Precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller

2020 ◽  
Vol 26 (19-20) ◽  
pp. 1683-1696 ◽  
Author(s):  
Farzaneh Hamzeh Nejad ◽  
Ali Fayazi ◽  
Hossein Ghayoumi Zadeh ◽  
Hassan Fatehi Marj ◽  
S Hassan HosseinNia
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Positioning Control ◽  
Mode Control ◽  
Flexible Arm ◽  
Control Scheme ◽  
Single Link ◽  
Tip Position

This article presents an efficient scheme based on fractional order sliding mode control approach for precision tip position control of a single link flexible robot arm. The proposed control strategy is robust against the system parameters variations such as payload and viscous friction variations in the presence of the sinusoidal disturbance and the unknown Coulomb friction disturbances. The aim of controller design is reduction of the deviation caused by the link flexibility and then the precision tip positioning control of the single-link flexible arm. In this regard, sliding mode control strategy is performed in two stages. In the first stage, the difference between the motor angle (load angle) and the tip angle of the flexible link is reduced by applying the proposed fractional order sliding mode controller and then, in the second step, the precision tracking of the tip position of the link is done by adding another sliding mode control scheme. The feasibility and effectiveness of the proposed control scheme is demonstrated via numerical simulation results.

scholarly journals Positioning Control of Single-Link Flexible Arm Using Frequency-Shaped Sliding Mode Control Theory.

1997 ◽  
Vol 63 (606) ◽  
pp. 431-437 ◽  
Author(s):  
Yasuhiro KITAMURA ◽  
Kazunori IWABUCHI ◽  
Kenzo NONAMI ◽  
Hidekazu NISHIMURA ◽  
Nobuyuki KOBAYASHI
Keyword(s):  
Control Theory ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Positioning Control ◽  
Mode Control ◽  
Flexible Arm ◽  
Single Link

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.

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 Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor

Algorithms ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 168 ◽  
Author(s):  
Arturo Govea-Vargas ◽  
Rafael Castro-Linares ◽  
Manuel Duarte-Mermoud ◽  
Norelys Aguila-Camacho ◽  
Gustavo Ceballos-Benavides
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Second Order ◽  
Mode Control ◽  
Perturbation Term ◽  
Control Scheme ◽  
Additive Perturbation ◽  
Simulation Results

A Fractional Order Sliding Mode Control (FOSMC) is proposed in this paper for an integer second order nonlinear system with an unknown additive perturbation term. A sufficient condition is given to assure the attractiveness to a given sliding surface where trajectory tracking is assured, despite the presence of the perturbation term. The control scheme is applied to the model of a quadrotor vehicle in order to have trajectory tracking in the space. Simulation results are presented to evaluate the performance of the control scheme.

A sliding mode controller for vehicle active suspension systems with non-linearities

1998 ◽  
Vol 212 (2) ◽  
pp. 79-92 ◽  
Author(s):  
C Kim ◽  
P I Ro
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Operating Conditions ◽  
Normal Operation ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Control Scheme ◽  
Quarter Car

In this paper, the control of an active suspension system using a quarter car model has been investigated. Due to the presence of non-linearities such as a hardening spring, a quadratic damping force and the ‘tyre lift-off’ phenomenon in a real suspension system, it is very difficult to achieve desired performance using linear control techniques. To ensure robustness for a wide range of operating conditions, a sliding mode controller has been designed and compared with an existing nonlinear adaptive control scheme in the literature. The sliding mode scheme utilizes a variant of a sky-hook damper system as a reference model which does not require real-time measurement of road input. The robustness of the scheme is investigated through computer simulation, and the efficacy of the scheme is shown both in time and frequency domains. In particular, when the vertical load to the sprung mass is changed, the sliding mode control resumes normal operation faster than the nonlinear self-tuning control and the passive system by factors of 3 and 6, respectively, and suspension deflection is kept to a minimum. Other results showed advantages of the sliding mode control scheme in a quarter car system with realistic non-linearities.

Sliding Mode Based LMI Criterion for Robust Stabilization of Uncertain Fractional Order Nonlinear Systems

2013 ◽  
Author(s):  
Sara Dadras ◽  
YangQuan Chen
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Nonlinear Dynamical Systems ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Mode Control ◽  
Systems Model ◽  
Control Scheme

A robust sliding mode control (SMC) technique is introduced in this paper for a class of fractional order (FO) nonlinear dynamical systems. Using the sliding mode control technique, a sliding surface is determined and the control law is established. A new LMI criterion based on the sliding mode control law is derived to make the states of the FO nonlinear system asymptotically gravitate toward the origin which can work for any order of the system, 0<q<2. The designed control scheme can also control the uncertain FO nonlinear systems, i.e. the controller is robust against the system uncertainty and guarantees the property of asymptotical stability. The advantage of the method is that the control scheme does not depend on the order of systems model and it is fairly simple. So, there is no complexity in the application of our proposed method. An illustrative simulation result is given to demonstrate the effectiveness of the proposed robust sliding mode control design.

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