scholarly journals Multiple robots motion control to transport an object

Filomat ◽  
2018 ◽  
Vol 32 (5) ◽  
pp. 1547-1558 ◽  
Author(s):  
Yanyan Dai ◽  
Dianwei Qian ◽  
Sukgyu Lee
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Multiple Robots ◽  
Fuzzy Sliding Mode Control ◽  
Convex Object ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Kinematic Velocity

This paper presents transporting algorithm for multiple robots to transport a concave or convex object. The object transporting includes three processes: calculating proper points process; approaching proper points process; and transporting an object process. Using fuzzy sliding mode control algorithm, we design a kinematic velocity controller. We also propose a dynamic torque controller by adaptive sliding mode control algorithm. Finally, simulations and experiment show good performance of proposed methods.

scholarly journals Vibration Reduction of the Nonlinearly Tufted Carpet Yarn by a Modified Sliding Mode Control Method

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Shuang Huang ◽  
Xin Wu ◽  
Peixing Li
Keyword(s):  
Sliding Mode Control ◽  
High Frequency ◽  
Control Algorithm ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Control Force ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode

The yarn vibration causes the yarn tension value to fluctuate, causing a change in the amount of yarn feed, thus causing a deviation of the carpet pile height from the predetermined value. To solve this problem, the sliding mode control algorithm is used to design the sliding mode function and the sliding mode control law. And four variables in the yarn vibration system are controlled by the MATLAB software. For solving the chattering problem of the control law, the sliding mode control law is improved. The fuzzy sliding mode control algorithm based on the quasisliding mode is adopted. The results show that the sliding mode control algorithm is effective, but the sliding mode control force needs to be switched at high frequency and there is severe chattering. The fuzzy sliding mode control algorithm based on quasisliding mode is adopted to achieve better control effect with a smaller force. In addition, the control force does not have high-frequency switching, and the change is relatively stable, which reduces the chattering phenomenon of sliding mode control.

Modeling and position control of a therapeutic exoskeleton targeting upper extremity rehabilitation

2016 ◽  
Vol 231 (23) ◽  
pp. 4360-4373 ◽  
Author(s):  
Qingcong Wu ◽  
Xingsong Wang ◽  
Fengpo Du ◽  
Ruru Xi
Keyword(s):  
Sliding Mode Control ◽  
Upper Extremity ◽  
Control Algorithm ◽  
Position Control ◽  
Sliding Mode ◽  
Proportional Integral Derivative ◽  
Fuzzy Sliding Mode Control ◽  
Proportional Integral ◽  
Mode Control ◽  
Fuzzy Sliding Mode

The applications of robotics and automation technology to the therapies of neuromuscular and orthopedic impairments have received increasing attention due to their promising prospects. In this paper, we present an actuated upper extremity exoskeleton aimed to facilitate the rehabilitation training of the disable patients. A modified sliding mode control strategy incorporating a proportional-integral-derivative sliding surface and a fuzzy hitting control law is developed to ensure robust and optimal position control performance. Dynamic modeling of the exoskeleton as well as the human arm is presented and then applied to the development of the fuzzy sliding mode control algorithm. A theoretical proof of the stability and convergence of the closed-loop system is presented using the Lyapunov theorem. Three typical real-time position control experiments are conducted with the aim of evaluating the effectiveness of the proposed control scheme. The performances of the fuzzy sliding mode control algorithm are compared to those of conventional proportional-integral-derivative controller and conventional sliding mode control algorithm. The experimental results indicate that the position control with fuzzy sliding mode control algorithm has a bandwidth about 4 Hz during operation. Furthermore, this control approach can guarantee the best control performances in term of tracking accuracy, response speed, and robustness against external disturbances.

scholarly journals A reduced-order approach to the adaptive fuzzy sliding mode control of the constrained manipulator

2018 ◽  
Vol 10 (7) ◽  
pp. 168781401878679
Author(s):  
Yanbing Liang ◽  
Heng Shi ◽  
Guangyuan Tian
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Reduced Order ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Chattering Phenomenon ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

A reduced-order approach to the adaptive fuzzy sliding mode control of the constrained manipulator is proposed. Based on the Udwadia–Kalaba motion constraint equation, the dynamic equation of the constrained manipulator with both ideal and non-ideal constraints is obtained. Considering the uncertainty of the terminal non-ideal constrained force and the chattering phenomenon of sliding mode control, the adaptive fuzzy and the sliding mode control method are combined to control the constrained manipulator. Because the system is constrained, the model order reduction method is innovatively used in the control algorithm. The stability of the system is proved by Lyapunov theorem. For demonstrating the effectiveness of the control algorithm, the 2-degree-of-freedom manipulator is taken as the research object. Finally, the high-precision control of the manipulator is achieved and the chattering phenomenon caused by the sliding mode control is weakened.

ADAPTIVE FUZZY SLIDING MODE CONTROL FOR BASE-ISOLATED BUILDINGS

2000 ◽  
Vol 09 (04) ◽  
pp. 493-508 ◽  
Author(s):  
WEI-LING CHIANG ◽  
KEN YEH ◽  
MING-YI LIU
Keyword(s):  
Sliding Mode Control ◽  
Structural Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

The purpose of this paper is to apply adaptive fuzzy sliding mode control for the structural control of base-isolated buildings. Combining the fuzzy control and sliding mode control one can reduce the complexity of fuzzy rule bases. It also ensures the stability and robustness. The Lyapunov theory is used to develop the adaptive law. In addition to full-state-feedback controller, an estimator using only the measured information from a few sensors is presented. Finally, the adaptive sliding mode control is applied to two types of base-isolated building, with LRB, and sliding bearing isolators. Stiffness uncertainty and time delay is utilized to illustrate the robustness of this proposed algorithm. The effectiveness of this algorithm is demonstrated by simulation results for a long period, a wide-pass white noise artificial earthquake and Taiwan Chi Chi earthquake occurred in 1999. The simulations show that adaptive sliding mode control can achieve satisfactory results in the application of structural control for base-isolated buildings.

scholarly journals An ABC Optimized Adaptive Fuzzy Sliding Mode Control Strategy for Full Vehicle Active Suspension System

2021 ◽  
Vol 17 (2) ◽  
pp. 151-165
Author(s):  
Atheel Abdul Zahra ◽  
Turki Abdalla
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Suspension System ◽  
Adaptive Sliding Mode Control ◽  
Fuzzy Sliding Mode Control ◽  
Full Vehicle ◽  
Mode Control ◽  
Control Scheme ◽  
Fuzzy Sliding Mode ◽  
The Stability

This work presents a Fuzzy based adaptive Sliding Mode Control scheme to deal with the control problem of full vehicle active suspension system and take into consideration the nonlinearities of the spring and damper, unmodeled dynamics as well as external disturbances. The control law of fuzzy-based Adaptive Sliding Mode Control scheme will update the parameters of fuzzy sliding mode control by using the stability analysis of Lyapunov criteria such that the convergence infinite time and the stability of the closed-loop is ensured. The proposed control scheme consists of four similar subsystems used for the four sides of the vehicle. The sub-control scheme contains two loops, the outer loop is built using a sliding mode controller with a fuzzy estimator to approximate and estimate the unknown parameters in the system. In the inner loop, a controller of type Fractional Order PID (FOPID) is utilized to create the required actuator force. All parameters in the four sub-control schemes are optimized utilizing Artificial Bee Colony (ABC) algorithm in order to improve the performance. The results indicate the effectiveness and good achievement of the proposed controller in providing the best ability to limit the vibration with good robustness properties in comparison with passive suspension system and using sliding mode control method. The controlled suspension system shows excellent results when it was tested with and without typical breaking and bending torques.

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