Integral Sliding Mode Controller for Trajectory Tracking of a Phantom Omni Robot

Al-Wais, Saba; Al-Samarraie, Shibly Ahmed; Abdi, Hamid; Nahavandi, Saeid

doi:10.1109/crc.2016.012

Cited by 5 publications

(4 citation statements)

References 10 publications

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“…In order to validate the results of the Fuzzy-PI controller in hardware, bit-precision simulation tests were performed with a non-linear dynamic system characterized by a robotic manipulator system called the Phantom Omni [47,48,49,50]. The Phantom Omni is a 6-DOF (Degree Of Freedom) manipulator, with rotational joints.…”

Section: Validation Results -Fuzzy-pi Controller Hardwarementioning

confidence: 99%

“…M (θ(t)) ∈ R 3×3 is the inertia matrix, C θ(t),θ(t) ∈ R 3×3 is the Coriolis and centrifugal forces matrix, g (θ(t)) ∈ R 3×1 represents the gravity force acting on the joints, θ(t), and the f θ (t) is the friction force on the joints, θ(t) [47,48,49,50]. The controlled variables are the angular position of the joints θ 1 , θ 2 and θ 3 and the actuator variables are the torques τ 1 , τ 2 and τ 3 .…”

Section: Validation Results -Fuzzy-pi Controller Hardwarementioning

confidence: 99%

Section: Validation Results -Fuzzy-pi Controller Hardwarementioning

confidence: 99%

See 2 more Smart Citations

Proposal of Takagi–Sugeno Fuzzy-PI Controller Hardware

Silva

Lopes

Valderrama

et al. 2020

Sensors

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This work proposes dedicated hardware for an intelligent control system on Field Programmable Gate Array (FPGA). The intelligent system is represented as Takagi-Sugeno Fuzzy-PI controller. The implementation uses a fully parallel strategy associated with a hybrid bit format scheme (fixed-point and other floatingpoint). Two hardware designs are proposed; the first one uses a single clock cycle processing architecture, and the other uses a pipeline scheme. The bit accuracy was tested by simulation with a non linear control system of robotic manipulator. The area, throughput, and dynamic power consumption of the implemented hardware are used to validate and compare the results of this proposal. The results achieved allow that the proposal hardware can use in several applications with high-throughput, low-power and ultra-low-latency restrictions such as teleportation of robot manipulators, tactile internet, industrial automation in industry 4.0, and others. such as the tactile Internet [21,22], the Internet of Things (IoT) and Industry 4.0, where the problems associated with processing, power, latency and miniaturization are fundamental. Robotic manipulators used on tactile internet need a high-throughput and ultra-low-latency control system, and this can be achieved with dedicated hardware [21].The development of dedicated hardware, in addition to speeding up parallel processing, makes it possible to operate with clocks adapted to low-power consumption [23,24,25,26,27,28,29]. The works presented in [30,31,32,33,34,35,36,37] propose implementations of FS on reconfigurable hardware (Field Programmable Gate Array -FPGA), showing the possibilities associated with the acceleration of fuzzy inference processes having a high degree of parallelization. Other works propose specific implementations of Fuzzy Control Systems (FCS) using the Fuzzy Mamdani Inference Machine (M-FIM) and the Takagi-Sugeno Fuzzy Inference propose the Takagi-Sugeno hardware acceleration for other types of application fields. This work aims to develop a new hardware proposal for a Fuzzy-PI controller with TS-FIM. Unlike most of the works presented, this project offers a fully parallel scheme associated with a hybrid platform using fixed-point and floating-point representations. Two TS-FIM hardware modules have been proposed, the first (here called TS-FIM module one-shot) takes one sample time to execute the TS-FIM, and the second (here called as TS-FIM module pipeline) uses registers inside the TS-FIM. Two Fuzzy-PI controller hardware have been proposed, one for the TS-FIM one-shot module and another for the TS-FIM module pipeline. The proposed hardware have been implemented, tested and validated on a Xilinx Virtex 6 FPGA. The synthesis results, in terms of size, resources and throughput, are presented according to the number of bits and the type of numerical precision. Already, the physical area on the target FPGA reaches less than 7%. The implementation achieved a throughput between 10 and 18Msps (Mega samples per second), and between 490and 882 Mfl...

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Section: Validation Results -Fuzzy-pi Controller Hardwarementioning

confidence: 99%

Section: Validation Results -Fuzzy-pi Controller Hardwarementioning

confidence: 99%

See 1 more Smart Citation

Proposal of Takagi–Sugeno Fuzzy-PI Controller Hardware

Silva

Lopes

Valderrama

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…Further advancements can be explored by suggesting other control techniques, such as adaptive control schemes, observe-based control, backstepping-based control, and active disturbance rejection control for the sake of comparison [45][46][47][48][49][50][51]. Also, an improvement of the proposed controller can be presented by suggesting modern optimization techniques to optimize the design parameters of the controller [52][53][54][55].…”

Section: Discussionmentioning

confidence: 99%

Design of a Robust Controller Based on Barrier Function for Vehicle Steer-by-Wire Systems

Husain,

Al-Dujaili,

Jaber

et al. 2024

WEVJ

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In this research paper, a recent robust control scheme was proposed and designed for a VSbW (vehicle steer-by-wire) system. Using an integral sliding mode control (ISMC) design based on barrier function (ISMCbf) could improve the robustness of ISMCs. This control scheme, due to the characteristics of the barrier function, can improve the robustness of the proposed controller better than that based on the conventional SMC or integral SMC (ISMC). The ISMCbf scheme exhibits all the benefits of the conventional ISMC with the addition of two main advantages: it does not require prior knowledge of perturbation bounds or their derivatives, and it can effectively eliminate the chattering phenomenon associated with the classical ISMC due to the smooth characteristics of the barrier function. On the other hand, in terms of the design implementation, the ISMCbf is simpler than the ISMC. In this study, the mathematical dynamical model of the VSbW plant was first presented. Then, the control design of the ISMCbf scheme was developed. The numerical results showed that the proposed scheme is superior to the conventional ISMC. The superiority of the proposed ISMCbf controller versus the classical ISM has been evaluated under three different uncertain conditions, and three scenarios can be deduced: a slalom path, quick steering, and shock disturbance rejection. Furthermore, a comparative analysis with other controllers from the literature has further been established to show the effectiveness of the proposed ISMCbf.

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Design of optimal sliding mode controllers for electrical servo drive system under disturbance

Hamzah¹,

Rasheed²

2022

AIP Conference Proceedings

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Integral Sliding Mode Controller for Trajectory Tracking of a Phantom Omni Robot

Cited by 5 publications

References 10 publications

Proposal of Takagi–Sugeno Fuzzy-PI Controller Hardware

Proposal of Takagi–Sugeno Fuzzy-PI Controller Hardware

Design of a Robust Controller Based on Barrier Function for Vehicle Steer-by-Wire Systems

Design of optimal sliding mode controllers for electrical servo drive system under disturbance

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