Fuzzy-Based Sliding Mode Control and Sliding Mode Control of a Spherical Robot

Andani, Majid Taheri; Shahmiri, Saeed; Pourgharibshahi, Hamed; Yousefpour, Kamran; Imani, Mahmood Hosseini

doi:10.1109/iecon.2018.8591640

Cited by 13 publications

(7 citation statements)

References 22 publications

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“…To this respect, a three-step technique has been developed by Li and Canny for the control of both position and orientation of a spherical robot [13]. A novel mechanism has also been proposed by Azizi and Naderi for controlling a spherical robot [14]. Precisely, they have investigated the dynamical model of the system and its control.…”

Section: Introductionmentioning

confidence: 99%

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Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

et al. 2020

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We develop a new robust control scheme for a non-holonomic spherical robot. To this end, the mathematical model of a pendulum driven non-holonomic spherical robot is first presented. Then, a recurrent neural network-based robust nonsingular sliding mode control is proposed for stabilization and tracking control of the system. The designed recurrent neural network is applied to approximate compound disturbances, including external interferences and dynamic uncertainties. Moreover, the controller is designed in a way that avoids the singularity problem in the system. Another advantage of the proposed scheme is its ability for tracking control while there exists control input saturation, which is a serious concern in robotic systems. Based on the Lyapunov theorem, the stability of the closed-loop system has also been confirmed. Lastly, the performance of the proposed control technique for the uncertain system in the presence of an external disturbance, unknown input saturation, and dynamic uncertainties has been investigated. Also, the proposed controller has been compared with a Fuzzy-PID one. Simulation results show the effectiveness and superiority of the developed control technique.

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Section: Introductionmentioning

confidence: 99%

“…Precisely, they have investigated the dynamical model of the system and its control. Andani et al [14] have proposed a sliding mode control (SMC) and a fuzzy SMC to control a spherical robot motion. They have demonstrated that the controlled system can track the desired path with minimum tracking error.…”

Section: Introductionmentioning

confidence: 99%

Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

et al. 2020

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“…In this new scenario, investing in the installation of the compensation system for the distribution system operator has two advantages of reducing the loss of power and increasing the profit from the sale of reactive power to the network operator. The amount of economic allocation for the distribution system operator cannot be lower than a certain threshold value [36,37]. In fact, if the system obtain the reactive power transfer at a cost above the threshold cost, it will be economically feasible to install capacitor banks and exploit them for the distribution network operator, and if this cost be lower than the threshold, according to the distribution system operator, there is no need to install a compensating system, more than what is needed to reduce the distribution network losses, while the production and transmission of reactive power is cheaper than buying it from Distribution Network [38][39][40].…”

Section: Optimal Reactive Power Compensation In a Redistributed Distrmentioning

confidence: 99%

Optimal Placement of Capacitor Bank in Reorganized Distribution Networks Using Genetic Algorithm

Bakker¹,

Deljou²,

Rahmani³

2019

IJCATR

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Capacitor optimal placement is one of the most important designs and control issues of power systems in order to reduce network losses, improve the voltage profile, reduce the reactive load, and reducing the power factor. The distribution network operator, taking into account two major goals of reducing real power losses and maximizing the return on investment required for installation of capacitive banks for sale to the transmission system, obtains the position, number, and capacity of capacitive banks. In this paper, the optimization problem is formulated for different values of the parameter "reactive energy value". After evaluating the objective function and implementing an optimization algorithm for each value of this parameter, the arrangement and capacitance of the capacitors in the network load nodes are obtained. Meanwhile, using the objective function defined in this paper, you can obtain the threshold for the sale of reactive energy, and by selling it to the transmission network, the investment in installing capacitor banks will be profitable for the distribution network operator.

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“…Furthermore, the robot is naturally stable and has the capability to recover from collisions [1]. The robot also has the ability to conceal all the equipment inside the sphere against environmental states such as moisture, radiations, dust, hazardous material, or water pressure [6]. Since these robots can protect the equipment inside the sphere, they also provide an advantage for underwater applications.…”

Section: Introductionmentioning

confidence: 99%

Spherical Amphibian Robot Design with Novel Driving Principle

Bahar

Abdullah

Aras

et al. 2021

Lecture Notes in Electrical Engineering

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The advantage of spherical robots is utilized in the development of amphibian robots. It leverages the spherical advantage in terms of mobility and concealment to operate underwater. The main issue when developing the robot is that the robot is not conceal properly. Mainly when travel underwater. Robot that applied propeller as the actuator capable to conceal the equipment but different actuator needed for terrestrial locomotion. Therefore, a suitable combination of both terrestrial and underwater actuators that capable to perform multiple motion axis with minimal energy consumption is crucially needed. The objective of this paper is to represent a novel amphibian spherical robot design with its driving principle in terrestrial and underwater motion. The proposed spherical robot consists of 4 motor and 1 water pump. Terrestrial motion applied servo motor to roll the sphere in surge while yawing motion was control by a pendulum that rotates around the x-axis controlled by another servo motor. When travel underwater, surge motion was achieved by using the propeller and ballast will maintain the depth. To change the thrust direction, servo motor will rotate the sphere body to a certain degree which makes it possible to perform heave and surge motion at the same time. Diving and floating motion utilized the variable ballast and the propeller to optimize the robot energy usage and performance. The flow test shows that the resistance is higher when the size is bigger. The hydrodynamic forces act to the robot is the same in all directions. Therefore, the proposed robot should experience the same magnitude of noise in all directions when traveling underwater.

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Fuzzy-Based Sliding Mode Control and Sliding Mode Control of a Spherical Robot

Cited by 13 publications

References 22 publications

Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

Optimal Placement of Capacitor Bank in Reorganized Distribution Networks Using Genetic Algorithm

Spherical Amphibian Robot Design with Novel Driving Principle

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