Applications of Fuzzy Sliding Mode Control for a Gyroscope System

The study proposed the application of the fuzzy sliding mode for a gyroscope system status control. The state response analysis of the gyroscope system revealed highly nonlinear and chaotic subharmonic motions of2Tduring state formation. The current study discussed the use of tracking control on the sliding mode control and fuzzy sliding mode control of a gyroscope control system. Consequently, the gyroscope system drives from chaotic motion to periodic motion. The numerical simulation results confirm that the proposed controller provides good system stability and convergence without chattering phenomena.

Download Full-text

Fuzzy Sliding Mode Control of Vehicle Magnetorheological Semi-Active Air Suspension

Applied Sciences ◽

10.3390/app112210925 ◽

2021 ◽

Vol 11 (22) ◽

pp. 10925

Author(s):

Gang Li ◽

Zhiyong Ruan ◽

Ruiheng Gu ◽

Guoliang Hu

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Mr Damper ◽

Suspension System ◽

System Stability ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Air Suspension ◽

Road Excitation ◽

Fuzzy Sliding Mode

In order to reduce vehicle vibration during driving conditions, a fuzzy sliding mode control strategy (FSMC) for semi-active air suspension based on the magnetorheological (MR) damper is proposed. The MR damper used in the semi-active air suspension system was tested and analyzed. Based on the experimental data, the genetic algorithm was used to identify the parameters of the improved hyperbolic tangent model, which was derived for the MR damper. At the same time, an adaptive neuro fuzzy inference system (ANFIS) was used to build the reverse model of the MR damper. The model of a quarter vehicle semi-active air suspension system equipped with a MR damper was established. Aiming at the uncertainty of the air suspension system, fuzzy control was used to adjust the boundary layer of the sliding mode control, which can effectively suppress the influence of chattering on the control accuracy and ensure system stability. Taking random road excitation and impact road excitation as the input signal, the simulation analysis of passive air suspension, semi-active air suspension based on SMC and FSMC was carried out, respectively. The results show that the semi-active air suspension based on FSMC has better vibration attenuating performance and ride comfort.

Download Full-text

MIMO Fuzzy Sliding Mode Control for Three-Axis Inertially Stabilized Platform

Sensors ◽

10.3390/s19071658 ◽

2019 ◽

Vol 19 (7) ◽

pp. 1658 ◽

Cited By ~ 3

Author(s):

Zhanmin Zhou ◽

Bao Zhang ◽

Dapeng Mao

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Stability And Convergence ◽

Tracking Accuracy ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Fuzzy Sliding Mode ◽

Stabilized Platform ◽

Inertially Stabilized Platform

In this paper, a MIMO (Multi-Input Multi-Output) fuzzy sliding mode control method is proposed for a three-axis inertially stabilized platform. This method is based on the MIMO coupling model of the three-axis inertially stabilized platform in which the dynamic coupling among the three frames, namely the azimuth frame, the pitch frame and the roll frame, is fully considered. Firstly, the dynamic equation of the three-axis inertially stabilized platform is analyzed and its linearized model is obtained. After this, the controller is designed based on the model, during which fuzzy logic is introduced to deal with the frame coupling and the adaptive fuzzy coupling compensation factor is designed to be part of the algorithm. A complete proof of the stability and convergence is also provided in this paper. Finally, the performance of the platform with a MIMO fuzzy sliding mode controller and PI controller is analyzed. The simulation results show that the proposed scheme can guarantee tracking accuracy and effectively suppress the coupling interference between the three frames.

Download Full-text

Fuzzy Sliding Mode Control of a Multi-DOF Parallel Robot in Rehabilitation Environment

International Journal of Humanoid Robotics ◽

10.1142/s0219843614500042 ◽

2014 ◽

Vol 11 (01) ◽

pp. 1450004 ◽

Cited By ~ 13

Author(s):

Quan Liu ◽

Dong Liu ◽

Wei Meng ◽

Zude Zhou ◽

Qingsong Ai

Keyword(s):

Sliding Mode Control ◽

Performance Enhancement ◽

Sliding Mode ◽

Parallel Robot ◽

Medical Rehabilitation ◽

System Stability ◽

Compact Structure ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Fuzzy Sliding Mode

Multi-degrees of freedom (DOF) parallel robot, due to its compact structure and high operation accuracy, is a promising candidate for medical rehabilitation devices. However, its controllability relating to the nonlinear characteristics challenges its interaction with human subjects during the rehabilitation process. In this paper, we investigated the control of a parallel robot system using fuzzy sliding mode control (FSMC) for constructing a simple controller in practical rehabilitation, where a fuzzy logic system was used as the additional compensator to the sliding mode controller (SMC) for performance enhancement and chattering elimination. The system stability is guaranteed by the Lyapunov stability theorem. Experiments were conducted on a lower limb rehabilitation robot, which was built based on kinematics and dynamics analysis of the 6-DOF Stewart platform. The experimental results showed that the position tracking precision of the proposed FSMC is sufficient in practical applications, while the velocity chattering had been effectively reduced in comparison with the conventional FSMC with parameters tuned by fuzzy systems.

Download Full-text

Sliding Mode Control with Adaptive Fuzzy Compensation for Uncertain Nonlinear System

Mathematical Problems in Engineering ◽

10.1155/2018/2342391 ◽

2018 ◽

Vol 2018 ◽

pp. 1-6 ◽

Cited By ~ 1

Author(s):

Lina Wang ◽

Haihui Zhang

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Control Technique ◽

Stability And Convergence ◽

Closed Loop System ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Adaptive Weight ◽

Fuzzy Sliding Mode ◽

The Stability

Fuzzy sliding mode control as a robust and intelligent nonlinear control technique is proposed to control processes with severe nonlinearity and unknown models. This paper proposes a new adaptive tracking fuzzy sliding mode controller for nonlinear systems in the presence of fuzzy compensation. The main contribution of the proposed method is that the fuzzy system is used to realize the adaptive approximation of the unknown part of the model, and the fuzzy gain can be reduced effectively. The fuzzy self-adaptive rate is derived through the Lyapunov method, and the stability and convergence of the whole closed-loop system are guaranteed by adjusting the adaptive weight value. The performance of the proposed approach is evaluated for double joint rigid manipulator problems. The simulation results illustrate the effectiveness of our proposed controller.

Download Full-text