Fuzzy Nonsingular Terminal Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2014 ◽  
Vol 716-717 ◽  
pp. 1694-1698
Author(s):  
Sheng Bin Hu ◽  
Jian Feng Yin ◽  
He Ju Liang ◽  
Hui Liu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme ◽  
Aerial Vehicle

A fuzzy nonsingular terminal sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a nonsingular terminal sliding mode controller is designed. To reduce the chattering in the control input, a fuzzy controller is designed to adaptively tune the switch part gain of nonsingular terminal sliding mode controller according to the nonsingular terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov principle. Simulation results show that the proposed control scheme is effective.

Fuzzy Adaptive Terminal Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2012 ◽  
Vol 605-607 ◽  
pp. 1478-1482
Author(s):  
Wen Hua Lu ◽  
Sheng Bin Hu ◽  
Jian Wei ◽  
Da Min Cao
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Fuzzy Adaptive

A fuzzy adaptive terminal sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a terminal sliding mode controller is designed. The singularity of the controller can be solved through switching between terminal sliding mode surface and linear sliding mode surface. To reduce the chattering in the control input, a fuzzy controller is designed to adaptively adjust the gain of the terminal sliding mode controller according to the normal of the terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov theory. Simulation results show that the proposed control scheme is effective.

Fast Terminal Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2013 ◽  
Vol 427-429 ◽  
pp. 1179-1182
Author(s):  
Sheng Bin Hu ◽  
Jin Yuan Xu ◽  
Xuan Wu ◽  
Chi Zhang ◽  
Yi Hao He
Keyword(s):  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

A fast terminal fuzzy sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a fast terminal sliding mode controller is designed. 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. Simulation results show that the proposed control scheme is effective.

Fractional-order nonsingular terminal sliding mode control via a disturbance observer for a class of nonlinear systems with mismatched disturbances

2020 ◽  
pp. 107754632092526
Author(s):  
Amir Razzaghian ◽  
Reihaneh Kardehi Moghaddam ◽  
Naser Pariz
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

This study investigates a novel fractional-order nonsingular terminal sliding mode controller via a finite-time disturbance observer for a class of mismatched uncertain nonlinear systems. For this purpose, a finite-time disturbance observer–based fractional-order nonsingular terminal sliding surface is proposed, and the corresponding control law is designed using the Lyapunov stability theory to satisfy the sliding condition in finite time. The proposed fractional-order nonsingular terminal sliding mode control based on a finite-time disturbance observer exhibits better control performance; guarantees finite-time convergence, robust stability of the closed-loop system, and mismatched disturbance rejection; and alleviates the chattering problem. Finally, the effectiveness of the proposed fractional-order robust controller is illustrated via simulation results of both the numerical and application examples which are compared with the fractional-order nonsingular terminal sliding mode controller, sliding mode controller based on a disturbance observer, and integral sliding mode controller methods.

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

2013 ◽  
Vol 655-657 ◽  
pp. 1048-1052
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Xing Yuan Zhang ◽  
Hai Rong Xu ◽  
Da Min Cao
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme

To achieve high performance tracing control of the three-links spatial robot, a nonsingular terminal fuzzy sliding mode control method is proposed in this paper. Firstly, the control method can efficiently avoid the singularity of the generally terminal sliding mode controller through designing nonsingular terminal sliding mode surface. Secondly, to diminish the chattering in the control input, a fuzzy controller is designed to adjust the gain of nonsingular terminal sliding mode controller according to the normal of nonsingular terminal sliding mode surface. The stability of the control scheme 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.

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