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In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is presented for the tracking control of work platform of folding-boom aerial platform vehicle. Chattering caused by the high speed switching control in sliding mode controller may degenerate the system performance and result in unpredictable instabilities. The proposed AFSMC could eliminate the chattering by substituting the discontinuous...
This paper deals with the tracking control of robot manipulators with uncertain payload. Proposed is a set of novel SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, and two nonlinear integral control modes driven by a...
A new second order sliding mode tracking controller (SOSMC) is presented for a kind of piezoelectric actuator (PEA) model with hysteretic nonlinearity. The second-order nonlinear dynamic model of the PEA is introduced and a second order sliding mode control law with dual-phase sliding movement is designed. In order to prove the system's stability, a determinant theorem is presented. By theoretical...
In this paper, a function approximation technique (FAT) based adaptive controller is proposed for tracking control of a piezoelectric-actuated X-Y table. Due to nonlinear hysteretic behaviors associated with the system, control problems involving piezoelectric actuator (PA) are challenging. Moreover, universal and effective hysteresis model for the PA is difficult if not impossible to obtain. Thus,...
This paper deals with the tracking control of robot manipulators. Synthesizing the strong robustness of the sliding mode control and the good flexibility of PD-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus an integral action driven by an NP-D controller. By using Lyapunov's direct method and LaSalle's...
In this paper, an improved sliding mode algorithm with global asymptotic stability is presented for tracking control of nonholonomic mobile robot. Centroid offset parameters are used in the design of the controller, which can drive the position error to zero quickly in the premise of guaranteeing stability of the whole system. The Kinematics mathematical model and the position and posture error model...
This paper deals with the tracking control of rigid robot manipulators. By synthesizing the strong robustness of sliding mode control and the good flexibility of PD-NP-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller,...
A direct Lyapunov method is applied to tracking problems for underactuated mechanical systems. The method involves reformulating the problem in terms of a sliding mode vector and then designing a control law that stabilizes the sliding mode vector to a lower bound. The design of the tracking control law utilizes the authors' previous work on stabilization of underactuated mechanical systems using...
This paper presents a neural-adaptive sliding mode control for the tracking control of 4-SPS(PS) type parallel manipulator. The neural-adaptive controller is introduced to modify the coefficients of sliding manifold in sliding control strategy, which solve the problem that the equivalent control can not be obtained accurately because of the uncertain and fixed coefficients of sliding manifold and...
In this paper, we propose two controllers which extend the original PD+I fuzzy logic controller to treat the plant with time varying nonlinear dynamics. The adaptation ability of the first self tuning PD+I fuzzy logic controller (STPD+I_31) is obtained by adjusting the output scaling factor automatically thereby contributing to significant improvement in performance. Second proposed controller (STPD+I_9)...
The control problem of path following with an uncertain forward speed is concerned for an underactuated surface ship with second order nonholonomic constraints. An increment feedback controller is developed based on nested nonlinear sliding modes which are decentralized and iteratively designed in the augmented states space. Without a known reference course to be generated by an accurate model, the...
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