding Mode ◽

Tracking Error ◽

Tracking Accuracy ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Control Schemes ◽

Fuzzy Sliding Mode ◽

Hysteretic Characteristics

The fuzzy sliding-mode control strategy is used to tackle tracking problem of a piezo-actuated stage in this paper. The piezo-actuated system is composed of the piezoelectric actuator and a positioning mechanism. Due to hysteretic nonlinearity of the piezoelectric actuator, the tracking accuracy of the system is limited. To compensate for this nonlinearity, a feedback fuzzy sliding-mode control augmented with a predictor-based feedforward compensator is proposed. The controller, denoted as the feedforward-feedback fuzzy sliding-mode controller (FF-FSMC), can be applied to eliminate tracking error caused by the hysteretic characteristics. Experimental results on different types of reference inputs indicate that the proposed control schemes may suppress the tracking error of the piezo-actuated system effectively.

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Fuzzy Sliding Mode Control for Photovoltaic System

International Journal of Power Electronics and Drive Systems (IJPEDS) ◽

10.11591/ijpeds.v7.i3.pp964-973 ◽

2016 ◽

Vol 7 (3) ◽

pp. 964

Author(s):

Mounir Derri ◽

Mostafa Bouzi ◽

Ismail Lagrat ◽

Youssef Baba

Keyword(s):

Fuzzy Logic ◽

Sliding Mode Control ◽

Sliding Mode ◽

Maximum Power ◽

Photovoltaic System ◽

Maximum Power Point ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Fuzzy Sliding Mode ◽

Power Point

In this study, a fuzzy sliding mode control (FSMC) based maximum power point tracking strategy has been applied for photovoltaic (PV) system. The key idea of the proposed technique is to combine the performances of the fuzzy logic and the sliding mode control in order to improve the generated power for a given set of climatic conditions. Different from traditional sliding mode control, the developed FSMC integrates two parts. The first part uses a fuzzy logic controller with two inputs and 25 rules as an equivalent controller while the second part is designed for an online adjusting of the switching controller’s gain using a fuzzy tuner with one input and one output. Simulation results showed the effectiveness of the proposed approach achieving maximum power point. The fuzzy sliding mode (FSM) controller takes less time to track the maximum power point, reduced the oscillation around the operating point and also removed the chattering phenomena that could lead to decrease the efficiency of the photovoltaic system.

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Robust fuzzy sliding mode control for tracking the robot manipulator in joint space and in presence of uncertainties

Robotica ◽

10.1017/s0263574713000702 ◽

2013 ◽

Vol 32 (3) ◽

pp. 433-446 ◽

Cited By ~ 42

Author(s):

Mohammad Reza Soltanpour ◽

Mohammad Hassan Khooban ◽

Mahmoodreza Soltani

Keyword(s):

Sliding Mode Control ◽

Feedback Linearization ◽

Sliding Mode ◽

Robot Manipulator ◽

Rule Base ◽

Sliding Mode Controller ◽

Fuzzy Sliding Mode Control ◽

Ts Fuzzy Model ◽

Mode Control ◽

Fuzzy Sliding Mode

SUMMARYThis paper proposes a simple fuzzy sliding mode control to achieve the best trajectory tracking for the robot manipulator. In the core of the proposed method, by applying the feedback linearization technique, the known dynamics of the robot's manipulator is removed; then, in order to overcome the remaining uncertainties, a classic sliding mode control is designed. Afterward, by applying the TS fuzzy model, the classic sliding mode controller is converted to fuzzy sliding mode controller with very simple rule base. The mathematical analysis shows that the robot manipulator with the new proposed control in tracking the robot manipulator in presence of uncertainties has the globally asymptotic stability. Finally, to show the performance of the proposed method, the controller is simulated on a robot manipulator with two degrees of freedom as case study of the research. Simulation results demonstrate the superiority of the proposed control scheme in presence of the structured and unstructured uncertainties.

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Fuzzy Sliding Mode Control of Plate Vibrations

Shock and Vibration ◽

10.1155/2010/952928 ◽

2010 ◽

Vol 17 (1) ◽

pp. 71-92 ◽

Cited By ~ 4

Author(s):

Manu Sharma ◽

S.P. Singh

Keyword(s):

Fuzzy Logic ◽

Sliding Mode Control ◽

Real Time ◽

Sliding Mode ◽

Test Plate ◽

Fuzzy Sliding Mode Control ◽

Control Approach ◽

Mode Control ◽

Experimental Implementation ◽

Fuzzy Sliding Mode

In this paper, fuzzy logic is meshed with sliding mode control, in order to control vibrations of a cantilevered plate. Test plate is instrumented with a piezoelectric sensor patch and a piezoelectric actuator patch. Finite element method is used to obtain mathematical model of the test plate. A design approach of a sliding mode controller for linear systems with mismatched time-varying uncertainties is used in this paper. It is found that chattering around the sliding surface in the sliding mode control can be checked by the proposed fuzzy sliding mode control approach. With presented fuzzy sliding mode approach the actuator voltage time response has a smooth decay. This is important because an abrupt decay can excite higher modes in the structure. Fuzzy rule base consisting of nine rules, is generated from the sliding mode inequality. Experimental implementation of the control approach verify the theoretical findings. For experimental implementation, size of the problem is reduced using modal truncation technique. Modal displacements as well as velocities of first two modes are observed using real-time kalman observer. Real time implementation of fuzzy logic based control has always been a challenge because a given set of rules has to be executed in every sampling interval. Results in this paper establish feasibility of experimental implementation of presented fuzzy logic based controller for active vibration control.

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