Grey Wolf and Weighted Whale Algorithm Optimized IT2 Fuzzy Sliding Mode Backstepping Control with Fractional-Order Command Filter for a Nonlinear Dynamic System

Han, Seong-Ik

doi:10.3390/app11020489

Cited by 8 publications

(2 citation statements)

References 39 publications

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“…Besides the PI λ D μ scheme, FC can be profitably applied to control system design in different ways, for example for enhancing the performance of sliding mode control by applying a FO disturbance observer [31]. In [32], a sliding mode backstepping control method is proposed, which involves the use of a fractional-order command filter, a fuzzy logic system approximator, and a grey wolf and weighted whale optimization algorithm for multi-input multi-output nonlinear dynamic systems.…”

Section: Introductionmentioning

confidence: 99%

Fractional-Order PII1/2DD1/2 Control of a Mechatronic Axis: Influence of the Discrete-Time Approximation of the Half-Order Derivative and Integral

Bruzzone

Nodehi

2022

Advances in Service and Industrial Robotics

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Fractional Calculus is usually applied to control systems by means of the well-known PI λ D μ scheme, which adopts integral and derivative components of non-integer orders λ and µ. An alternative approach is to add equally distributed fractional-order terms to the PID scheme instead of replacing the integer-order terms (Distributed Order PID, DOPID). This work analyzes the properties of the DOPID scheme with five terms, that is the PII 1/2 DD 1/2 (the half-integral and the halfderivative components are added to the classical PID). The frequency domain responses of the PID, PI λ D μ and PII 1/2 DD 1/2 controllers are compared, then stability features of the PII 1/2 DD 1/2 controller are discussed. A Bode plot-based tuning method for the PII 1/2 DD 1/2 controller is proposed and then applied to the position control of a mechatronic axis. The closed-loop behaviours of PID and PII 1/2 DD 1/2 are compared by simulation and by experimental tests. The results show that the PII 1/2 DD 1/2 scheme with the proposed tuning criterium allows remarkable reduction in the position error with respect to the PID, with a similar control effort and maximum torque. For the considered mechatronic axis and trapezoidal speed law, the reduction in maximum tracking error is −71% and the reduction in mean tracking error is −77%, in correspondence to a limited increase in maximum torque (+5%) and in control effort (+4%).

show abstract

Section: Introductionmentioning

confidence: 99%

Fractional-Order PII1/2DD1/2 Control of a Mechatronic Axis: Influence of the Discrete-Time Approximation of the Half-Order Derivative and Integral

Bruzzone

Nodehi

2022

Advances in Service and Industrial Robotics

View full text Add to dashboard Cite

show abstract

“…Besides the PI λ D µ scheme, FC can be profitably applied to control system design in different ways, for example for enhancing the performance of sliding mode control by applying a FO disturbance observer [31]. In [32], a sliding mode backstepping control method is proposed, which involves the use of a fractional-order command filter, a fuzzy logic system approximator, and a grey wolf and weighted whale optimization algorithm for multi-input multi-output nonlinear dynamic systems.…”

Section: Introductionmentioning

confidence: 99%

Fractional-Order PII1/2DD1/2 Control: Theoretical Aspects and Application to a Mechatronic Axis

2021

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Fractional Calculus is usually applied to control systems by means of the well-known PIlDm scheme, which adopts integral and derivative components of non-integer orders λ and µ. An alternative approach is to add equally distributed fractional-order terms to the PID scheme instead of replacing the integer-order terms (Distributed Order PID, DOPID). This work analyzes the properties of the DOPID scheme with five terms, that is the PII1/2DD1/2 (the half-integral and the half-derivative components are added to the classical PID). The frequency domain responses of the PID, PIlDm and PII1/2DD1/2 controllers are compared, then stability features of the PII1/2DD1/2 controller are discussed. A Bode plot-based tuning method for the PII1/2DD1/2 controller is proposed and then applied to the position control of a mechatronic axis. The closed-loop behaviours of PID and PII1/2DD1/2 are compared by simulation and by experimental tests. The results show that the PII1/2DD1/2 scheme with the proposed tuning criterium allows remarkable reduction in the position error with respect to the PID, with a similar control effort and maximum torque. For the considered mechatronic axis and trapezoidal speed law, the reduction in maximum tracking error is −71% and the reduction in mean tracking error is −77%, in correspondence to a limited increase in maximum torque (+5%) and in control effort (+4%).

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Integral Terminal Sliding Mode Control for Quadrotor Based on a Novel Power Reaching Law

Yang

Mao

2022

Lecture Notes in Electrical Engineering

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Grey Wolf and Weighted Whale Algorithm Optimized IT2 Fuzzy Sliding Mode Backstepping Control with Fractional-Order Command Filter for a Nonlinear Dynamic System

Cited by 8 publications

References 39 publications

Fractional-Order PII1/2DD1/2 Control of a Mechatronic Axis: Influence of the Discrete-Time Approximation of the Half-Order Derivative and Integral

Fractional-Order PII1/2DD1/2 Control of a Mechatronic Axis: Influence of the Discrete-Time Approximation of the Half-Order Derivative and Integral

Fractional-Order PII1/2DD1/2 Control: Theoretical Aspects and Application to a Mechatronic Axis

Integral Terminal Sliding Mode Control for Quadrotor Based on a Novel Power Reaching Law

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