scholarly journals Type-2 Fuzzy Modeling and Control of Nonlinear Steer-by-Wire Systems With Actuator Fault and Event-Triggered Communication

2021 ◽  
Author(s):  
Bingxin Ma ◽  
Yongfu Wang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Modeling ◽  
Time Varying ◽  
Actuator Fault ◽  
Modeling And Control ◽  
Steer By Wire ◽  
And Control ◽  
Event Triggered

Abstract This paper proposes the adaptive fuzzy modeling and control method for steer-by-wire (SbW) systems with uncertain nonlinearity, time-varying disturbance, actuator fault, and event-triggered communication. First, the adaptive interval type-2 fuzzy logic system (IT2 FLS) is developed to modeling the uncertain nonlinearity of SbW systems. The Lyapunov-based adaptive law can guarantee the modeling performance of IT2 FLS. Then, considering the limited communication channel bandwidth of the controller-area-network (CAN), the time-varying disturbance, and actuator fault of SbW systems, an event-triggered sliding mode control is proposed for SbW systems. The chattering phenomenon of the sliding mode control system can be eliminated by using the nested adaptive technology. Theoretical analysis shows that the practical finite-time stability of the closed-loop system can be achieved while avoiding the Zeno-behavior. Finally, numerical simulations and vehicle experiments are given to evaluate the effectiveness of the proposed methods.

Adaptive type-2 fuzzy sliding mode control of steer-by-wire systems with event-triggered communication

2021 ◽  
pp. 095440702199539
Author(s):  
Bingxin Ma ◽  
Yongfu Wang
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Control Input ◽  
Time Varying ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Event Triggered

The steering-by-wire (SbW) system is one of the main subsystems of automatic vehicles, realizing the steering control of autonomous vehicles. This paper proposes an event-triggered adaptive sliding mode control for the SbW system subject to the uncertain nonlinearity, time-varying disturbance, and limited communication resources. Firstly, an event-triggered nested adaptive sliding mode control is proposed for SbW systems. The uncertain nonlinearity is approximated by the interval type-2 fuzzy logic system (IT2 FLS). The time-varying disturbance, modeling error, and event-triggering error can be offset by robust terms of sliding mode control. The key advantage is that the high-frequency switching of sliding mode control only appears on the time derivate of control input without increasing the input-output relative degree of closed-loop SbW systems, such that the chattering phenomenon can be eliminated. Finally, theoretical analysis shows that the practical finite-time stability of the closed-loop SbW system can be achieved, and communication resources in the controller-to-actuator channels can be saved while avoiding the Zeno-behavior. Numerical simulations and experiments are given to evaluate the effectiveness of the proposed method.

MODELING AND CONTROL DESIGN OF AN ANGUILLIFORM ROBOTIC FISH

2012 ◽  
Vol 03 (04) ◽  
pp. 1250018 ◽  
Author(s):  
JIAN-XIN XU ◽  
XUE-LEI NIU ◽  
QIN-YUAN REN
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Robotic Fish ◽  
Torque Control ◽  
Underactuated System ◽  
Parameter Uncertainties ◽  
Modeling And Control ◽  
Mode Control ◽  
And Control

In this paper, the modeling and control design of a biomimetic robotic fish is presented. The Anguilliform robotic fish consists of N links and N - 1 joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints, Lagrangian formulation is used to obtain the dynamics of the fish model. The computed torque control method is applied first, which can provide satisfactory tracking responses for fish joints. Since this robotic fish is essentially an underactuated system, the reference trajectories for the orientation of the N links are planned in such a way that, at a neighborhood of the equilibrium point, the tracking task of N angles can be achieved by using N - 1 joint torques. To deal with parameter uncertainties that exist in the actual environment, sliding mode control is adopted. Considering feasibility and complexity issues, a simplified sliding mode control algorithm is given. A four-link robotic fish is modeled and simulated, and the results validate the effectiveness of reference planning and the proposed controllers.

scholarly journals Robust Synchronization of Class Chaotic Systems Using Novel Time-Varying Gain Disturbance Observer-Based Sliding Mode Control

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Yang Wang ◽  
Zhen Wang ◽  
Lingyun Kong
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
High Gain ◽  
Time Varying ◽  
Mode Control ◽  
Control Precision ◽  
Robust Synchronization ◽  
And Control

For synchronization of a class of chaotic systems in the presence of nonvanishing uncertainties, a novel time-varying gain observer-based sliding mode control is proposed. First, a novel time-varying gain disturbance observer (TVGDO) is developed to estimate the uncertainties. Then, by using the output of TVGDO to modify sliding mode control (SMC), a new TVGDO-based SMC scheme is developed. Although the observation and control precision of conventional fixed gain disturbance observer-based control (FGDOC) for chaotic systems can be guaranteed by a high observer gain, the undesirable spike problem may be caused by the high gain if the initial values of estimate and true states are not equal. The most attractive feature of this work is that the newly proposed TVGDO can eliminate the spike problem by developing a time-varying gain scheme. Finally, the effectiveness of the proposed method is demonstrated by the numerical simulation.

Modeling and Control of a Novel Electro-Hydrostatic Actuator With a Three-Ports Hydraulic Pump

2020 ◽  
Author(s):  
Fengqi Zhou ◽  
Wenjian Xiao ◽  
Xiaoping Ouyang ◽  
Pengfei Zhang ◽  
Lilin Xu ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Flight Control ◽  
Position Control ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Electrical Power ◽  
Current Control ◽  
Modeling And Control ◽  
Mode Control ◽  
And Control

Abstract The electro-hydrostatic actuator (EHA) is a kind of power-by-wire (PBW) actuator that converts the electrical power into localized hydraulic power for flight control. In order to solve the problem of flow mismatching in the asymmetric cylinder, this paper presents a novel EHA which applies a three-ports fixed displacement pump to work with the asymmetric cylinder. The working principle of the novel EHA is introduced, and its nonlinear mathematical model is built. The sliding-mode control is proposed to control the position loop of the EHA. The controller structure of EHA is built including the position control using sliding-mode control, the speed control using PI, and the current control using PI. The model of mechanical parts including the permanent magnet synchronous motor (PMSM), controller and hydraulic parts are built in the SIMULINK. Simulation results show that the sliding-mode control improves the dynamic response and control accuracy compared with the traditional classic PID.

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