Adaptive Fuzzy Fractional-Order Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Nonlinear Systems

Tran, Minh-Duc; Van, Hoa Ngo; Dao, Thanh-Phong

doi:10.1115/1.4038642

Cited by 30 publications

(25 citation statements)

References 32 publications

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“…By selecting an appropriate sliding mode manifold, the dynamic performance of the system in sliding mode can be effectively improved. Many FO sliding mode control methods with different sliding mode manifolds have been studied [16]- [27]. These methods include a special nonsingular second-order sliding mode manifold [16], FO hierarchical sliding mode manifold [17]; FO proportional-integral-derivative (FOPID) sliding mode manifold, which is a family of FO proportional-integral (FOPI) and FO proportional-derivative (FOPD) sliding mode manifold [18]- [23]; and continuous FO nonsingular terminal sliding mode (CFONTSM) manifold, which is a refined version of FO nonsingular terminal sliding mode (FONTSM) manifold [24], [25].…”

Section: Introductionmentioning

confidence: 99%

“…Among them, the FONTSM manifold can overcome singularity while ensuring that the system states converge to the equilibrium point in finite time [26]. This manifold has better advantages compared with other sliding mode manifolds and is widely accepted [27]- [31]. Duc et al [27] proposed a novel adaptive fuzzy FO nonsingular terminal sliding mode controller (AFFO-NTSMC) for second-order nonlinear dynamic systems.…”

Section: Introductionmentioning

confidence: 99%

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Novel Dynamic-Sliding-Mode-Manifold-Based Continuous Fractional-Order Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Nonlinear Systems

Deng

Zhang

2020

IEEE Access

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A novel dynamic-sliding-mode-manifold-based continuous fractional-order nonsingular terminal sliding mode control is proposed for a class of second-order nonlinear systems. By designing the parameter in the continuous fractional-order nonsingular terminal sliding mode manifold as an exponential function of the tracking error, a dynamic sliding mode manifold can be obtained by adjusting the parameter online. Even if reference signals change, the parameter does not need repetitive offline optimization. By combining the fast-terminal-sliding-mode-type reaching law, the system states are attracted to the manifold quickly, enhancing the controller's robustness. When a large initial error exists, the control system can still accelerate response and reduce overshoot simultaneously owing to the dynamic changing characteristic of the manifold. The stability and finite-time convergence of the closed-loop system are proven by the Lyapunov stability theory. Simulation results on SISO and MIMO nonlinear systems show that for different reference signals, the proposed method has a better tracking performance than the general fractional-order nonsingular terminal sliding mode control. INDEX TERMS Dynamic sliding mode manifold, fractional-order, nonsingular terminal sliding mode control, nonlinear systems.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Novel Dynamic-Sliding-Mode-Manifold-Based Continuous Fractional-Order Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Nonlinear Systems

Deng

Zhang

2020

IEEE Access

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“…The most effective solution to deal with this uncertainty is to damp the resonant mode of the positioning stage with a suitable damping controller [34]. An adaptive fuzzy fractional-order nonsingular terminal sliding mode controller (AFFO-NTSMC) is investigated to analyze the tracking performance of a second-order uncertain nonlinear dynamic system [35]. The presented simulation results with AFFO-NTSMC show small tracking errors with well attenuation of the chattering phenomenon, which is very common in conventional sliding mode control algorithm, in the presence of model uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Robust μ-Synthesis With Dahl Model Based Feedforward Compensator Design for Piezo-Actuated Micropositioning Stage

Ahmad

Ali

2020

IEEE Access

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In this paper, a combined feedback-feedforward control design scheme is presented to enhance the tracking performance of a piezo-actuated micropositioning stage by compensating the nonlinear hysteretic behavior of the piezoelectric actuator and model uncertainties of the system. Detailed investigation of the presented control scheme is performed not only in simulation by analyzing the robust stability and robust performance but also in real-time with motion trajectories of multiple frequencies. To design the presented control scheme, first of all, the dynamic model of the system is identified from the real-time experimental data by using the recursive least squares parameter adaptation algorithm. Then, Dahl hysteresis model is considered to represent the nonlinear hysteretic behavior of the piezoelectric actuator. To deal with this hysteresis nonlinearity, Dahl feedforward compensator is designed without involving inverse model calculations to avoid any computational complexity. This feedforward compensator is then combined with µ-synthesis robust feedback controller which is designed in the presence of model uncertainties of the system. The presented control scheme ensures the boundedness of the closed-loop signals and the desired tracking performance of the considered micropositioning stage. Finally, experimental tests are conducted with motion trajectories of multiple frequencies for the validation of the control scheme. An average improvement of 95% in compensating the hysteresis nonlinearity and 80% in reducing the tracking error is achieved which demonstrates the efficacy of the presented control scheme. INDEX TERMS Dahl feedforward compensator, hysteresis nonlinearity, micropositioning, model uncertainties, piezoelectric actuator, µ-synthesis robust feedback controller.

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“…To remove chattering, some effective algorithms were suggested. For example, the Boundary Layer Approach (BLA) [22,41,42], High-Order Sliding Mode Control (HOSMC) [43][44][45][46], Full-Order Sliding Mode Control (FOSMC) [47][48][49][50], and Fuzzy-Sliding Mode Control (F-SMC) [51][52][53][54]. Among these controllers, FOSMC not only effectively removes chattering, but also inherits the advantages of NFTSMC, such as non-singularity, fast convergence, robustness against uncertain terms, and high accuracy.…”

Section: Introductionmentioning

confidence: 99%

Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator

Doan

2019

Applied Sciences

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The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode Control (S-FOTSMC) for a 3-DOF planar parallel robotic manipulator with uncertain dynamics. First, to achieve faster convergence of position error and synchronization error variables with minimum values at the same time, a Synchronization Full-Order Terminal Sliding Mode Surface (S-FOTSMS) is constructed in the cross-coupling error’s state space. Next; an integral of the switching control term is applied; that means, a continuous control term is extended for rejecting the effects of chattering. Finally, an SFOTSMC is designed to guarantee that sliding mode motion will occur. Consequently, the stability and the robustness of the proposed method are secured with high-performance irrespective of the influences of uncertain terms in the robot system. The simulation performances show the effectiveness of our proposed system for position tracking control of a 3-DOF planar parallel robotic manipulator.

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Adaptive Fuzzy Fractional-Order Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Nonlinear Systems

Cited by 30 publications

References 32 publications

Novel Dynamic-Sliding-Mode-Manifold-Based Continuous Fractional-Order Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Nonlinear Systems

Novel Dynamic-Sliding-Mode-Manifold-Based Continuous Fractional-Order Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Nonlinear Systems

Robust μ-Synthesis With Dahl Model Based Feedforward Compensator Design for Piezo-Actuated Micropositioning Stage

Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator

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