scholarly journals An Efficient Approach for SIMO Systems using Adaptive Fuzzy Hierarchical Sliding Mode Control

2021 ◽  
Author(s):  
Linh Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Two Dimensional ◽  
Efficient Operation ◽  
Control Approach ◽  
Mode Control ◽  
Hierarchical Sliding Mode ◽  
Input Multiple Output ◽  
Single Input ◽  
Actuator Nonlinearity

<div>The paper addresses the problem of efficiently controlling a class of single input multiple output (SIMO) underactuated robotic systems such as a two dimensional inverted pendulum cart or a two dimensional overhead crane. It is first proposed to employ the hierarchical sliding mode control approach to design a control law, which guarantees stability and anti-swing of the vehicle when it is driven on a predefined trajectory. More importantly, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by the proposed fuzzy logic mechanism, which results in the efficient operation of the SIMO under-actuated system in real time. The proposed algorithm was then implemented in the synthetic environment, where the obtained results demonstrate its effectiveness.</div>

scholarly journals An Efficient Approach for SIMO Systems using Adaptive Fuzzy Hierarchical Sliding Mode Control

2021 ◽  
Author(s):  
Linh Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Two Dimensional ◽  
Efficient Operation ◽  
Control Approach ◽  
Mode Control ◽  
Hierarchical Sliding Mode ◽  
Input Multiple Output ◽  
Single Input ◽  
Actuator Nonlinearity

<div>The paper addresses the problem of efficiently controlling a class of single input multiple output (SIMO) underactuated robotic systems such as a two dimensional inverted pendulum cart or a two dimensional overhead crane. It is first proposed to employ the hierarchical sliding mode control approach to design a control law, which guarantees stability and anti-swing of the vehicle when it is driven on a predefined trajectory. More importantly, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by the proposed fuzzy logic mechanism, which results in the efficient operation of the SIMO under-actuated system in real time. The proposed algorithm was then implemented in the synthetic environment, where the obtained results demonstrate its effectiveness.</div>

Sliding-mode control of single input multiple output DC-DC converter

2016 ◽  
Vol 87 (10) ◽  
pp. 104703 ◽  
Author(s):  
Libo Zhang ◽  
Yihan Sun ◽  
Tiejian Luo ◽  
Qiyang Wan
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Input Multiple Output ◽  
Single Input

Hierarchical sliding mode control for a two-dimensional ball segway that is a class of a second-order underactuated system

2018 ◽  
Vol 25 (1) ◽  
pp. 72-83 ◽  
Author(s):  
Dinh Ba Pham ◽  
Soon-Geul Lee
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Second Order ◽  
The Body ◽  
Body Tilt ◽  
Control Technique ◽  
Two Dimensional ◽  
Mode Control ◽  
Hierarchical Sliding Mode ◽  
Dimensional Ball

Ball segway, a ballbot-type personal carrier robot, is an actual under-actuated system with second-order nonholonomic velocity constraints and input coupling case. The two-dimensional ball segway system has two outputs consisting of ball position and body tilt angle, which needs to be controlled but has only one torque driving the ball. Actuators directly drive the ball and the body has no direct control. The main objective of this study is to design a robust controller for the ball segway so that the ball is transferred in a point-to-point motion while the body is maintained in the vertical position. The proposed controller is designed on the basis of hierarchical sliding mode control technique. Both simulations and experiments were conducted to verify the quality and stability of the control system.

scholarly journals An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

2022 ◽  
Author(s):  
Linh Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Fuzzy Inference ◽  
Sliding Mode ◽  
Overhead Crane ◽  
Control Approach ◽  
Mode Control ◽  
Extensive Evaluation ◽  
Hierarchical Sliding Mode ◽  
Six Dof

<pre>The paper proposes a new approach to efficiently control a three-dimensional overhead crane with six degrees of freedom (DoF). In addition to five usual output variables including three positions of the trolley, bridge and pulley and two swing angles of the hoisting cable, it is proposed to consider elasticity of the hoisting cable, which causes oscillation in the cable direction. That is, there exists $6^{th}$ under-actuated output in the crane system. To design an efficient controller for the six-DoF crane, it first employs the hierarchical sliding mode control approach, which not only guarantees stability but also minimizes sway and oscillation of the overhead crane when it transports a payload to desired location. Moreover, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by utilizing the fuzzy inference rule mechanism, which results in efficient operations of the crane in real time. More importantly, stabilization of the crane controlled by the proposed algorithm is theoretically proved by the use of the Lyapunov function. The proposed control approach was implemented in the synthetic environment for the extensive evaluation, where the obtained results demonstrate its effectiveness.</pre>

scholarly journals An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

2022 ◽  
Author(s):  
Linh Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Fuzzy Inference ◽  
Sliding Mode ◽  
Overhead Crane ◽  
Control Approach ◽  
Mode Control ◽  
Extensive Evaluation ◽  
Hierarchical Sliding Mode ◽  
Six Dof

<pre>The paper proposes a new approach to efficiently control a three-dimensional overhead crane with six degrees of freedom (DoF). In addition to five usual output variables including three positions of the trolley, bridge and pulley and two swing angles of the hoisting cable, it is proposed to consider elasticity of the hoisting cable, which causes oscillation in the cable direction. That is, there exists $6^{th}$ under-actuated output in the crane system. To design an efficient controller for the six-DoF crane, it first employs the hierarchical sliding mode control approach, which not only guarantees stability but also minimizes sway and oscillation of the overhead crane when it transports a payload to desired location. Moreover, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by utilizing the fuzzy inference rule mechanism, which results in efficient operations of the crane in real time. More importantly, stabilization of the crane controlled by the proposed algorithm is theoretically proved by the use of the Lyapunov function. The proposed control approach was implemented in the synthetic environment for the extensive evaluation, where the obtained results demonstrate its effectiveness.</pre>

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