Exponential function based fuzzy sliding mode control of uncertain nonlinear systems

Nagarale, R. M.; Patre, B. M.

doi:10.1007/s40435-014-0117-2

Cited by 17 publications

(6 citation statements)

References 31 publications

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“…As seen in Figs. 13,14,15,16,17,18,19,20,21,22,23,24,25, and 26, the fuzzy sliding mode control, whose parameters were optimized by the multi-objective genetic algorithm, was able to confront uncertainty and disorders and thus optimize the system response. This result was achieved while the controller inputs did not increase significantly.…”

Section: Resultsmentioning

confidence: 99%

“…At first, the controller for the following system was designed [14]. The coefficient of vector ̂ has been assumed to be the identical matrix shown as I 2×2 , where Using the Lyapunov method, it can be proved that if the input controller vector is defined (as shown below), the sliding surface vector and hence the tracking error of path will converge toward zero [15]: where where k 1 and k 2 are two fixed and positive numbers. In order to avoid the chattering phenomenon, the tanh s function can be used instead of sign(s) , where is the width of boundary layer adjacent to the vibration area [16].…”

Section: Fixed and Uncertain Parameters Of Robotmentioning

confidence: 99%

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Designing an optimal fuzzy sliding mode control for a two-link robot

Taran

Pirmohammadi

2019

J Braz. Soc. Mech. Sci. Eng.

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This article proposes a fuzzy sliding mode control based on multi-objective genetic algorithm for the path control of a twolink robot. Sliding mode control (SMC) is known for its competences in manipulating imprecision and bounded tribulations in modeling. In SMC, the high frequency that eventuates from a halting control action, known as the chattering phenomenon, is a severe problem. Fuzzy logic controller (FLC) has recently gained the popularity of a grand method that is used in combination with the sliding mode control method, which can remove certain drawbacks from this issue. In this hybrid controlling system, the strength of the sliding mode control lies in its fitness to account for modeling imprecision and external tribulations, while the FLC provides premier damping and reduced chattering. Nevertheless, the major drawback in a fuzzy control is its lack of designing techniques. Most of fuzzy rules are human knowledge oriented, and accordingly these rules vary from person to person in spite of the same performance of the system. To handle these time-consuming problems, multipurpose genetic algorithms are applied for the optimization of fuzzy sliding mode control, through the Pareto approach.

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Section: Resultsmentioning

confidence: 99%

Section: Fixed and Uncertain Parameters Of Robotmentioning

confidence: 99%

Designing an optimal fuzzy sliding mode control for a two-link robot

Taran

Pirmohammadi

2019

J Braz. Soc. Mech. Sci. Eng.

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“…In [22], the authors consider the robust output regulation problem for linear systems in the presence of state, input and output delays. In [11], the authors propose exponential function based fuzzy sliding-mode control design for uncertain nonlinear systems. In [14], the authors investigate an integral sliding mode control for a class of linear systems with time-varying state and input delays, but the problem of time delay in T-S model is not discussed.…”

Section: Yuan LI Ruxia Zhang Yi Zhang and Bo Yangmentioning

confidence: 99%

Sliding mode control for uncertain T-S fuzzy systems with input and state delays

Li¹,

Zhang²,

Zhang³

et al. 2020

NACO

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In this paper, the problem of sliding mode control (SMC) for uncertain T-S (Tagaki-Sugeno) fuzzy systems with input and state delays is investigated , in which the nonlinear uncertain terms are unknown,and also unmatched. For the T-S fuzzy model of the controlled object, a method based on sliding mode compensator is designed, and the system is controlled by sliding mode. Based on solving linear matrix inequalities (LMI), we obtain the design method of sliding mode and controller. The sufficient conditions for the asymptotical stability of the sliding mode dynamics are given by using LMI technique and the Lyapunov stability theory, and it has been shown that the state trajectories can be driven onto the sliding surface in a finite time. Finally, a numerical example is provided to illustrate the effectiveness of the proposed theories.

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“…It is widely used in motor control, aircraft control, and other control fields. [16][17][18] The traditional sliding mode (TSM) surface adopts a linear sliding mode (LSM) surface. The LSM surface makes the error between the system state and the expectation gradually converge to zero, but it cannot be achieved in a finite time.…”

Section: Introductionmentioning

confidence: 99%

Research on adaptive non-singular fast terminal sliding mode control based on variable exponential power reaching law in manipulators

Zhang

Shi

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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Aiming at the manipulator control system is susceptible to model parameter uncertainty and external disturbance. In this article, an adaptive non-singular fast terminal sliding mode control based on variable exponential power reaching law is proposed. First, due to the slow convergence speed and large chattering of the traditional reaching law, the variable exponential power reaching law is designed in this article. It can adaptively change the reached speed according to the system state, improve the accuracy of the control system and reduce chattering. Second, compared to the slow convergence speed of traditional sliding mode surfaces, this article uses non-singular fast terminal sliding mode surfaces to speed up the system error convergence speed. At the same time, in view of the problem that the disturbance has an uncertain upper bound in the actual problem, the adaptive law is used to estimate the uncertain upper bound of the system disturbance. And by introducing a time-varying boundary layer to improve the symbolic function in the control law. Finally, the Lyapunov function is used to prove the stability of the control system. The simulation results show that the controller designed in this article has good position tracking performance and strong anti-disturbance ability.

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Exponential function based fuzzy sliding mode control of uncertain nonlinear systems

Cited by 17 publications

References 31 publications

Designing an optimal fuzzy sliding mode control for a two-link robot

Designing an optimal fuzzy sliding mode control for a two-link robot

Sliding mode control for uncertain T-S fuzzy systems with input and state delays

Research on adaptive non-singular fast terminal sliding mode control based on variable exponential power reaching law in manipulators

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