Data-driven model-free adaptive fractional-order sliding mode control for the SMA actuator with prescribed performance

2022 ◽  
pp. 095440622110597
Author(s):  
Hongshuai Liu ◽  
Lina Hao ◽  
Mingfang Liu ◽  
Zhirui Zhao
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Data Driven ◽  
Sliding Mode Controller ◽  
Prescribed Performance ◽  
Sma Actuators ◽  
Mode Control ◽  
Model Free ◽  
Sma Actuator

In this paper, a novel data-driven model-free adaptive fractional-order sliding mode controller with prescribed performance is proposed for the shape memory alloy (SMA) actuator. Due to the strong asymmetric saturated hysteresis nonlinear characteristics of the SMA actuators, it is not easy to establish an accurate model and develop an effective controller. Therefore, we present a controller without using the model of the SMA actuators. In other words, the proposed controller depends merely on the input/output (I/O) data of the SMA actuators. To obtain the reasonable compensation for hysteresis, enhance the noise robustness of the controller, and reduce the chattering, a fractional-order sliding mode controller with memory characteristics is employed to improve the performance of the controller. In addition, the prescribed performance control (PPC) strategy is introduced in our work to guarantee the tracking errors converge to a sufficiently small boundary and the convergence rate is not less than a predetermined value which are significant and considerable in practical engineering applications of the SMA actuator. Finally, experiments are carried out, and results reveal the effectiveness and success of the proposed controller. Comparisons with the classical Proportional Integral Differential (PID), model-free adaptive control (MFAC), and model-free adaptive sliding mode control (MFAC-SMC) are also performed.

scholarly journals Fractional Order Adaptive Fast Super-Twisting Sliding Mode Control for Steer-by-Wire Vehicles with Time-Delay Estimation

Electronics ◽  
2021 ◽  
Vol 10 (19) ◽  
pp. 2424
Author(s):  
Yong Yang ◽  
Yunbing Yan ◽  
Xiaowei Xu
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Delay Estimation ◽  
Mode Control ◽  
Model Free ◽  
Steer By Wire

It is difficult to model and determine the parameters of the steer-by-wire (SBW) system accurately, and the perturbation is variable with complex and changeable tire–road conditions. In order to improve the control performance of the vehicle SBW system, an adaptive fast super-twisting sliding mode control (AFST-SMC) scheme with time-delay estimation (TDE) is proposed. The proposed scheme uses TDE to acquire the lumped dynamics in a simple way and establishes a practical model-free structure. Then, a fractional order (FO) sliding mode surface and a fast super-twisting sliding mode control structure were designed on the basic super-twisting sliding mode to ensure fast convergence and high control accuracy. Since the uncertain boundary information of the actual system is unknown, a novel adaptive algorithm is proposed to regulate the control gain based on the control errors. Theoretical analysis concerning system stability is given based on the Lyapunov theory. Finally, the effectiveness of the method is verified through comparative experiments. The results show that the proposed TDE-AFST-FOSMC control scheme has the advantages of model-free, fast response and high accuracy.

Fixed-time fractional-order sliding mode control for nonlinear power systems

2020 ◽  
Vol 26 (17-18) ◽  
pp. 1425-1434 ◽  
Author(s):  
Sunhua Huang ◽  
Jie Wang
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Fractional Order ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Fixed Time ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Time Control

In this study, a fractional-order sliding mode controller is effectively proposed to stabilize a nonlinear power system in a fixed time. State trajectories of a nonlinear power system show nonlinear behaviors on the angle and frequency of the generator, phase angle, and magnitude of the load voltage, which would seriously affect the safe and stable operation of the power grid. Therefore, fractional calculus is applied to design a fractional-order sliding mode controller which can effectively suppress the inherent chattering phenomenon in sliding mode control to make the nonlinear power system converge to the equilibrium point in a fixed time based on the fixed-time stability theory. Compared with the finite-time control method, the convergence time of the proposed fixed-time fractional-order sliding mode controller is not dependent on the initial conditions and can be exactly evaluated, thus overcoming the shortcomings of the finite-time control method. Finally, superior performances of the fractional-order sliding mode controller are effectively verified by comparing with the existing finite-time control methods and integral order sliding mode control through numerical simulations.

Design of Fractional Order Fuzzy Controller Based on Sliding Mode Control for Robotic Flexible Joint Manipulators

2011 ◽  
Vol 109 ◽  
pp. 323-332 ◽  
Author(s):  
Ali Fayazi ◽  
Amir Hossein Hadjahmadi
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Tracking Error ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Level Control ◽  
Mode Control ◽  
Fractional Control

In this paper, a new design approach that combines the advantages in terms of robustness of the fractional control, the fuzzy scheme and the Sliding Mode Control (SMC) is proposed for robotic manipulators. A fractional order fuzzy sliding-mode controller (FOFSMC) can drive system tracking error to converge to zero in finite time. The FOFSMC is applied to a level control in robotic manipulators. Performance of the proposed controller evaluated to compare the performance with respect the conventional sliding mode controller. The simulation results demonstrate that the FOFSMC can provide a reasonable tracking performance.

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