scholarly journals Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations

PLoS ONE ◽  
2021 ◽  
Vol 16 (11) ◽  
pp. e0258909
Author(s):  
Yasir Mehmood ◽  
Jawad Aslam ◽  
Nasim Ullah ◽  
Ahmed A. Alsheikhy ◽  
Emad Ud Din ◽  
...  
Keyword(s):  
High Speed ◽  
Material Handling ◽  
Sliding Mode ◽  
Simulation Test ◽  
External Disturbances ◽  
Agricultural Work ◽  
Sliding Mode Controllers ◽  
Turning Motion ◽  
Fuzzy Sliding Mode ◽  
Reduced State

Skid-steered vehicles (SSV) are gaining huge importance in the market due to their applications like construction, agricultural work, material handling etc. The accuracy of performing such tasks require a robust control algorithm. The design of such controller is very challenging task due to external disturbances caused by wheel-ground interaction and aerodynamic effects. This paper proposes robust fractional and integral order fuzzy sliding mode controllers (FSMC, FFSMC) for a skid-steered vehicles with varying coefficient of friction and a displaced center of gravity (CG). FFSMC controller reduces the outcome of forces generated as a result of ground tire interaction during skidding and friction variations. The proposed controllers are implemented for a four-wheel SSV under high-speed turning motion. A simulation environment is constructed by implementing the SSV dynamics with wheel-road model and the performance of the proposed algorithms is tested. The simulation test is conducted for a Pioneer-3AT (P-3AT) robot SSV vehicle with displaced CG and variable coefficient of tires friction. Simulation results demonstrate the efficiency of the proposed FFSMC algorithm in term of reduced state errors and minimum chattering. The proposed controller compensates the effect of different responses of the wheels generated as a result of variable CG. The chattering phenomenon generated by conventional SMCs is also minimized by fuzzy tuning approach.

Genetic Optimization of Fuzzy Sliding Mode Controllers: An Experimental Study

2003 ◽  
pp. 193-205 ◽  
Author(s):  
Mariagrazia Dotoli ◽  
Paolo Lino ◽  
Bruno Maione ◽  
David Naso ◽  
Biagio Turchiano
Keyword(s):  
Experimental Study ◽  
Sliding Mode ◽  
Genetic Optimization ◽  
Sliding Mode Controllers ◽  
Fuzzy Sliding Mode

Stabilizing periodic orbits of Chua’s system using adaptive fuzzy sliding mode controller

2019 ◽  
Vol 12 (1) ◽  
pp. 102-126 ◽  
Author(s):  
Hanène Medhaffar ◽  
Moez Feki ◽  
Nabil Derbel
Keyword(s):  
Periodic Orbits ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Unstable Periodic Orbits ◽  
Content Type ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Sliding Mode Controllers ◽  
Parameter Variations ◽  
Fuzzy Sliding Mode

Purpose The purpose of this paper is to investigate the stabilization of unstable periodic orbits of Chua’s system using adaptive fuzzy sliding mode controllers with moving surface. Design/methodology/approach For this aim, the sliding mode controller and fuzzy systems are combined to achieve the stabilization. Then, the authors propose a moving sliding surface to improve robustness against uncertainties during the reaching phase, parameter variations and extraneous disturbances. Findings Afterward, the authors design a sliding observer to estimate the unmeasurable states which are used in the previously designed controller. Originality/value Numerical results are provided to show the effectiveness and robustness of the proposed method.

Adaptive non-singular terminal sliding mode controller: new design for full control of the quadrotor with external disturbances

2016 ◽  
Vol 39 (3) ◽  
pp. 371-383 ◽  
Author(s):  
Alireza Modirrousta ◽  
Mahdi Khodabandeh
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Control Input ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Tuning Method ◽  
Regular Control ◽  
Control Scheme ◽  
Sliding Mode Controllers

This paper proposes two different adaptive robust sliding mode controllers for attitude, altitude and position control of a quadrotor. Firstly, it proposes a backstepping non-singular terminal sliding mode control with an adaptive algorithm that is applied to the quadrotor for free chattering, finite time convergence and robust aims. In this control scheme instead of regular control input, the derivative of the control input is achieved from a non-singular terminal second-layer sliding surface. An adaptive tuning method is utilized to deal with the external disturbances whose upper bounds are not required to be known in advance in the inner loop. Secondly, a nonlinear disturbance observer based on the integral sliding mode with adaptive gains is proposed for position control, which is known as the outer loop. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. The simulation results demonstrate the validation of the proposed control scheme.

scholarly journals Parallel Structure of Feedback Linearization and Sliding Mode Controllers to Track the Desired Velocity Profile in High-Speed Trains

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Iman Ferestade ◽  
Habibollah Molatefi ◽  
Bijan Moaveni
Keyword(s):  
Analytical Solution ◽  
Velocity Profile ◽  
Control Strategy ◽  
Feedback Linearization ◽  
High Speed ◽  
Sliding Mode ◽  
Tracking Error ◽  
Parallel Structure ◽  
Railway Vehicles ◽  
Sliding Mode Controllers

High-speed railway vehicles operate much faster than traditional railway vehicles. After a four-axle high-speed railcar is modeled, an analytical solution is employed in this paper to solve dynamic equations. According to this analytical solution, the coupling of four-axle high-speed railcar equations depends strictly on the adhesion coefficient. A novel parallel control strategy is then formulated to prevent wheels from slipping and track the desired velocity profile. The proposed control strategy includes feedback linearization and sliding mode controllers to achieve the desired performance. Finally, the simulation results indicated the effectiveness of the proposed control system in the high-speed railcar such that the tracking error is less than 12%.

scholarly journals Turning control of a 3- Joint carangiform fish robot using sliding mode based controllers

2015 ◽  
Vol 18 (1) ◽  
pp. 14-26
Author(s):  
Tuong Quan Vo
Keyword(s):  
Dynamic Model ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Underwater Robots ◽  
Fish Robot ◽  
Turning Motion ◽  
New Type ◽  
Fuzzy Sliding Mode ◽  
Turning Control

The fish robot is a new type of biomimetic underwater robot which is developing very fast in recent years by many researchers. Because it moves silently, saves energy, and is flexible in its operation in comparison to other kinds of underwater robots, such as Remotely Operated Vehicles (ROVs) or Autonomous Underwater Vehicles (AUVs). In this paper, we propose an efficient advanced controller that runs well in controlling the motion for our fish robot. First, we derive a new dynamic model of a 3-joint (4 links) Carangiform fish robot. The dynamic model also addresses the heading angle of a fish robot, which is not often covered in other research. Second, we present a Sliding Mode Controller (SMC) and a Fuzzy Sliding Mode Controller (FSMC) to the straight motion and turning motion of a fish robot. Then, in order to prove the effectiveness of the SMC and FSMC, we conduct some numerical simulations to show the feasibility or the advantage of these proposed controllers.

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