scholarly journals Piece-wise Linear Fuzzy Sliding Mode Controller for Deep Submergence Rescue Vehicle (DSRV)

2021 ◽  
Author(s):  
Ghulam E Mustafa Abro
Keyword(s):  
Sliding Mode ◽  
Rule Base ◽  
Sliding Mode Controller ◽  
Sliding Mode Controllers ◽  
Marine System ◽  
Fuzzy Sliding Mode ◽  
Single Input ◽  
Overall Performance ◽  
And Performance ◽  
Linear Controllers

The paper aims to present the design and performance of a single input fuzzy sliding mode controller (SIFSMC) to control the motion of deep submergence rescue vehicle (DSRV). The proposed controller uses the linear single dimension rule base where as the conventional fuzzy sliding mode controllers (CFSMC) uses the two-dimensional rule base. Moreover, the proposed controller does not merely depend on the DSRV exact mathematical model unlike that of the linear controllers. Using SIFSMC, the number of rules governs are also greatly reduced in comparison with the CFSMC, without compromising the overall performance. The robustness, equivalency and efficacy of proposed idea is illustrated through the simulation results using a marine system simulator in MATLAB/Simulink® environment. The main objective of the paper is to compare CFSMC and SIFSMC for UUV’s. Consequently, a comparative analysis of proposed SIFSMC is shown with the CFSMC for the same system of DSRV.

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.

Robust fuzzy sliding mode control for tracking the robot manipulator in joint space and in presence of uncertainties

Robotica ◽  
2013 ◽  
Vol 32 (3) ◽  
pp. 433-446 ◽  
Author(s):  
Mohammad Reza Soltanpour ◽  
Mohammad Hassan Khooban ◽  
Mahmoodreza Soltani
Keyword(s):  
Sliding Mode Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Rule Base ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode Control ◽  
Ts Fuzzy Model ◽  
Mode Control ◽  
Fuzzy Sliding Mode

SUMMARYThis paper proposes a simple fuzzy sliding mode control to achieve the best trajectory tracking for the robot manipulator. In the core of the proposed method, by applying the feedback linearization technique, the known dynamics of the robot's manipulator is removed; then, in order to overcome the remaining uncertainties, a classic sliding mode control is designed. Afterward, by applying the TS fuzzy model, the classic sliding mode controller is converted to fuzzy sliding mode controller with very simple rule base. The mathematical analysis shows that the robot manipulator with the new proposed control in tracking the robot manipulator in presence of uncertainties has the globally asymptotic stability. Finally, to show the performance of the proposed method, the controller is simulated on a robot manipulator with two degrees of freedom as case study of the research. Simulation results demonstrate the superiority of the proposed control scheme in presence of the structured and unstructured uncertainties.

scholarly journals Sliding Mode Control of Catheter Drive System and Performance Improvement via Fuzzy Logic

2021 ◽  
pp. 42-49
Author(s):  
Gokmen Atakan Turkmen ◽  
Levent Cetin ◽  
Baris Oguz Gurses ◽  
Mert Sener ◽  
Ozge Akbulbul ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Performance Improvement ◽  
Sliding Mode ◽  
Performance Comparison ◽  
System Response ◽  
Sliding Mode Controller ◽  
Closed Loop System ◽  
Sliding Mode Controllers ◽  
And Performance ◽  
Better Than

Catheters are used in medical applications such as bronchoscopy, colonoscopy, angiography. Due to the catheters are in direct contact with the tissue in these procedures, their movements must be controlled. In this study, three different sliding-mode controllers that can be used to control the movement of the catheter have been proposed. These are the classical sliding mode controller, quasi sliding mode controller, and asymptotic sliding mode controller structures. Performance comparison of the controllers was made by assessing the closed-loop system response. The results indicated that the performance of the quasi sliding mode controller was better than the other controllers. It has been proposed to use a fuzzy logic-based highest controller to improve the performance of the quasi sliding mode controller. The proposed controller structure updates the controller parameters depending on the predicted disturbance magnitude and position error. The results show that the real-time performance of the quasi sliding mode controller is improved by the change of the proposed control structure.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

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