Adaptive Fuzzy Sliding Mode Control of Asymmetrical Hydraulic Cylinder Based on DSP

2013 ◽  
Vol 655-657 ◽  
pp. 1474-1478 ◽  
Author(s):  
Jiang Feng Wu ◽  
Jun Zheng Wang ◽  
Li Peng Wang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Good Control ◽  
Hydraulic Cylinder ◽  
System Variable ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

An adaptive fuzzy sliding mode control strategy is designed to solve the problem of nonlinear, disturbances and uncertain parameters in asymmetric hydraulic cylinder position servo control system. Variable parameters and external disturbances of the system are identified by adaptive function. Meanwhile fuzzy exponential velocity reaching law is introduced to reduce the chatting phenomenon. Simulation results show the system dynamic performance is improved, the chattering phenomenon which caused by traditional sliding mode variable structure is weakened and the proposed algorithm is feasible. The algorithm control experiment of asymmetric hydraulic cylinder was done on the DSP28335 hardware platform. The experiment proves the effectiveness of the algorithm and achieves a good control result.

scholarly journals Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-21 ◽  
Author(s):  
Guo Haigang ◽  
Li Hongxing ◽  
Zhao Weijing ◽  
Song Zhankui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Variable Universe ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Control Schemes ◽  
Equivalent Control ◽  
Fuzzy Sliding Mode

Combining adaptive fuzzy sliding mode control with fuzzy or variable universe fuzzy switching technique, this study develops two novel direct adaptive schemes for a class of MIMO nonlinear systems with uncertainties and external disturbances. The proposed control schemes consist of fuzzy equivalent control terms, fuzzy switching control terms (in scheme one) or variable universe fuzzy switching control terms (in scheme two), and compensation control terms. The compensation control terms are used to relax the assumption on fuzzy approximation error. Based on Lyapunov stability theory, the parameters update laws are adaptively tuned online and the global asymptotic stability of the closed-loop system can be guaranteed. The major contribution of this study is to develop a novel framework for designing direct adaptive fuzzy sliding mode control scheme facing model uncertainties and external disturbances. The derived schemes can effectively solve the chattering problem and the equivalent control calculation in that environment. Simulation results performed on a two-link robotic manipulator demonstrate the feasibility of the proposed control schemes.

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