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.

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 A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle

2020 ◽  
Vol 26 (4) ◽  
pp. 4-10
Author(s):  
Abdullah Basci ◽  
Adnan Derdiyok ◽  
Kaan Can ◽  
Kamil Orman
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Trajectory Tracking Control ◽  
Parameter Variations ◽  
Aerial Vehicle

In this paper, a fractional-order sliding mode controller (FOSMC) is designed and applied to a four rotor unmanned aerial vehicle (Quadrotor) to perform trajectory tracking for different time-varying references. Because quadrotor’s nonlinear system dynamics are effected by external disturbances and parameter variations easily, the FOSMC is used as a nonlinear controller and utilized its disturbance rejection characteristics to keep quadrotor on desired trajectory as well as overcome parameter variations. In order to indicate the priority of the FOSMC, an integer-order SMC (IOSMC) is also applied to quadrotor for the same references. The experimental results show that FOSMC is better than IOSMC in terms of error elimination and is good at dealing with parameter variations occurred while tracking the desired trajectory

scholarly journals Adaptive Synchronization for Uncertain Delayed Fractional-Order Hopfield Neural Networks via Fractional-Order Sliding Mode Control

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Bo Meng ◽  
Xiaohong Wang
Keyword(s):  
Neural Networks ◽  
Fractional Order ◽  
Sliding Mode ◽  
Small Region ◽  
Hopfield Neural Networks ◽  
Adaptive Synchronization ◽  
Unknown Parameters ◽  
External Disturbances ◽  
Lyapunov Stability Criterion ◽  
Order Extension

Adaptive synchronization for a class of uncertain delayed fractional-order Hopfield neural networks (FOHNNs) with external disturbances is addressed in this paper. For the unknown parameters and external disturbances of the delayed FOHNNs, some adaptive estimations are designed. Firstly, a fractional-order switched sliding surface is proposed for the delayed FOHNNs. Then, according to the fractional-order extension of the Lyapunov stability criterion, a fractional-order sliding mode controller is constructed to guarantee that the synchronization error of the two uncertain delayed FOHNNs converges to an arbitrary small region of the origin. Finally, a numerical example of two-dimensional uncertain delayed FOHNNs is given to verify the effectiveness of the proposed method.

Angular control of differential shape-memory alloy spring actuator for underactuated dynamic system

2021 ◽  
pp. 107754632110216
Author(s):  
M Banu Sundareswari ◽  
G Then Mozhi ◽  
K Dhanalakshmi
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Fractional Order ◽  
Position Control ◽  
Sliding Mode ◽  
Control Effort ◽  
Control Laws ◽  
Integer Order ◽  
Two Degree Of Freedom ◽  
Outer Primary

This article dwells on two technical aspects, the design and implementation of an upgraded version of the differential shape-memory alloy–based revolute actuator/rotary actuating mechanism for stabilization and position control of a two-degree-of-freedom centrally hinged ball on beam system. The actuator is configured with differential and inclined placement of shape-memory alloy springs to provide bidirectional angular shift. The shape-memory alloy spring actuator occupies a smaller space and provides more extensive reformation with justifiable actuation force than an equally able shape-memory alloy wire. The cross or diagonal architecture of shape-memory alloy springs provides force amplification and reduces the actuator’s control effort. The shape-memory alloy spring–embodied actuator’s function is exemplified by the highly dynamic underactuated custom-designed ball balancing system. The ball position control is experimentally demonstrated by cascade control using the control laws that have been unattempted for shape-memory alloy actuated systems; the ball is positioned with linear (integer-order and fractional-order) proportional–integral–derivative controllers optimized with genetic algorithm and particle swarm optimization at the outer/primary loop. Angular control of the shape-memory alloy actuated beam is obtained with nonlinear (integer-order and fractional-order sliding mode control) control algorithms in the inner/secondary loop.

The Leveling Position Control of a Four-Axial Active Pneumatic Isolation System Using PWM-Driving Parallel Dual-On/Off Valves

2011 ◽  
Vol 110-116 ◽  
pp. 3176-3183 ◽  
Author(s):  
Mao Hsiung Chiang ◽  
Hao Ting Lin
Keyword(s):  
Trajectory Tracking ◽  
Vibration Isolation ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Trajectory Tracking Control ◽  
Isolation System ◽  
Adaptive Sliding Mode Controller ◽  
Novel Concept

This study aims to develop a leveling position control of an active PWM-controlled pneumatic isolation table system. A novel concept using parallel dual-on/off valves with PWM control signals is implemented to realize active control and to improve the conventional pneumatic isolation table that supported by four pneumatic cushion isolators. In this study, the cushion isolators are not only passive vibration isolation devices, but also pneumatic actuators in active position control. Four independent closed-loop position feedback control system are designed and implemented for the four axial isolators. In this study, on/off valves are used, and PWM is realized by software. Therefore, additional hardware circuit is not required to implement PWM and not only cost down but also reach control precision of demand. In the controller design, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to deal with the uncertainty and time-varying problems of pneumatic system. Finally, the experiments on the pneumatic isolation table system for synchronous position and trajectory tracking control, including no-load and loading conditions, and synchronous position control with master-slave method, are implemented in order to verify that the controller for each cushion isolator can realize good position and trajectory tracking performance.

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