Hybrid Fuzzy-Sliding Control with Fuzzy Self-Tuning for Vector Controlled Drive Systems

2013 ◽  
Vol 418 ◽  
pp. 96-99
Author(s):  
Shun Yuan Wang ◽  
Chwan Lu Tseng ◽  
Shou Chuang Lin ◽  
Jen Hsiang Chou ◽  
Yung Shun Chang ◽  
...  
Keyword(s):  
Fuzzy Controller ◽  
Sliding Mode ◽  
Transient State ◽  
Sliding Mode Controller ◽  
Smooth Control ◽  
Supervisory System ◽  
Speed Controller ◽  
Rapid Control ◽  
Self Tuning ◽  
Drive Systems

The purpose of this study was to develop a hybrid fuzzy-sliding controller with fuzzy self-tuning (HFSC). This controller used a fuzzy supervisory system to allocate the output proportions of a sliding-mode controller and a fuzzy controller (FC). The sliding-mode controller primarily provides rapid control efforts in the transient state, and the FC mainly offers smooth control in the steady state and decreases the chatter phenomenon caused by the sliding-mode controller. Finally, the proposed HFSC was implemented in the vector controlled drive system of induction motor as the speed controller. The experimental results showed that the tracking performance and effects of the HFSC were superior to those of the FC.

An Adaptive PI/Sliding Mode Controller for a Speed Drive

1989 ◽  
Vol 111 (3) ◽  
pp. 409-415 ◽  
Author(s):  
R. M. DeSantis
Keyword(s):  
Performance Improvement ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Industrial Applications ◽  
Open Loop ◽  
Sliding Mode Controller ◽  
Switching Element ◽  
Parallel Addition ◽  
Self Tuning ◽  
Theoretical Results

A classical PI speed drive controller modified with the parallel addition of an on-off switching element appears to offer a potential for reasonable improvement over the performance of the original version. This improvement is obtained by combining classical transfer function techniques, sliding mode systems ideas, and self-tuning. While theoretical results, extended simulations, and preliminary experimental tests are encouraging, they do suggest that in actual industrial applications performance improvement may be conditioned by the usage of better performing open loop components.

Fuzzy Sliding Mode Control for a Three-Links Spatial Robot Based on RBF Neural Network

2011 ◽  
Vol 141 ◽  
pp. 303-307 ◽  
Author(s):  
Sheng Bin Hu ◽  
Min Xun Lu
Keyword(s):  
Neural Network ◽  
Radial Basis Function ◽  
Basis Function ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Sliding Mode Controller ◽  
System A ◽  
Radial Basis ◽  
Fuzzy Sliding Mode

To achieve the tracing control of a three-links spatial robot, a adaptive fuzzy sliding mode controller based on radial basis function neural network is proposed in this paper. The exponential sliding mode controller is divided into two parts: equivalent part and exponential corrective part. To realize the control without the model information of the system, a radial basis function neural network is designed to estimate the equivalent part. To diminish the chattering, a fuzzy controller is designed to adjust the corrective part according to sliding surface. The simulation studies have been carried out to show the tracking performance of a three-links spatial robot. Simulation results show the validity of the control scheme.

Comparison Precision of Oil Film Thickness of a Hydrostatic Bearing by Using Different Controllers under External Load

2013 ◽  
Vol 415 ◽  
pp. 192-195
Author(s):  
Ming Chang Shih ◽  
Jen Sheng Shie
Keyword(s):  
Film Thickness ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Dead Zone ◽  
Displacement Sensor ◽  
Practical Implementation ◽  
Oil Film ◽  
Hydrostatic Bearing ◽  
Hydraulic Servo ◽  
Self Tuning

This paper describes a hydrostatic bearing to maintain the oil film thickness, which integrates the hydraulic servo control technology. This study has designed the different intelligent nonlinear controllers by using a non-contact displacement sensor to feedback the oil film thickness of the bearing. This study proposes a fuzzy controller, a self-tuning fuzzy controller and a self-tuning fuzzy sliding mode mechanism to modify the output scaling factor and adds a dead zone compensator to achieve a constant oil film thickness. Finally, the experimental results are used to verify the feasibility and practical implementation success of this study.

Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger

2019 ◽  
Vol 46 (6) ◽  
pp. 839-850 ◽  
Author(s):  
Alireza Abbasi Moshaii ◽  
Majid Mohammadi Moghaddam ◽  
Vahid Dehghan Niestanak
Keyword(s):  
Fuzzy Controller ◽  
Sliding Mode ◽  
Good Choice ◽  
Sliding Mode Controller ◽  
Rehabilitation Robot ◽  
Hand Rehabilitation ◽  
Content Type ◽  
System A ◽  
Fuzzy Sliding Mode ◽  
Novel Design

Purpose The purpose of this paper is to introduce a new design for a finger and wrist rehabilitation robot. Furthermore, a fuzzy sliding mode controller has been designed to control the system. Design/methodology/approach Following an introduction regarding the hand rehabilitation, this paper discusses the conceptual and detailed design of a novel wrist and finger rehabilitation robot. The robot provides the possibility of rehabilitating each phalanx individually which is very important in the finger rehabilitation process. Moreover, due to the model uncertainties, disturbances and chattering in the system, a fuzzy sliding mode controller design method is proposed for the robot. Findings With the novel design for moving the DOFs of the system, the rehabilitation for the wrist and all phalanges of fingers is done with only two actuators which are combined in one device. These features make the system a good choice for home rehabilitation. To control the robot, a fuzzy sliding mode controller has been designed for the system. The fuzzy controller does not affect the coefficient of the sliding mode controller and uses the overall error of the system to make a control signal. Thus, the dependence of the controller to the model decreases and the system is more robust. The stability of the system is proved by the Lyapunov theorem. Originality/value The paper provides a novel design of a hand rehabilitation robot and a controller which is used to compensate the effects of the uncertain parameters and chattering phenomenon.

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.

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