Chaotic Gyros Synchronization

2011 ◽  
pp. 183-209
Author(s):  
M. Roopaei ◽  
M. J. Zolghadri ◽  
B. S. Ranjbar ◽  
S. H. Mousavi ◽  
H. Adloo ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Dead Zone ◽  
Control Input ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Robust Adaptive ◽  
Fuzzy Parameter

In this chapter, three methods for synchronizing of two chaotic gyros in the presence of uncertainties, external disturbances and dead-zone nonlinearity are studied. In the first method, there is dead-zone nonlinearity in the control input, which limits the performance of accurate control methods. The effects of this nonlinearity will be attenuated using a fuzzy parameter approximator integrated with sliding mode control method. In order to overcome the synchronization problem for a class of unknown nonlinear chaotic gyros a robust adaptive fuzzy sliding mode control scheme is proposed in the second method. In the last method, two different gyro systems have been considered and a fuzzy controller is proposed to eliminate chattering phenomena during the reaching phase of sliding mode control. Simulation results are also provided to illustrate the effectiveness of the proposed methods.

Fast Terminal Fuzzy Sliding Mode Control for a Three-Links Spatial Robot

2012 ◽  
Vol 226-228 ◽  
pp. 840-843 ◽  
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Da Min Cao ◽  
Hai Rong Xu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode

To achieve high performance tracing control of the three-links spatial robot, a fast terminal fuzzy sliding mode control method is proposed in this paper. Firstly, the control method can efficiently solve the singularity of the controller through switching between terminal sliding mode surface and linear sliding mode surface. Secondly, to diminish the chattering in the control input, a fuzzy controller is designed to adjust the generalized gain of fast terminal fuzzy sliding mode controller according to fast terminal sliding mode surface. The stability of the control algorithm is verified by using Lyapunov theory. The proposed controller is then applied to the control of a three-links spatial robot. Simulation results show the validity of the proposed control scheme.

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.

Attitude Control of Flapping Wing Micro Aerial Vehicle Based on Double Fuzzy Sliding Mode Control

2012 ◽  
Vol 468-471 ◽  
pp. 704-707
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Zhi Yi Chen ◽  
Lei Lei ◽  
Yi Xuan Zhang
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

An adaptive Double Fuzzy Sliding Mode Control scheme for attitude control of Flapping Wing Micro Aerial Vehicle is proposed in this paper. Based on the feedback linearization technique, a sliding mode controller is designed. To faster response speed, a fuzzy controller is designed to adaptively tune the slope of sliding mode surface. To reduce the chattering, another fuzzy controller is designed to adaptively tune the switch part of sliding mode control. The system stability is proved by Lyapunov principle. Simulation results show that the proposed control scheme is effective.

scholarly journals ESO-Based Fuzzy Sliding-Mode Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Yueling Wang ◽  
Runjie Shi ◽  
Hongbin Wang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Parallel Hybrid ◽  
Fuzzy Sliding Mode ◽  
Fuzzy Parameter ◽  
Humanoid Arm

This paper presents a unique ESO-based fuzzy sliding-mode controller (FSMC-ESO) for a 3-DOF serial-parallel hybrid humanoid arm (HHA) for the trajectory tracking control problem. The dynamic model of the HHA is obtained by Lagrange method and is nonlinear in dynamics with inertia uncertainty and external disturbance. The FSMC-ESO is based on the combination of the sliding-mode control (SMC), extended state observer (ESO) theory, and fuzzy control (FC). The SMC is insensitive to both internal parameter uncertainties and external disturbances. The motivation for using ESO is to estimate the disturbance in real-time. The fuzzy parameter self-tuning strategy is proposed to adjust the switching gain on line according to the running state of the system. The stability of the system is guaranteed in the sense of the Lyapunov stability theorem. The effectiveness and robustness of the designed FSMC-ESO are illustrated by simulations.

scholarly journals Fuzzy Sliding Mode Control Method for AUV Buoyancy Regulation System

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Wende Zhao ◽  
Decheng Wang ◽  
Zhenzhong Chu ◽  
Mingjun Zhang
Keyword(s):  
Sliding Mode Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Sliding Mode ◽  
Regulation System ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Control Scheme ◽  
Fuzzy Sliding Mode ◽  
Control Accuracy

This paper investigates the control problem of the buoyancy regulation system for autonomous underwater vehicle (AUV). There are some problems to be considered in the oil-water conversion-based buoyancy regulation system, including the external seawater pressure, the pressure fluctuations, and the slow switching speed of the ball valve. The control accuracy of the buoyancy regulation under the traditional PID controller cannot meet the requirements of the project. In this paper, a fuzzy sliding mode control scheme is developed for the buoyancy regulation system to solve the abovementioned problems. At first, a mathematical model of the buoyancy regulation system is established, and the stability of the system is analyzed. Then, the sliding mode control algorithm is combined with the fuzzy system to improve the control accuracy. Finally, the pool-experiment results on a prototype show that the developed control scheme can meet the requirements of the control accuracy for the buoyancy regulation system.

scholarly journals MIMO Fuzzy Sliding Mode Control for Three-Axis Inertially Stabilized Platform

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1658 ◽  
Author(s):  
Zhanmin Zhou ◽  
Bao Zhang ◽  
Dapeng Mao
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Stability And Convergence ◽  
Tracking Accuracy ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

In this paper, a MIMO (Multi-Input Multi-Output) fuzzy sliding mode control method is proposed for a three-axis inertially stabilized platform. This method is based on the MIMO coupling model of the three-axis inertially stabilized platform in which the dynamic coupling among the three frames, namely the azimuth frame, the pitch frame and the roll frame, is fully considered. Firstly, the dynamic equation of the three-axis inertially stabilized platform is analyzed and its linearized model is obtained. After this, the controller is designed based on the model, during which fuzzy logic is introduced to deal with the frame coupling and the adaptive fuzzy coupling compensation factor is designed to be part of the algorithm. A complete proof of the stability and convergence is also provided in this paper. Finally, the performance of the platform with a MIMO fuzzy sliding mode controller and PI controller is analyzed. The simulation results show that the proposed scheme can guarantee tracking accuracy and effectively suppress the coupling interference between the three frames.

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