Article
Computer Science, Interdisciplinary Applications
Samir Zeghlache, Mohammed Zinelaabidine Ghellab, Ali Djerioui, Brahim Bouderah, Mohamed Fouad Benkhoris
Summary: In this work, an adaptive fuzzy fast terminal sliding mode control (AFFTSMC) is developed for the inverted pendulum-cart system with actuator faults and external disturbances. The proposed controller combines the benefits of the fast terminal sliding mode control (FTSMC) method to compensate faults and uncertainties, reduce tracking error and chattering phenomenon, and achieve fast transient response. It also introduces a new adaptive FTSMC method to handle uncertainties and actuator faults without prior knowledge of external perturbation. The developed controller maintains tracking precision and robustness while reducing chattering phenomenon. Stability is demonstrated using the Lyapunov method, and practical results validate the efficiency of the control algorithm.
MATHEMATICS AND COMPUTERS IN SIMULATION
(2023)
Article
Multidisciplinary Sciences
Alireza Jafary Fesharaki, Mohammad Tabatabaei
Summary: An adaptive fractional-order sliding mode controller is designed for an inverted pendulum-cart system. With a hierarchical sliding mode control approach and novel fractional-order sliding surfaces, the controller stabilizes the system and adjusts the cart position and pendulum angle to zero.
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Haoyan Zhang, Ning Xu, Guangdeng Zong, Abdulhameed F. Alkhateeb
Summary: This paper proposes an adaptive fuzzy hierarchical sliding mode control method to address the control problem for uncertain under-actuated switched nonlinear systems with actuator faults. The unknown uncertain functions of the system are approximated by fuzzy logic systems, and the upper bound of the function is estimated online. The proposed control scheme ensures the boundedness of signals in the closed-loop system by utilizing Lyapunov stability theory and a simulation example is provided to demonstrate its effectiveness.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2021)
Article
Automation & Control Systems
Haoyan Zhang, Xudong Zhao, Liang Zhang, Ben Niu, Guangdeng Zong, Ning Xu
Summary: In this article, an observer-based adaptive fuzzy hierarchical sliding mode control scheme is proposed for uncertain under-actuated switched nonlinear systems with quantized input signals. The problems of quantized input signals, external disturbances, unmeasured system states, and unknown nonlinear functions are considered. The proposed control scheme effectively avoids chattering phenomena and utilizes fuzzy logic systems and a switched fuzzy state observer for approximation and estimation. Based on Lyapunov stability theory, the scheme ensures boundedness of all signals and good tracking performance. A numerical simulation example is provided to verify its effectiveness.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Automation & Control Systems
Xiao-Zheng Jin, Jia-Dong Liu, Xiao-Ming Wu, Jing Chi, Chao Deng
Summary: This article focuses on the fixed-time path-following control problem of a perturbed cart-pendulum robot with linear quadratic (LQ) performance optimization. Adaptive anti-perturbation sliding mode control schemes and an adaptive radial basis function neural network-based sliding mode control algorithm are developed to handle the path-following LQ control problem. Fixed-time stability and path-following results are achieved using Lyapunov stability theory.
OPTIMAL CONTROL APPLICATIONS & METHODS
(2022)
Article
Engineering, Mechanical
Jiadong Liu, Xiaozheng Jin, Chao Deng, Weiwei Che
Summary: This paper investigates the displacement path-following problem for a class of disturbed cart-pendulum systems under fake data injection (FDI) actuator attacks. A filter operator is proposed to estimate the weight vector caused by unknown attacks and disturbances, enabling parameterization of the actuator attacks using neural networks. Robust path-following control schemes are then proposed, leveraging adaptive neural network and integral sliding-mode techniques, to counteract the impacts of disturbances and FDI attacks. The closed-loop cart-pendulum system with neural network weight estimations and sliding functions achieves uniformly ultimately bounded stability results based on Lyapunov stability theory. Finally, a simulation model of a material robot is employed to validate the proposed control strategy.
Article
Automation & Control Systems
Yi Chang, Peng Zhou, Ben Niu, Huanqing Wang, Ning Xu, M. O. Alassafi, A. M. Ahmad
Summary: This paper investigates the issue of adaptive fuzzy tracking control for a class of pure-feedback switched nonlinear systems with unknown gain. By utilizing the mean value theorem and Nussbaum-type functions, an effective controller is designed to simplify the calculation. The stability of the system is ensured through the average dwell time method and Lyapunov theorem, with errors adjustable to be arbitrarily small.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2021)
Article
Automation & Control Systems
Lu Fan, Ancai Zhang, Guangyuan Pan, Yingxue Du, Jianlong Qiu
Summary: This paper discusses the stabilizing control problem of a cart-double pendulum system. By constructing an input relationship and designing swing-up and balance stabilization controllers, the system is stabilized at upright equilibrium point in a fixed time.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Computer Science, Information Systems
Xingjian Sun, Lei Zhang, Juping Gu
Summary: In this study, the adaptive sliding mode control (ASMC) strategy is investigated for complex nonlinear systems with matched and unknown nonlinearities and external disturbances. A Gaussian radial basic neural network is used to approximate the nonlinearities and external disturbances. A Takagi-Sugeno (T-S) fuzzy model based integral switching function is introduced to solve the ASMC problem and eliminate the constraint on input gains. The switching control term is represented as a proportional integral (PI) control format to reduce chattering phenomenon and the Lyapunov theory is used to guarantee the stability of the control systems. An experimental simulation is conducted to verify the effectiveness of the proposed sliding mode control (SMC) strategy.
INFORMATION SCIENCES
(2023)
Article
Automation & Control Systems
Yuzhong Wang, Jun Zhao
Summary: This article considers the event-triggered adaptive sliding mode control problem for switched systems with disturbances subject to network-induced delay. A mode-dependent event-triggering scheme and new integral sliding surfaces are proposed. The proposed sliding mode observer compensates for nonlinearity and disturbance, providing better adaptability in practical applications. The stability conditions of the sliding mode dynamics are presented, and controllers are derived to guarantee stability and performance of the system.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2022)
Article
Automation & Control Systems
Jinhui Zhang, Duanduan Chen, Ganghui Shen, Zhongqi Sun, Yuanqing Xia
Summary: In this paper, disturbance observer based adaptive sliding mode control approaches are proposed for Takagi-Sugeno fuzzy systems with unknown external disturbance. By designing novel dynamic sliding surfaces and adaptive laws, both state- and output-based controllers are designed without input matrix constraints, incorporating disturbance estimates to achieve active disturbance rejection. The effectiveness of the proposed control approaches is demonstrated through numerical examples.
Article
Automation & Control Systems
Behrooz Rahmani, Ali Ziaiefar, Shamsedin Hashemi
Summary: This research explores a model-free control strategy for vibration suppression of base-isolated structures under earthquake excitation. A semi-active base isolated system with a magnetorheological (MR) damper is used, and the displacement of the base isolator is measured by a linear variable differential transformer (LVDT). An adaptive fuzzy sliding mode observer is implemented to estimate the vector of state tracking error, which is then utilized by an adaptive fuzzy sliding mode control scheme to calculate the input voltage of the MR damper. Numerical simulations are conducted to evaluate the effectiveness of the implemented model-free control strategy, highlighting its flexibility and robustness against disturbance rejection and model uncertainty.
Article
Computer Science, Information Systems
Guozhong Yao, Xianxiang Wang, Zhengjiang Wang, Yuhan Xiao
Summary: This paper addresses the problems of sliding mode observer, such as strong parameter dependency, large overshoot, and severe inherent sliding mode chattering, by studying fuzzy control and designing a new type of fuzzy sliding mode observer using a sigmoid function. The new method incorporates adaptive sliding mode gain adjustment and PLL technology for rotor position information. Experimental verification and comparison with traditional sliding mode observer showed that the new fuzzy sliding mode observer can more accurately estimate rotor position and speed, with reduced errors, overshoot, and chattering.
Article
Automation & Control Systems
Gian Paolo Incremona, Matteo Rubagotti, Mara Tanelli, Antonella Ferrara
Summary: Sliding mode control is widely used in various applications, but chattering is a well-known issue. To address this problem, higher order sliding mode methods have been proposed, along with the development of switched and variable-gain approaches to enhance controller flexibility and performance. The article introduces a conceptual framework merging these aspects, providing a general methodology for designing and tuning high-order sliding mode controllers.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Engineering, Electrical & Electronic
Gang Chen, Yichen Jiang, Keyi Guo, Liangmo Wang
Summary: This paper proposes a speed tracking method for unmanned driving robot vehicles by adjusting the sliding mode gains using a fuzzy adaptive system. The effectiveness and stability of the proposed method is demonstrated through model establishment and control law derivation.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
