DIRECT ADAPTIVE FUZZY MOVING SLIDING MODE CONTROLLER DESIGN FOR ROBOTIC MANIPULATORS

2005 ◽  
Vol 05 (01) ◽  
pp. 1-20 ◽  
Author(s):  
HANÈNE MEDHAFFAR ◽  
TARAK DAMAK ◽  
NABIL DERBEL
Keyword(s):  
Fuzzy Control ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Sliding Surface ◽  
Control Rules ◽  
Parameters Tuning ◽  
Parameter Variations ◽  
Sugeno Model

This paper presents an adaptive moving sliding mode fuzzy control for robotic manipulators. The consequence parameters of the fuzzy control rules are adjusted online by applying the Lyapunov stability condition. Furthermore, parameters tuning is carried out in order to guarantee the sliding condition. Comparison between zero order and first order Sugeno model are presented. Moreover, a time-varying sliding surface is used with the aim of enhancing tracking-performance. Indeed, moving sliding surface improves the robustness during the reaching phase against uncertainties, parameter variations and extraneous disturbances. As an illustration, the trajectory control of a two degrees-of-freedom robotic manipulator is considered.

scholarly journals Fractional-order fuzzy adaptive controller design for uncertain robotic manipulators

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141984022 ◽  
Author(s):  
Yanping Deng
Keyword(s):  
Fuzzy Control ◽  
Fractional Order ◽  
Controller Design ◽  
Sliding Mode ◽  
Main Idea ◽  
Robotic Manipulators ◽  
Adaptive Controller ◽  
Small Region ◽  
Trajectory Tracking Control ◽  
Integer Order

A sliding mode adaptive fractional fuzzy control is provided in this article to achieve the trajectory tracking control of uncertain robotic manipulators. By adaptive fractional fuzzy control, we mean that fuzzy parameters are updated through fractional-order adaptation laws. The main idea of this work consists in using fractional input to control complex integer-order nonlinear systems. An adaptive fractional fuzzy control that guarantees tracking errors tend to an arbitrary small region is established. To facilitate the stability analysis, fractional-order integral Lyapunov functions are proposed, and the integer-order Lyapunov stability criterion is used. Finally, simulation results are presented to show the effectiveness of the proposed method.

scholarly journals Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Jeang-Lin Chang ◽  
Tsui-Chou Wu
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Controller Design ◽  
Sliding Mode ◽  
Damping Ratio ◽  
Variable Structure ◽  
Sliding Surface ◽  
Estimation Errors ◽  
System States ◽  
Approach Zero

This paper examines the use of an output feedback variable structure controller with a nonlinear sliding surface for a class of SISO nonlinear systems in the presence of matched disturbances. With only the measurable system output, the discontinuous observer reconstructs the system states and ensures that the estimation errors exponentially approach zero. Using the estimation states, the proposed nonlinear sliding surface with variable damping ratio can simultaneously achieve low overshoot and short settling time. Then the passivity-based controller including a discontinuous term can guarantee that the closed-loop system asymptotically converges to the sliding surface. Compared with other sliding mode controllers, the proposed passivity-based control scheme has better transient performance and effectively reduces the control gain. Finally, simulation results demonstrate the validity of the proposed method.

Multiple Sliding Surface Control: Theory and Application

2000 ◽  
Vol 122 (4) ◽  
pp. 586-593 ◽  
Author(s):  
J. K. Hedrick ◽  
P. P. Yip
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Control Input ◽  
Sliding Surface ◽  
Nonlinear Controller ◽  
Automotive Control ◽  
Surface Control ◽  
Surface Method ◽  
Highly Nonlinear ◽  
Automated Highway

This paper discusses the development of a nonlinear controller design methodology and its application to an automotive control problem. The method is called the “Multiple Sliding Surface” method and is closely related to sliding mode control, input/output linearization and integrator backstepping. The method was developed for a class of systems, typical of automotive control systems, where the uncertainties are “mismatched” and where many of the equations contain sparse, experimentally obtained maps. The error bounds on these maps are often unknown and their sparseness makes them difficult to differentiate. The developed method does not require any derivatives and has guaranteed semi-global stability. This paper summarizes the development of the method and applies it to the design of a highly nonlinear system. The example is a combined brake/throttle controller for precision vehicle following. This controller was implemented on the California PATH vehicles in DEMO’97, an automated highway technology demonstration that occurred in San Diego, California in August of 1997. [S0022-0434(00)03004-5]

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

Fractional-order sliding mode control for deployment of tethered spacecraft system

2019 ◽  
Vol 233 (13) ◽  
pp. 4721-4734 ◽  
Author(s):  
Zhiqiang Ma ◽  
Zheng H Zhu ◽  
Guanghui Sun
Keyword(s):  
Steady State ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Mode Control ◽  
Tethered Spacecraft ◽  
Integral Sliding Surface ◽  
Steady State Performance

This paper proposes a fractional-order integral sliding mode control with the order 0 <  ν < 1 to stabilize the deployment of tethered spacecraft system with only tension regulation. The work in this paper is partially based on integer-order nonlinear sliding mode controller and improves its performance with fractional-order calculus. The proposed scheme makes use of integral sliding surface to obtain smaller convergence regions of state errors, and the fractional derivative is synthesized to enhance the flexibility of controller design by fining parameters for better dynamic and steady-state performance. Fractional-order observers help to eliminate external disturbances while the adaptive law is presented to remove the adverse effect in stability analyses, and fractional-order uniform ultimate boundedness is proved to guarantee the existence of the proposed sliding surface. According to theoretical analyses, the fractional order will indeed affect the dynamic and steady-state performance of control system, and the proposed method will be verified in numerical simulations compared with the nonlinear sliding mode counterpart.

SLIDING MODE CONTROL ON ISOLATED BRIDGES WITH COLUMNS OF IRREGULAR HEIGHTS USING POLE ASSIGNMENT AND PSO-SA HYBRID ALGORITHM

2012 ◽  
Vol 12 (03) ◽  
pp. 1250014 ◽  
Author(s):  
TZU-YING LEE ◽  
PO-CHUAN CHEN ◽  
DER-SHIN JUANG
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Numerical Models ◽  
Pso Algorithm ◽  
Equivalent Model ◽  
Sliding Surface ◽  
Mode Control ◽  
Isolated Bridge ◽  
Isolated Bridges

The effectiveness of sliding mode control on the seismic response of an isolated bridge with columns of irregular heights, which exhibit hysteretic behaviors at both the columns and isolators, is studied. The bridge of concern consists of a two-span continuous deck and three columns of irregular heights, adjoining two single-span approaches each at the two ends. The irregular isolated bridge is idealized by an equivalent model to reduce the number of degrees of freedom involved. Compared with typical isolated bridges, the irregular isolated bridge has more poles of sliding surface, which dominates the dynamic characteristics of the controlled system and should be determined for the sliding mode control. The particle swarm optimization-simulated annealing (PSO-SA) hybrid searching algorithm is thus employed and shown to outperform the PSO algorithm and a parametric approach in finding the best sliding surface. Numerical simulations reveal that the sliding mode control together with the PSO-SA hybrid searching algorithm provides a simple and powerful technique for controlling the nonlinear seismic responses of irregular isolated bridges. Such a technique combining the control and optimization technology can be applied to practical bridges or structures, which are generally complicated and should be idealized by sophisticated numerical models.

Robust Adaptive Controller Design for a Quadrotor Helicopter

2013 ◽  
Vol 284-287 ◽  
pp. 2296-2300 ◽  
Author(s):  
Kuang Shine Yang ◽  
Chi Cheng Cheng
Keyword(s):  
Attitude Control ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Underactuated System ◽  
Parameter Uncertainties ◽  
Unknown Parameters ◽  
External Disturbances ◽  
Quadrotor Helicopter ◽  
Robust Adaptive

The quadrotor helicopter is designed to easily move in particular environments because it can take off and land in limited space and easily hover at a fixed location. For this reason, a robust adaptive sliding mode controller is developed to control of a quadrotor helicopter in the presence of external disturbances and parameter uncertainties. The quadrotor helicopter system is a typical underactuated system, which has fewer independent control actuators than degrees of freedom to be controlled. The main contribution here is to afford simulation and verification for the quadrotor helicopter flight controller under the assumption of unknown parameters. By utilizing the Lyapunov stability theorem, we can achieve asymptotic tracking of desired reference commands for the quadrotor helicopter, which is subject to both external disturbances and parametric uncertainties. From the simulation results, the controller was sufficient to achieve position and attitude control of the quadrotor helicopter system, which permits possible real time applications in the near future.

scholarly journals Controller Design for the Rotational Dynamics of a Quadcopter

2019 ◽  
Vol 38 (2) ◽  
pp. 269-274
Author(s):  
Rabia Rashdi ◽  
Zeeshan Ali ◽  
Javed Rahman Larik ◽  
Liaquat Ali Jamro ◽  
Urooj Baig
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Euler Method ◽  
State Variables ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Highly Nonlinear

Researchers have shown their interests in establishing miniature flying robots to be utilized for, both, commercial and research applications. This is due to that fact that there appears to be a huge advancement in miniature actuators and sensors which depend on the MEMS (Micro Electro-Mechanical Systems) NEMS (Nano-Electro Mechanical Systems). This research underlines a detailed mathematical model and controller design for a quadcopter. The nonlinear dynamic model of the quadcopter is derived from the Newton-Euler method and Euler Lagrange method. The motion of a quadcopter can be classified into two subsystems: a rotational subsystem (attitude and heading) and translational subsystem (altitude and x and y motion). The rotational system is fully actuated whereas translational subsystem is under actuated. However, a quadcopter is 6 DOF (Degrees of Freedom) under actuated system. The controller design of a quadcopter is difficult due to its complex and highly nonlinear mathematical model where the state variables are strongly coupled and contain under actuated property. Nonlinear controller such as SMC (Sliding Mode Controller) is used to control altitude, yaw, pitch, and roll angles.Simulation results show that the robustness of the SMC design gives a better way to design a controller with autonomous stability flight with good tracking performance and improved accuracy without any chattering effect. The system states are following the desired trajectory as expected.

scholarly journals Fractional Sliding Mode Nonlinear Procedure for Robust Control of an Eutrophying Microalgae Photobioreactor

Algorithms ◽  
2020 ◽  
Vol 13 (3) ◽  
pp. 50 ◽  
Author(s):  
Abraham Efraim Rodríguez-Mata ◽  
Ricardo Luna ◽  
Jose Ricardo Pérez-Correa ◽  
Alejandro Gonzalez-Huitrón ◽  
Rafael Castro-Linares ◽  
...  
Keyword(s):  
Robust Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Optimal Growth ◽  
Nonlinear Process ◽  
Internal Model Control ◽  
Sliding Surface ◽  
Convergence Properties ◽  
Model Control ◽  
Integral Order

This paper proposes a fractional-order sliding mode controller (FOSMC) for the robust control of a nonlinear process subjected to unknown parametric disturbances. The controller aims to ensure optimal growth in photobioreactors of native microalgae involved in eutrophication of the Sinaloa rivers in Mexico. The controller design is based on the Caputo fractional integral-order derivative and on the convergence properties of a sliding surface. For nonlinear systems, the proposed FOSMC guarantees convergence to the sliding surface even in the presence of model disturbances. The proposed controller is compared to an Internal Model Control (IMC) through numerical simulations.

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