Design of Fractional Order Fuzzy Controller Based on Sliding Mode Control for Robotic Flexible Joint Manipulators

2011 ◽  
Vol 109 ◽  
pp. 323-332 ◽  
Author(s):  
Ali Fayazi ◽  
Amir Hossein Hadjahmadi
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Tracking Error ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Level Control ◽  
Mode Control ◽  
Fractional Control

In this paper, a new design approach that combines the advantages in terms of robustness of the fractional control, the fuzzy scheme and the Sliding Mode Control (SMC) is proposed for robotic manipulators. A fractional order fuzzy sliding-mode controller (FOFSMC) can drive system tracking error to converge to zero in finite time. The FOFSMC is applied to a level control in robotic manipulators. Performance of the proposed controller evaluated to compare the performance with respect the conventional sliding mode controller. The simulation results demonstrate that the FOFSMC can provide a reasonable tracking performance.

scholarly journals Uncertain Fractional Order Chaotic Systems Tracking Design via Adaptive Hybrid Fuzzy Sliding Mode Control

2011 ◽  
Vol 6 (3) ◽  
pp. 418 ◽  
Author(s):  
Tsung-Chih Lin ◽  
Chia-Hao Kuo ◽  
Valentina E. Balas
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Chaotic Systems ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Fuzzy Controller ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
And Control

In this paper, in order to achieve tracking performance of uncertain fractional order chaotic systems an adaptive hybrid fuzzy controller is proposed. During the design procedure, a hybrid learning algorithm combining sliding mode control and Lyapunov stability criterion is adopted to tune the free parameters on line by output feedback control law and adaptive law. A weighting factor, which can be adjusted by the trade-off between plant knowledge and control knowledge, is adopted to sum together the control efforts from indirect adaptive fuzzy controller and direct adaptive fuzzy controller. To confirm effectiveness of the proposed control scheme, the fractional order chaotic response system is fully illustrated to track the trajectory generated from the fractional order chaotic drive system. The numerical results show that tracking error and control effort can be made smaller and the proposed hybrid intelligent control structure is more flexible during the design process.

scholarly journals Observer-based adaptive neural network backstepping sliding mode control for switched fractional order uncertain nonlinear systems with unmeasured states

2021 ◽  
pp. 002029402110211
Author(s):  
Tao Chen ◽  
Damin Cao ◽  
Jiaxin Yuan ◽  
Hui Yang
Keyword(s):  
Neural Network ◽  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Neural Network ◽  
Dynamic Surface ◽  
Mode Control ◽  
The Stability

This paper proposes an observer-based adaptive neural network backstepping sliding mode controller to ensure the stability of switched fractional order strict-feedback nonlinear systems in the presence of arbitrary switchings and unmeasured states. To avoid “explosion of complexity” and obtain fractional derivatives for virtual control functions continuously, the fractional order dynamic surface control (DSC) technology is introduced into the controller. An observer is used for states estimation of the fractional order systems. The sliding mode control technology is introduced to enhance robustness. The unknown nonlinear functions and uncertain disturbances are approximated by the radial basis function neural networks (RBFNNs). The stability of system is ensured by the constructed Lyapunov functions. The fractional adaptive laws are proposed to update uncertain parameters. The proposed controller can ensure convergence of the tracking error and all the states remain bounded in the closed-loop systems. Lastly, the feasibility of the proposed control method is proved by giving two examples.

Fuzzy Sliding-Mode Control of a Variable Geometry Manipulator: Experimental Investigation

2000 ◽  
Author(s):  
J. Choi ◽  
C. W. de Silva ◽  
V. J. Modi ◽  
A. K. Misra
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Experimental Studies ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Knowledge Based ◽  
Fuzzy Sliding Mode

Abstract This paper focuses a robust and knowledge-based control approach for multi-link robot manipulator systems. Based on the concepts of sliding-mode control and fuzzy logic control (FLC), a fuzzy sliding-mode controller has been developed in previous work. This controller possesses good robustness properties of sliding-mode control and the flexibility and ‘intelligent’ capabilities of knowledge-based control through the use of fuzzy logic. This paper presents experimental studies with fuzzy sliding-mode control as well as conventional sliding-mode control. The results show that the tracking error is guaranteed to converge to a specification in the presence of uncertainties. The performance of the fuzzy sliding-mode controller is found to be somewhat better than that of the conventional sliding-mode controller.

Fixed-time fractional-order sliding mode control for nonlinear power systems

2020 ◽  
Vol 26 (17-18) ◽  
pp. 1425-1434 ◽  
Author(s):  
Sunhua Huang ◽  
Jie Wang
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Fractional Order ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Fixed Time ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Time Control

In this study, a fractional-order sliding mode controller is effectively proposed to stabilize a nonlinear power system in a fixed time. State trajectories of a nonlinear power system show nonlinear behaviors on the angle and frequency of the generator, phase angle, and magnitude of the load voltage, which would seriously affect the safe and stable operation of the power grid. Therefore, fractional calculus is applied to design a fractional-order sliding mode controller which can effectively suppress the inherent chattering phenomenon in sliding mode control to make the nonlinear power system converge to the equilibrium point in a fixed time based on the fixed-time stability theory. Compared with the finite-time control method, the convergence time of the proposed fixed-time fractional-order sliding mode controller is not dependent on the initial conditions and can be exactly evaluated, thus overcoming the shortcomings of the finite-time control method. Finally, superior performances of the fractional-order sliding mode controller are effectively verified by comparing with the existing finite-time control methods and integral order sliding mode control through numerical simulations.

scholarly journals Performance Comparison of Different Advanced Control Schemes for Glucose Level Control under Disturbing Meal

2017 ◽  
Vol 13 (3) ◽  
pp. 55-63
Author(s):  
Bashar Fateh Midhat ◽  
Amjad Jaleel Humaidi
Keyword(s):  
Sliding Mode Control ◽  
Glucose Concentration ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Blood Glucose Concentration ◽  
Optimal Controller ◽  
Sliding Mode Controller ◽  
Level Control ◽  
Integral Sliding Mode ◽  
Mode Control

Abstract In this work, diabetic glucose concentration level control under disturbing meal has been controlled using two set of advanced controllers. The first set is sliding mode controllers (classical and integral) and the second set is represented by optimal LQR controllers (classical and Min-, ax). Due to their characteristic features of disturbance rejection, both integral sliding mode controller and LQR Minmax controller are dedicated here for comparison. The Bergman minimal mathematical model was used to represent the dynamic behavior of a diabetic patient’s blood glucose concentration to the insulin injection. Simulations based on Matlab/Simulink, were performed to verify the performance of each controller. In spite that Min-max optimal controller gave better disturbance rejection capability than classical optimal controller, classical sliding mode controller could outperform Min-max controller. However, it has been shown that integral sliding mode controller is the best of all in terms of disturbance rejection capability.   Key words: Optimal LQR control, Optimalminimax control, Sliding mode control, Integral sliding mode control.

Design of adaptive sliding mode controller applied to ultrasonic motor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Gangfeng Yan
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Control Parameters ◽  
Content Type ◽  
Adaptive Sliding Mode ◽  
Mode Control

Purpose The purpose of this paper is to achieve high-precision sliding mode control without chattering; the control parameters are easy to adjust, and the entire controller is easy to use in engineering practice. Design/methodology/approach Using double sliding mode surfaces, the gain of the control signal can be adjusted adaptively according to the error signal. A kind of sliding mode controller without chattering is designed and applied to the control of ultrasonic motors. Findings The results show that for a position signal with a tracking amplitude of 35 mm, the traditional sliding mode control method has a maximum tracking error of 0.3326 mm under the premise of small chattering; the boundary layer sliding mode control method has a maximum tracking error of 0.3927 mm without chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.1589 mm, and there is no chattering. Under the same control parameters, after adding a load of 0.5 kg, the maximum tracking errors of the traditional sliding mode control method, the boundary layer sliding mode control method and the continuous switching adaptive sliding mode control are 0.4292 mm, 0.5111 mm and 0.1848 mm, respectively. Originality/value The proposed method not only switches continuously, but also the amplitude of the switching signal is adaptive, while maintaining the robustness of the conventional sliding mode control method, which has strong engineering application value.

scholarly journals Disturbance Observer-Based Complementary Fractional-Order Sliding Mode Control for PMSM Drive System

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Yong-Hong Lan ◽  
Li-Tao Zheng ◽  
Zhao-Hong Wang
Keyword(s):  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Fractional Order ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Tracking Error ◽  
Synchronous Motor ◽  
Drive System ◽  
Mode Control

In this paper, a disturbance observer-based complementary fractional-order sliding mode control (CFOSMC) scheme is proposed for the permanent magnet synchronous motor (PMSM) drive system. First, to reconstruct the load disturbance and parameter variations, a nonlinear disturbance observer is designed. Next, a disturbance observer-based fractional-order sliding mode with a saturation function control law is designed to reduce the chattering problem in the existing fractional-order sliding mode control (FOSMC) method. Furthermore, to reduce the thickness of the boundary layer, a CFOSMC scheme is designed. By using the fractional-order Lyapunov stability theorem, the existence condition and the chattering problem are analyzed. Compared with the existing FOSMC, the obtained CFOSMC law does not contain any high-order derivatives of tracking error, which is easier to implement. Finally, the numerical simulations and experimental results are provided to show the superiority of the proposed method. To improve the performance of the permanent magnet synchronous motor (PMSM) drive system in terms of tracking rapidity, accuracy, and robustness, a complementary fractional-order sliding mode control (CFOSMC) scheme with disturbance observer is proposed in this paper.

scholarly journals Adaptive Control of MEMS Gyroscope Based on Global Terminal Sliding Mode Controller

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Weifeng Yan ◽  
Juntao Fei
Keyword(s):  
Sliding Mode Control ◽  
Upper Bound ◽  
Sliding Mode ◽  
Tracking Error ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

An adaptive global fast terminal sliding mode control (GFTSM) is proposed for tracking control of Micro-Electro-Mechanical Systems (MEMS) vibratory gyroscopes under unknown model uncertainties and external disturbances. To improve the convergence rate of reaching the sliding surface, a global fast terminal sliding surface is employed which can integrate the advantages of traditional sliding mode control and terminal sliding mode control. It can be guaranteed that sliding surface and equilibrium point can be reached in a shorter finite time from any initial state. In the presence of unknown upper bound of system nonlinearities, an adaptive global fast terminal sliding mode controller is derived to estimate this unknown upper bound. Simulation results demonstrate that the tracking error can be attenuated efficiently and robustness of the control system can be improved with the proposed adaptive global fast terminal sliding mode control.

scholarly journals Fractional-order sliding mode control for a class of uncertain nonlinear systems based on LQR

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769429 ◽  
Author(s):  
Dong Zhang ◽  
Lin Cao ◽  
Shuo Tang
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Control Strategy ◽  
Sliding Mode ◽  
Tracking Error ◽  
Uncertain Nonlinear Systems ◽  
Mode Control ◽  
Output System ◽  
System Uncertainties ◽  
Error Dynamics

This article presents a new fractional-order sliding mode control (FOSMC) strategy based on a linear-quadratic regulator (LQR) for a class of uncertain nonlinear systems. First, input/output feedback linearization is used to linearize the nonlinear system and decouple tracking error dynamics. Second, LQR is designed to ensure that the tracking error dynamics converges to the equilibrium point as soon as possible. Based on LQR, a novel fractional-order sliding surface is introduced. Subsequently, the FOSMC is designed to reject system uncertainties and reduce the magnitude of control chattering. Then, the global stability of the closed-loop control system is analytically proved using Lyapunov stability theory. Finally, a typical single-input single-output system and a typical multi-input multi-output system are simulated to illustrate the effectiveness and advantages of the proposed control strategy. The results of the simulation indicate that the proposed control strategy exhibits excellent performance and robustness with system uncertainties. Compared to conventional integer-order sliding mode control, the high-frequency chattering of the control input is drastically depressed.

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