Fuzzy Adaptive Sliding Mode Control Based on Fuzzy Compensation for Ammunition Auto-Loading Robot

2013 ◽  
Vol 816-817 ◽  
pp. 363-366
Author(s):  
Yu Feng Li ◽  
Kui Wu Li ◽  
Yu Tian Pan ◽  
Bao Quan Guo
Keyword(s):  
Control System ◽  
Fuzzy Systems ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Disturbance Compensation ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Simulation Results ◽  
Fuzzy Adaptive

A new fuzzy adaptive sliding mode controller based on fuzzy compensation for robot is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties to distinguish different disturbance compensation terms and approximate each of them respectively. By analyzing and comparing the simulation results, it is obviously shown that the control system can lighten the effect on the control system caused by different disturbance factors and eliminate the system chattering than that of traditional SMC.

Adaptive Sliding Mode Control of Piezoelectric Tube Actuator With Hysteresis, Creep and Coupling Effect

2010 ◽  
Author(s):  
S. H. Chung ◽  
Eric H. K. Fung
Keyword(s):  
Sliding Mode ◽  
Coupling Effect ◽  
Linear Part ◽  
Tracking Error ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Fe Model ◽  
Time Varying ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller

The piezoelectric tube actuator of Atomic Force Microscope (AFM) realizes rapid scanning in nano-scale. However, hysteresis, creep and coupling effect of piezoelectric tube actuator significantly limit the precision of AFM. In this paper, an adaptive sliding mode controller is proposed to minimize the tracking error due to the adverse effects. The piezoelectric tube actuator is characterized as a multiple-input-multiple-output (MIMO) nonlinear time-varying system because of hysteresis and creep. The controller is designed based on the reduced order nonlinear finite element (FE) model. Hysteresis is divided into a linear part and a bounded time-varying unknown part to reduce the bound of the uncertainties. The latter part together with creep and electrode dislocation is considered as bounded uncertainty. The controller gains of the equivalent control part are estimated through adaptive laws. The sliding mode observer is designed based on Walcott Zak observer for estimating the unmeasurable states. Lyapunov criterion is stated to guarantee the stability of the closed loop system. The simulation of the piezoelectric tube actuator with the adaptive sliding mode controller is performed under scanning operation. The result shows that the tracking errors are bounded in small values. Finally, the performance of the adaptive sliding mode controller is compared with the output feedback controller and the proportional-integral (PI) controller which is commonly adopted in AFM.

Adaptive Sliding Mode Control With Sliding Mode Observer Design for a MEMS Vibratory Gyroscope

2007 ◽  
Author(s):  
J. Fei ◽  
C. Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Observer Design ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Mems Gyroscope ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller

This paper presents a novel adaptive sliding mode control with a sliding mode observer for a MEMS gyroscope. The proposed adaptive sliding mode controller with a sliding mode observer which reconstructs the unmeasured states can estimate the angular velocity and the linear damping and stiffness coefficients of the gyroscope despite parameter variations and external disturbance. An adaptive sliding mode controller with a proportional and integral sliding surface is derived and the stability condition of the closed-loop system is established. The numerical simulation for the MEMS gyroscope model is performed to verify the effectiveness of the proposed adaptive sliding mode control with sliding mode observer.

A new adaptive sliding mode control for Macpherson strut suspension system with magneto-rheological damper

2016 ◽  
Vol 27 (20) ◽  
pp. 2795-2809 ◽  
Author(s):  
Saikat Dutta ◽  
Sang-Min Choi ◽  
Seung-Bok Choi
Keyword(s):  
Ride Comfort ◽  
Sliding Mode ◽  
Suspension System ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Magneto Rheological ◽  
Macpherson Strut

This work proposes a new adaptive sliding mode controller to enhance ride comfort and steering stability of automobile associated with a semi-active magneto-rheological damper. In this study, a Macpherson strut type suspension system which is widely used in light vehicles is considered. The dynamic model of the Macpherson strut with magneto-rheological damper is obtained and the governing equations are then formulated using kinematic properties of the suspension system following Lagrange’s formulation. In the formulation of the model, both the rotation of the wheel assembly and the lateral stiffness of the tire are considered to represent the nonlinear characteristic of Macpherson type suspension system. Subsequently, in order to effectively reduce unwanted vibrations, a new adaptive sliding mode controller is designed by adopting moving sliding surface instead of conventional fixed sliding surface. In order to demonstrate the effectiveness of the proposed controller, a cylindrical magneto-rheological damper is designed and manufactured on the basis of practical application conditions such as required damping force. Then, ride comfort, suspension travel, and road handling are evaluated and some benefits of the proposed controller such as enhanced ride comfort are evaluated.

Adaptive Sliding Mode Controller With Proportional Plus Integral Sliding Surface

2006 ◽  
Author(s):  
J. Fei ◽  
Celel Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller ◽  
Integral Sliding Surface

This paper presents an adaptive tracking controller with a proportional and integral switching surface. A new adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of linear dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then an adaptive sliding mode controller is derived and its stability is proved. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The adaptive design is extended to the multiple inputs system. The numerical simulation is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.

A class of adaptive sliding mode controller with proportional-integral sliding surface

2009 ◽  
Vol 223 (7) ◽  
pp. 989-999 ◽  
Author(s):  
J Fei ◽  
C Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller ◽  
Integral Sliding Surface

This paper presents an adaptive sliding mode tracking controller with a proportional and integral switching surface. A novel adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then a class of adaptive sliding mode controller with integral sliding term is developed. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The numerical simulation of a triaxial gyroscope is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.

Sign in / Sign up

Export Citation Format

Share Document