Position Control of a Pneumatic Servo System Using Sliding Mode Control and Fuzzy Control: A Comparison

2009 ◽  
Author(s):  
S. S. Dhami ◽  
S. S. Bhasin ◽  
P. B. Mahapatra
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Sliding Mode ◽  
Pneumatic Actuator ◽  
Sliding Mode Controller ◽  
Virtual Model ◽  
Mode Control ◽  
Actuation System

The performance comparison of fuzzy logic control and sliding mode control for position control of a pneumatic actuator for different operative conditions is presented in this article. A virtual model of a pneumatic actuation system is developed using comprehensive mathematical model of the system. A fuzzy logic controller and a sliding mode controller are developed for positioning the piston at different linear displacements for different loading conditions. The virtual model is employed for obtaining the transient and steady state positional response of the pneumatic actuator by implementing the two controllers one by one. The results show that fuzzy controller results in better piston positional response for combinations of lower payloads and smaller linear displacements, whereas sliding mode controller is more effective for combinations of higher payloads and larger displacements.

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

2000 ◽  
Author(s):  
J. Choi ◽  
C. W. de Silva ◽  
V. J. Modi ◽  
A. K. Misra
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Experimental Studies ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Knowledge Based ◽  
Fuzzy Sliding Mode

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.

scholarly journals A Novel Sliding Mode Control Framework for Electrohydrostatic Position Actuation System

2018 ◽  
Vol 2018 ◽  
pp. 1-22 ◽  
Author(s):  
Rongrong Yang ◽  
Yongling Fu ◽  
Ling Zhang ◽  
Haitao Qi ◽  
Xu Han ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Reduced Order Model ◽  
Design Solution ◽  
Order Model ◽  
Reduced Order ◽  
Mode Control ◽  
Actuation System ◽  
Mismatched Disturbances

A novel sliding mode control (SMC) design framework is devoted to providing a favorable SMC design solution for the position tracking control of electrohydrostatic actuation system (EHSAS). This framework is composed of three submodules as follows: a reduced-order model of EHSAS, a disturbance sliding mode observer (DSMO), and a new adaptive reaching law (NARL). First, a reduced-order model is obtained by analyzing the flow rate continuation equation of EHSAS to avoid the use of a state observer. Second, DSMO is proposed to estimate and compensate mismatched disturbances existing in the reduced-order model. In addition, a NARL is developed to tackle the inherent chattering problem of SMC. Extensive simulations are conducted compared with the wide adoption of three-loop PID method on the cosimulation platform of EHSAS, which is built by combining AMESim with MATLAB/Simulink, to verify the feasibility and superiority of the proposed scheme. Results demonstrate that the chattering can be effectively attenuated, and the mismatched disturbance can be satisfyingly compensated. Moreover, the transient performance, steady-state accuracy, and robustness of position control are all improved.

Seismic vibration suppression of a building with an adaptive nonsingular terminal sliding mode control

2020 ◽  
Vol 26 (23-24) ◽  
pp. 2136-2147 ◽  
Author(s):  
Normaisharah Mamat ◽  
Fitri Yakub ◽  
Sheikh Ahmad Zaki Shaikh Salim ◽  
Mohamed Sukri Mat Ali
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Structural Control ◽  
Fuzzy Logic Controller ◽  
Sliding Mode ◽  
Control Device ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

This study investigates the control performance of a structural building system during a seismic scenario using an adaptive nonsingular terminal sliding mode control. To realize the structural integrity of a building, it is necessary to equip the building with a structural control device. This research is focused on a hybrid control device that has excellent characteristics of passive and active control devices and implemented in a three degree-of-freedom system. The system, actuator, and controllers are designed by using the mathematical model developed in MATLAB/Simulink. The input excitation to the structure is taken from the El Centro earthquake that occurred in the 1940s with a magnitude of 6.9 Mw and the Southern Sumatra earthquake that occurred in 2007 with a magnitude of 8.4 Mw. Adaptive nonsingular terminal sliding mode control is the new proposed control strategy to be applied in structural control field is investigated in terms of controller performance in suppressing the vibrations, and then, compared with sliding mode control and fuzzy logic controller strategies. Sliding mode control is chosen to be compared with adaptive nonsingular terminal sliding mode control because of its advantages of robust performance, whereas fuzzy logic controller is chosen because of its intelligent control base. The effectiveness of the proposed controllers is evaluated based on the displacement response, performance indices, and the probability of building damage. The results have shown that the new proposed controller, an adaptive nonsingular terminal sliding mode control, reduced vibrations better and has superior performance compared with fuzzy logic controller and sliding mode control.

Fuzzy Sliding Modes with Moving Surface for the Robust Control of a Planar Robot

2005 ◽  
Vol 11 (7) ◽  
pp. 903-922 ◽  
Author(s):  
Nurkan Yagiz ◽  
Yuksel Hacioglu
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Fuzzy Logic Algorithm ◽  
Mode Control ◽  
Planar Robot

In this paper, we develop a new control method that brings together the advantages of fuzzy logic and sliding mode control. First, we introduce a non-chattering robust sliding mode control. Then, in order to improve the performance of the controller a fuzzy logic algorithm is integrated with the sliding mode controller. This algorithm decides the slope of the sliding surface of the sliding mode controller dynamically. Thus, the system is caught on the sliding surface rapidly and remains over it, more successfully improving the performance of the controller. Afterwards, to test the success of the controller introduced, it is applied to a planar robot, which is to follow a certain trajectory only using the control inputs produced. The results are compared with those of a conventional PID controlled system and a sliding mode controller with constant surface slope. In order to check the robust behavior of the controller designed, an unexpected change in the mass of the second link is introduced and to make the conditions tougher it is assumed that this change is not sensed by the controllers. Noise resistance of the proposed controller is also checked by introducing normally distributed noise components into the equations of motion of the robot model.

Sliding Mode Control of Piezoelectric Valve Regulated Pneumatic Actuator for MRI-Compatible Robotic Intervention

2010 ◽  
Author(s):  
Yi Wang ◽  
Hao Su ◽  
Kevin Harrington ◽  
Gregory S. Fischer
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Pneumatic Actuator ◽  
Pneumatic Cylinder ◽  
Image Guided ◽  
Mode Control ◽  
Actuation System ◽  
Wide Range ◽  
Control Schemes ◽  
Magnetic Resonance Imaging Mri

This paper presents the design of a magnetic resonance imaging (MRI) compatible pneumatic actuator regulated by piezoelectric valve for image guided robotic intervention. After comparing pneumatic, hydraulic and piezoelectric MRI compatible actuation technologies, we present a piezoelectric valve regulated pneumatic actuation system consisted of PC, custom servo board driver, piezoelectric valves, sensors and pneumatic cylinder. The system was proposed to investigate the control schemes of a modular actuator; which offers fully MRI compatible actuation; the initial goal is to control our MRI compatible prostate biopsy robot, but the controller and system architecture are suited to a wide range of image guided surgical application. We present the mathematical modeling of the pressure regulating valve with time delay and the pneumatic cylinder. Three sliding mode control schemes are proposed to compare the system performance. Preliminary simulation results are presented to validate the control algorithm.

scholarly journals ANALISA PENGENDALI HYBRID SLIDING MODE CONTROL DAN FUZZY LOGIC CONTROLLER DALAM PENURUNAN ERROR STEADY STATE UNTUK MENGENDALIKAN CONCENTRATION PADA ISOTHERMAL CONTINUOUS STIRRED TANK REACTOR (CSTR)

2019 ◽  
Vol 6 (1) ◽  
pp. 32-39
Author(s):  
Ahmad Faizal ◽  
Dian Mursyitah ◽  
Ewi Ismaredah
Keyword(s):  
Fuzzy Logic ◽  
Steady State ◽  
Sliding Mode Control ◽  
Fuzzy Logic Controller ◽  
Sliding Mode ◽  
Settling Time ◽  
Continuous Stirred Tank Reactor ◽  
Set Point ◽  
Mode Control ◽  
Continuous Stirred Tank

Sistem di industri sering terjadi kesalahan dalam mencapai kinerja atau performansi yang diinginkan. Salah satunya pada sistem isothermal CSTR dimana sistem ini belum mampu bekerja sesuai set point yang diinginkan 1 g.mol/litter, untuk mencapai set point maka digunakan pengendali Sliding Mode Control yang di Hybrid dengan Fuzzy Logic Controller yang diidentifikasi dengan metode FOPDT untuk menurunkan nilai error steady state. hybrid sliding mode control dan fuzzy logic controller telah mencapai nilai set point yang diinginkan yaitu 1 g.mol/litter  dengan waktu tunak/settling time 0.7098 detik, sementara pada pengendali sliding mode control mengalami error steady state sebesar 0.0004 g.mol/litter dengan waktu tunak/settling time 0.7275 detik

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