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In this paper, we present a combination of the Terminal sliding mode control (TSMC) and Fuzzy Logic (FL) technique. This approach called Fuzzy Terminal Sliding Mode Control (FTSMC) can compensate the chattering problem caused by (TSMC). In addition, this technique can decrease significantly the rule number and present the robustness compared with the parameters uncertainty and external disturbance...
In this paper, we propose a systematic solution to the leader-follower consensus of a class of nonholonomic chained form systems. The control design, which is reminiscent of terminal sliding mode and multi-surface sliding mode control methods, is presented to guarantee the convergence of multiple sliding surfaces, which also implies the convergence of the proposed consensus error function. On these...
This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
In this work a discrete-time model for the Pendubot is proposed based on the symplectic Euler method. Then, a discrete-time sliding mode controller and observer are designed. A simulation study is carried on in order to verify the good performance of the proposed modeling and control scheme when compared to the case of using explicit Euler method for discrete-time modeling.
This paper presents a novel discrete-time quasi-sliding mode controller for the multiple-input multiple-output underwater vehicle system. First, according property of slow time-varying dynamics system, an on-line estimation method is used to eliminate the uncertainties of the underwater vehicle systems. Second, combined with the constant term and uncertainties estimation in the dynamics model, the...
In this contribution a second-order sliding modes based control design approach for setpoint tracking of an in-vehicle pedal robot's position is introduced. For this purpose a novel concept of in-vehicle pedal robots is considered, which is based on a PM-DC drive with rope winch and an optical distance sensor. In the control design task the distance between a brake, clutch or accelerator pedal and...
To realize higher accuracy control for the robot finger position, the sliding mode variable structure Control (VSC) technique is selected. The state equations of a single finger joint are presented based on dynamic model. Sliding mode VSC scheme is also determined. The method of alleviation chattering is discussed. The more satisfactory results are obtained on position of the dual-thumbed hand.
Welding robots are seldom entirely autonomous, mainly because a robotic arm, integrated in an assembly line, produces better results. There are, however, situations, such as welding inside pipes, or in shipyards, where autonomous welding robots are really helpful. This paper presents integral and proportional integral sliding mode control techniques for controlling the speed of DC motors. Results...
A new fuzzy sliding mode controller with adaptive disturbance approximation is proposed for underwater robot. A new disturbance/uncertainties compensation is presented and the Lyapunov stability theory proves the stability and convergence of the closed-loop system. Large time-varying disturbance and uncertainties are introduced in the simulation and the results demonstrate the system performance.
For the typical non-linear robot control system, this paper proposes a class of sliding mode variable structure control method (SMVSC) based on RBF neural network, and the controller's output is added a low-pass filter. A two-joint robot is the research object, This method apply a powerful learning and processing power of RBF network as the sliding mode controller for uncertain part, and resolves...
Reconnaissance robots can reduce the danger of hazardous places by providing information before human personnel take action. In practice, the robot platform should be small and light. However, this fact leads to a scaling issue with terrain that poses a huge obstacle for the vehicle. The problem can be solved by the inspiration of nature. This paper presents a sliding mode control (SMC) of locomotion...
Basic mechanical systems are usually considered to comprise of spring, damper and mass. This type of systems and components are used to modeling and analysis of many different mechanical systems, like car suspension and human body. Mechanical systems are analyzed according to Newton's second law. Sliding mode control is a type of nonlinear control that can be applied on variable structure systems...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying...
In this paper, a new and systematic approach to design a continuous sliding mode control (CSMC) for tracking control of a class of MIMO nonlinear uncertain systems is presented. The proposed method is designed based on online estimation of the uncertainties instead of using the upper bound of uncertainties which is difficult or impossible to find in many cases. The on-line estimation of the uncertainties...
A sliding mode controller and an algebraic state estimator are applied to an uncertain single-link flexible robot arm. This paper exploits and explores the synergy of these two techniques in the context of the regulator problem. The following uncertain parameters are considered in this work: mass, the viscous friction coefficient and the Coulomb friction coefficient. In consequence, the corresponding...
Sliding mode control and fuzzy tuning techniques are combined to generate a robust and an accurate fuzzy sliding controller for non-linear systems. The control law consisting of equivalent control, robust control, and fuzzy control is designed such that the equivalent control satisfies desirable dynamics. Reaching the sliding surface is guaranteed by the robust control term even in the presence of...
Capsule robots have attracted great attention from researchers due to their potential applications in medicine. In this paper, the capsule robot system is studied from the control point of view, i.e. an underactuated system which has two degrees of freedom but only one control actuator. An exponentially stable robust nonlinear control scheme based on Lyapunov stability theory is studied on the capsule...
In this paper modeling and robust sliding mode control of a snake-like robot in tracking of serpenoidal motion is addressed. By considering holonomic constraints, the kinematic and dynamic equations of a hyper redundant robot are obtained using Kane's method. The Coulomb friction between robot's wheels and the ground is modeled in two perpendicular directions (i.e. tangential and normal directions)...
This paper describes the principle, control method of working attitude of ROV (remotely operated vehicle). While the manipulator is reaching out under the water, the change of the center of the gravity will cause the robot pitching. It will take more time to make a maneuver for a pitched robot. A control device was developed to balance the attitude of the robot. A sliding mode controller was designed...
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