Precision Control of a Piezo-Actuate System Using Fuzzy Sliding-Mode Control with Feedforward Predictor-Based Compensation

The fuzzy sliding-mode control strategy is used to tackle tracking problem of a piezo-actuated stage in this paper. The piezo-actuated system is composed of the piezoelectric actuator and a positioning mechanism. Due to hysteretic nonlinearity of the piezoelectric actuator, the tracking accuracy of the system is limited. To compensate for this nonlinearity, a feedback fuzzy sliding-mode control augmented with a predictor-based feedforward compensator is proposed. The controller, denoted as the feedforward-feedback fuzzy sliding-mode controller (FF-FSMC), can be applied to eliminate tracking error caused by the hysteretic characteristics. Experimental results on different types of reference inputs indicate that the proposed control schemes may suppress the tracking error of the piezo-actuated system effectively.

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

Mathematical Problems in Engineering ◽

10.1155/2012/543039 ◽

2012 ◽

Vol 2012 ◽

pp. 1-21 ◽

Cited By ~ 3

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

10.1115/imece2000-2332 ◽

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.

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MIMO Fuzzy Sliding Mode Control for Three-Axis Inertially Stabilized Platform

Sensors ◽

10.3390/s19071658 ◽

2019 ◽

Vol 19 (7) ◽

pp. 1658 ◽

Cited By ~ 3

Author(s):

Zhanmin Zhou ◽

Bao Zhang ◽

Dapeng Mao

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Stability And Convergence ◽

Tracking Accuracy ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Fuzzy Sliding Mode ◽

Stabilized Platform ◽

Inertially Stabilized Platform

In this paper, a MIMO (Multi-Input Multi-Output) fuzzy sliding mode control method is proposed for a three-axis inertially stabilized platform. This method is based on the MIMO coupling model of the three-axis inertially stabilized platform in which the dynamic coupling among the three frames, namely the azimuth frame, the pitch frame and the roll frame, is fully considered. Firstly, the dynamic equation of the three-axis inertially stabilized platform is analyzed and its linearized model is obtained. After this, the controller is designed based on the model, during which fuzzy logic is introduced to deal with the frame coupling and the adaptive fuzzy coupling compensation factor is designed to be part of the algorithm. A complete proof of the stability and convergence is also provided in this paper. Finally, the performance of the platform with a MIMO fuzzy sliding mode controller and PI controller is analyzed. The simulation results show that the proposed scheme can guarantee tracking accuracy and effectively suppress the coupling interference between the three frames.

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