scholarly journals Sliding Mode Control of Catheter Drive System and Performance Improvement via Fuzzy Logic

2021 ◽  
pp. 42-49
Author(s):  
Gokmen Atakan Turkmen ◽  
Levent Cetin ◽  
Baris Oguz Gurses ◽  
Mert Sener ◽  
Ozge Akbulbul ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Performance Improvement ◽  
Sliding Mode ◽  
Performance Comparison ◽  
System Response ◽  
Sliding Mode Controller ◽  
Closed Loop System ◽  
Sliding Mode Controllers ◽  
And Performance ◽  
Better Than

Catheters are used in medical applications such as bronchoscopy, colonoscopy, angiography. Due to the catheters are in direct contact with the tissue in these procedures, their movements must be controlled. In this study, three different sliding-mode controllers that can be used to control the movement of the catheter have been proposed. These are the classical sliding mode controller, quasi sliding mode controller, and asymptotic sliding mode controller structures. Performance comparison of the controllers was made by assessing the closed-loop system response. The results indicated that the performance of the quasi sliding mode controller was better than the other controllers. It has been proposed to use a fuzzy logic-based highest controller to improve the performance of the quasi sliding mode controller. The proposed controller structure updates the controller parameters depending on the predicted disturbance magnitude and position error. The results show that the real-time performance of the quasi sliding mode controller is improved by the change of the proposed control structure.

scholarly journals Piece-wise Linear Fuzzy Sliding Mode Controller for Deep Submergence Rescue Vehicle (DSRV)

2021 ◽  
Author(s):  
Ghulam E Mustafa Abro
Keyword(s):  
Sliding Mode ◽  
Rule Base ◽  
Sliding Mode Controller ◽  
Sliding Mode Controllers ◽  
Marine System ◽  
Fuzzy Sliding Mode ◽  
Single Input ◽  
Overall Performance ◽  
And Performance ◽  
Linear Controllers

The paper aims to present the design and performance of a single input fuzzy sliding mode controller (SIFSMC) to control the motion of deep submergence rescue vehicle (DSRV). The proposed controller uses the linear single dimension rule base where as the conventional fuzzy sliding mode controllers (CFSMC) uses the two-dimensional rule base. Moreover, the proposed controller does not merely depend on the DSRV exact mathematical model unlike that of the linear controllers. Using SIFSMC, the number of rules governs are also greatly reduced in comparison with the CFSMC, without compromising the overall performance. The robustness, equivalency and efficacy of proposed idea is illustrated through the simulation results using a marine system simulator in MATLAB/Simulink® environment. The main objective of the paper is to compare CFSMC and SIFSMC for UUV’s. Consequently, a comparative analysis of proposed SIFSMC is shown with the CFSMC for the same system of DSRV.

scholarly journals Smooth Fractional Order Sliding Mode Controller for Spherical Robots with Input Saturation

2020 ◽  
Vol 10 (6) ◽  
pp. 2117
Author(s):  
Ting Zhou ◽  
Yu-gong Xu ◽  
Bin Wu
Keyword(s):  
Fractional Order ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Sliding Mode Controller ◽  
Spherical Robot ◽  
Closed Loop System ◽  
Hierarchical Sliding Mode ◽  
Sliding Mode Controllers ◽  
Globally Stable

This study considers the control of spherical robot linear motion under input saturation. A fractional sliding mode controller that combines fractional order calculus and the hierarchical sliding mode control method is proposed for the spherical robot. Employing this controller, an auxiliary system in which a filter was used to gain smooth control performance was designed to overcome the input saturation. Based on the Lyapunov stability theorem, the closed-loop system was globally stable and the desired state was achieved using the fractional sliding mode controller. The advantages of the proposed controller are illustrated by comparing the simulation results from the fractional order sliding mode controllers and the integer order controller.

Application Fuzzy Logic System for Accurate Sheet Trim Shower Position

2019 ◽  
Vol 3 (1) ◽  
pp. 186-192
Author(s):  
Yudi Wibawa
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Dc Motor ◽  
Automation System ◽  
Paper Making ◽  
System A ◽  
Accurate Position ◽  
And Performance ◽  
Better Than ◽  
Logic System

This paper aims to study for accurate sheet trim shower position for paper making process. An accurate position is required in an automation system. A mathematical model of DC motor is used to obtain a transfer function between shaft position and applied voltage. PID controller with Ziegler-Nichols and Hang-tuning rule and Fuzzy logic controller for controlling position accuracy are required. The result reference explains it that the FLC is better than other methods and performance characteristics also improve the control of DC motor.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

scholarly journals Design of Adaptive Sliding Mode Controller for Uncertain Pendulum System

2021 ◽  
Vol 39 (3A) ◽  
pp. 355-369
Author(s):  
Dina H. Tohma ◽  
Ahmed K. Hamoudi
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Control Effort ◽  
Pendulum System ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Parameters Uncertainty ◽  
Better Than

This work aims to study and apply the adaptive sliding mode controller (ASMC) for the pendulum system with the existence of the parameters uncertainty, external disturbances, and coulomb friction. The adaptive sliding mode controller has several features over the conventional sliding mode control method. Firstly, the magnitude of the control signal is reduced to the minimally acceptable level defined by special conditions concerned with ASMC algorithm. Secondly, the upper bounds of uncertainties are not necessary to be defined before starting the work. For this reason, the ASMC can be used successfully to control the pendulum system with minimum control effort. These properties of the ASMC are confirming graphically by the simulation results using MATLAB 2019. The ASMC achieves an asymptotically stable system better than the Classical Sliding Mode Controller (CSMC). The unwanted phenomenon is called “chattering", which is appearing in the control action signal. These drawback properties are suppressed by employing a saturation function. Finally, the comparison between the results of the ASMC and CSMC showed that ASMC is the better one.

scholarly journals Analysis of controllers in suppressing the structural building vibration

2019 ◽  
Vol 15 (1) ◽  
pp. 112-116
Author(s):  
Normaisharah Mamat ◽  
Fitri Yakub ◽  
Sheikh Ahmad Zaki Sheikh Salim
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode ◽  
Degree Of Freedom ◽  
Control Voltage ◽  
Sliding Mode Controller ◽  
Building Structure ◽  
Matlab Simulink ◽  
Mass Spring ◽  
Earthquake Vibration ◽  
Two Degree Of Freedom

Two degree of freedom (2 DOF) mass spring damper system is used in representing as building structure that dealing with the earthquake vibration. The real analytical input is used to the system that taken at El Centro earthquake that occurred in May 1940 with magnitude of 7.1 Mw. Two types of controller are presented in controlling the vibration which are fuzzy logic (FL) and sliding mode controller (SMC). The paper was aimed to improve the performance of building structure towards vibration based on proposed controllers. Fuzzy logic and sliding mode controller are widely known with robustness character. The mathematical model of two degree of freedom mass spring damper wasis derived to obtain the relationship between mass, spring, damper, force and actuator. Fuzzy logic and sliding mode controllers were implemented to 2 DOF system to suppress the earthquake vibration of two storeys building. Matlab/Simulink was used in designing the system and controllers to present the result of two storeys displacement time response and input control voltage for uncontrolled and controlled system. Then the data of earthquake disturbance was taken based on real seismic occurred at El Centro to make it as the force disturbance input to the building structure system. The controllers proposed would minimize the vibration that used in sample earthquake disturbance data. The simulation result was carried out by using Matlab/Simulink. The simulation result showed sliding mode controller was better controller than fuzzy logic. In specific, by using the controller, earthquake vibration can be reduced.

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.

scholarly journals Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

2012 ◽  
Vol 22 (3) ◽  
pp. 315-342 ◽  
Author(s):  
Samir Zeghlache ◽  
Djamel Saigaa ◽  
Kamel Kara ◽  
Abdelghani Harrag ◽  
Abderrahmen Bouguerra
Keyword(s):  
Fuzzy Logic ◽  
Control Method ◽  
Sliding Mode ◽  
Design Method ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
Quadrotor Helicopter ◽  
Nonlinear Control Method ◽  
The Stability ◽  
Yaw Angle

Abstract In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.

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

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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