Fractional sliding mode control for an autonomous two-wheeled vehicle equipped with an innovative gyroscopic actuator

Tofigh, Mohammad Ali; Mahjoob, M. J.; Hanachi, Mohammad Reza; Ayati, Moosa

doi:10.1016/j.robot.2021.103756

Cited by 13 publications

(10 citation statements)

References 36 publications

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“…The chain transmission of bycycorobot and DC Motor dynamics is assumed to be 5:1 and the relation obtained is given in (19) and (20).…”

Section: 𝑃𝐸 = 𝑚mentioning

confidence: 99%

“…Where in (19), 𝐾 𝑚 represents the torque constant of motor and in (20) 𝐾 𝑒 is back e, m, f. constant, 𝑅 and 𝐿 are armature resistance and inductance of motor. The equation ( 19) is substituted in (18) and linearizing (17) and ( 18) around the equilibrium point, the relation achieved as (21) and (22).…”

Section: 𝑃𝐸 = 𝑚mentioning

confidence: 99%

“…Extensive simulation comparison has been being carried out to assess the approach and demonstrate the impact of incorporating the new actuator. The result in [19] showed that the proposal provides higher performance while keeping the control effort within the capabilities of standard actuators. A structure-specified mixed "H2/H∞" controller was designed using particle swarm optimization (PSO) for control balancing of bycycorobot.…”

Section: Introductionmentioning

confidence: 99%

“…One of the major problems in the development of bycycorobot is balancing at modest forward speeds. Therefore, Tofigh et al [19] demonstrated a novel gyrostabilizer with a dual-flywheel configuration that can give any required gyroscopic roll moment. Extensive simulation comparison has been being carried out to assess the approach and demonstrate the impact of incorporating the new actuator.…”

Section: Introductionmentioning

confidence: 99%

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An effective approach to enhance the balancing control in bycycorobot using the soft computing techniques

Sharma

Sambariya²

2022

IJRA

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<p>The balancing and control of bycycorobot is a challenging task. The pre - specified controller available in the literature for balancing has been reduced with novel optimization to improve the effectiveness of balancing, uncertainty, and the complexity of the complete system. The novel Harris hawk optimization (HHO) which is based on the hunting behavior of the h awk has been utilized to improve the balancing of the bycycorobot. The paper proposes the decreased order controller of a pre - specified controller for a bycycorobot. The obtained controller response with bycycorobot in the complete closed loop is analyzed, and the best performance is compared with the reduced order controller available in the literature. The comparison is based on the response indices and response characteristics.</p>

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“…The chain transmission of bycycorobot and DC Motor dynamics is assumed to be 5:1 and the relation obtained is given in (19) and (20).…”

Section: 𝑃𝐸 = 𝑚mentioning

confidence: 99%

Section: 𝑃𝐸 = 𝑚mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An effective approach to enhance the balancing control in bycycorobot using the soft computing techniques

Sharma

Sambariya²

2022

IJRA

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“…Some studies have been conducted to improve the performance of manipulator control system. Sliding mode controller was developed using the nonlinear model of manipulator for high robustness [13,14]. However, this controller was implemented by modeling the manipulator system and was hard to achieve precise control due to the nonlinear characteristics of manipulator.…”

Section: Introductionmentioning

confidence: 99%

Autonomous 6-DOF Manipulator Operation for Moving Target by a Capture and Placement Control System

Chen

Liu

Ying

et al. 2022

Sensors

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The robot control technology combined with a machine vision system provides a feasible method for the autonomous operation of moving target. However, designing an effective visual servo control system is a great challenge. For the autonomous operation of the objects moving on the pipeline, this article is dedicated to developing a capture and placement control system for the six degrees of freedom (6-DOF) manipulator equipped with an eye-in-hand camera. Firstly, a path planning strategy of online capture and offline placement is proposed for real-time capture and efficient placement. Subsequently, to achieve the fast, stable, and robust capture for a moving target, a position-based visual servo (PBVS) controller is developed by combining estimated velocity feedforward and refined PID control. Feedforward control is designed using the estimated velocity by a proposed motion estimation method for high response speed. PID control is refined by dead zone constraint to reduce the manipulator’s jitter caused by the frequent adjustment of manipulator control system. Besides, the proportional, integral, and differential coefficients of PID controller are adaptively tuned by fuzzy control to reject the noise, disturbance, and dynamic variation in the capture process. Finally, validation experiments are performed on the constructed ROS–Gazebo simulation platform, demonstrating the effectiveness of the developed control system.

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Fractional‐order sliding mode control for a novel magneto‐electro‐elastic microtube robot

Tofigh,

Shah‐Mohammadi‐Azar,

Rezazadeh

et al. 2023

Asian Journal of Control

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In this paper, a tracking controller based on a non‐integer sliding surface is proposed for a magneto‐electro‐elastic (MEE) fluid‐conveying microtube robot. The smart/adaptive MEE material enables us to control the robot with no need for external sensors and actuators. The micro‐robot lateral motion is modeled by Euler–Bernoulli beam equations. The governing equation of the robot is derived using the constitutive equations of MEE materials and Maxwell's principle followed by Hamilton's variational method. Based on the extracted dynamic model, a novel non‐integer order sliding mode controller is introduced to suppress the microtube vibration and to provide robust path following for the robot tip. This control approach is compatible with the parameter‐varying nature of the robot dynamics. Theoretical analyses, based on Lyapunov theory, are also conducted to verify the stability of the closed‐loop system. Comparative simulations are finally performed to show the efficiency of the proposed system in comparison with the conventional micro tubes made of smart materials and with an integer order sliding mode controller (SMC). The results demonstrate that the proposed robot properly meets the performance requirements in terms of vibration suppression and trajectory tracking, even in the presence of disturbances.

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Fractional sliding mode control for an autonomous two-wheeled vehicle equipped with an innovative gyroscopic actuator

Cited by 13 publications

References 36 publications

An effective approach to enhance the balancing control in bycycorobot using the soft computing techniques

An effective approach to enhance the balancing control in bycycorobot using the soft computing techniques

Autonomous 6-DOF Manipulator Operation for Moving Target by a Capture and Placement Control System

Fractional‐order sliding mode control for a novel magneto‐electro‐elastic microtube robot

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