A Novel Fuzzy Logic Based Adaptive Super-Twisting Sliding Mode Control Algorithm for Dynamic Uncertain Systems

Abstract

This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

“…Analysis. SMC is a special type of variable structure system where control law is designed to drive system trajectory to reach and remain on a designed manifold within the state-space called sliding manifold [33]. As shown in Figure 2, the error trajectory after the initial reaching phase "slides" on the manifold ( , ) = 0.…”

“…is to avoid the solution from getting trapped in the so-called local minima [40]. In (33), the partial derivative ( )/ can be expressed based on the chain rule as…”

“…The SMC control (which is the focus of this work) had been studied in [1,[22][23][24][25][26][27][28][29][30][31][32]. SMC is a special type of variable structure control characterized by a discontinuous control structure that switches as the system crosses certain manifold in the statespace to drive the system trajectory to reach and subsequently remain on the sliding manifold within the state space [33]. In [21] the SMC controller was used to control two degrees of freedom (DOFs): cart poison and payload sway, where two sliding manifolds were designed for each DOF.…”