To see the other types of publications on this topic, follow the link: Adaptive sliding mode tracking control.
Dissertations / Theses on the topic 'Adaptive sliding mode tracking control'
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the top 50 dissertations / theses for your research on the topic 'Adaptive sliding mode tracking control.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Browse dissertations / theses on a wide variety of disciplines and organise your bibliography correctly.
1
Liu, Xinyi. "Contribution to adaptative sliding mode, fault tolerant control and control allocation of wind turbine system." Thesis, Belfort-Montbéliard, 2016. http://www.theses.fr/2016BELF0295/document.
Full textAbstract:
Les principaux défis pour le déploiement de systèmes de conversion de l'énergie éolienne est de maximiser la puissance électrique produite, malgré les variations des conditions météorologiques, tout en minimisant les coûts de fabrication et de maintenance du système. L'efficacité de la turbine éolienne est fortement dépendante des perturbations de l'environnement et des paramètres variables du système, tels que la vitesse du vent et l'angle de tangage. Les incertitudes sur le système sont difficiles à modéliser avec précision alors qu'ils affectent sa stabilité.Afin d'assurer un état de fonctionnement optimal, malgré les perturbations, le commande adaptative peut jouer un rôle déterminant. D'autre part, la synthèse de commandes tolérantes aux défauts, capables de maintenir les éoliennes connectées au réseau après la survenance de certains défauts est indispensable pour le bon fonctionnement du réseau. Le travail de cette thèse porte sur la mise en place de lois de commande adaptatives et tolérantes aux défauts appliqués aux systèmes de conversion de l'énergie éolienne. Après un état de l'art, les contributions de la thèse sont :Dans la première partie de la thèse, un modèle incertain non linéaire du système de conversion d'énergie éolienne avec un générateur à induction à double alimentation est proposé. Une nouvelles approches de commande adaptative par mode glissant est synthétisée et ensuite appliquée pour optimiser l'énergie issue de l'éolienne.Dans la deuxième partie, une nouvelle commande par modes glissants tolérante aux défauts et basée sur les modes glissants intégrales est présentée. Puis, cette méthode est appliquée afin de forcer la vitesse de la turbine éolienne à sa valeur optimale en prenant en compte des défauts qui surviennent sur l'actionneurThe main challenges for the deployment of wind energy conversion systems (WECS) are to maximize the amount of good quality electrical power extracted from wind energy over a significantly wide range of weather conditions and minimize both manufacturing and maintenance costs. Wind turbine's efficiency is highly dependent on environmental disturbances and varying parameters for operating conditions, such as wind speed, pitch angle, tip-speed ratio, sensitive resistor and inductance. Uncertainties on the system are hard to model exactly while it affects the stability of the system. In order to ensure an optimal operating condition, with unknown perturbations, adaptive control can play an important role. On the other hand, a Fault Tolerant Control (FTC) with control allocation that is able to maintain the WECS connected after the occurrence of certain faults can avoid major economic losses. The thesis work concerns the establishment of an adaptive control and fault diagnosis and tolerant control of WECS. After a literature review, the contributions of the thesis are:In the first part of the thesis, a nonlinear uncertain model of the wind energy conversion system with a doubly fed induction generator (DFIG) is proposed. A novel Lyapunov-based adaptive Sliding Mode (HOSM) controller is designed to optimize the generated power.In the second part, a new output integral sliding mode methodology for fault tolerant control with control allocation of linear time varying systems is presented. Then, this methodology has been applied in order to force the wind turbine speed to its optimal value the presence of faults in the actuator
2
Harmouche, Mohamed. "Contribution à la théorie de la commande par modes glissants d'ordre supérieur et à la commande des systèmes mécaniques sous-actionnés." Thesis, Belfort-Montbéliard, 2013. http://www.theses.fr/2013BELF0214/document.
Full textAbstract:
Les systèmes non linéaires sont si diverses que des outils communs de contrôle sont difficiles à développer. La théorie du contrôle non linéaire nécessite une analyse mathématique rigoureuse pour motiver ses conclusions. Cette thèse aborde deux branches distinctes et bien importantes de la théorie du contrôle non linéaire: le contrôle des systèmes non-linéaires incertains et le contrôle des systèmes sous-actionnés.Dans la première partie, une classe de contrôleurs par mode glissant d’ordre supérieur (MGOS) robuste, basée sur la synthèse de Lyapunov, est développée pour le contrôle des systèmes non-linéaires incertains. Cette classe de contrôleurs est basée sur une classe de régulateurs qui stabilisent une pure chaîne d’intégrateurs en temps fini, et nécessite la connaissance a priori des bornes sur les incertitudes du système. Puis, afin d’éliminer la dépendance liée à la connaissance de ces bornes, un contrôleur par MGOS adaptatif est développé. Dans un deuxième temps, un contrôleur par MGOS homogène universel est développé où il est montré que le degré d’homogénéité peut être manipulé pour obtenir des avantages supplémentaires, tels que la bornitude de la commande, la garantie d’une amplitude minimale de la discontinuité de la commande et la convergence en temps fixe. Les performances des contrôleurs proposés ont été démontrées par des simulations et à travers des résultats expérimentaux sur un système pile à combustible.Dans la deuxième partie de la thèse, deux problèmes de commande de systèmes sous-actionnés sont étudiés. Le premier problème concerne le suivi de chemin global d’un robot mobile avec un point de visée. Le deuxième problème concerne la poursuite de trajectoire globale d’un bateau. Ces deux problèmes sont de nature distincte, cependant, ils sont soumis à des contraintes physiques similaires liées à la bornitude de la commande. Ainsi, les contrôleurs proposés sont basés sur l’utilisation de commandes saturées. Des simulations ont été effectuées pour démontrer les performances de ces contrôleursNonlinear systems are so diverse that generalized tools for control are difficult to develop. Nonlinear control theory requires rigorous mathematical analysis to justify its conclusions. This thesis addresses two distinct, yet important branches of nonlinear control theory: control of uncertain nonlinear systems and control of under-actuated systems.In the first part, a class of Lyapunov-based robust arbitrary higher order sliding mode (HOSM) controllers is developed for the control of uncertain nonlinear systems. This class of controllers is based on a class of controllers for finite-time stabilization of pure integrator chain, and requires the limits of the system uncertainty to be known a-priori. Then, in order to eliminate the dependence on the knowledge of these limits, an adaptive arbitrary HOSM controller is developed. Using this new class, a universal homogeneous arbitrary HOSM controller is developed and it is shown that the homogeneity degree can be manipulated to obtain additional advantages in the proposed controllers, such as bounded control, minimum amplitude of discontinuous control and fixed time convergence. The performance of the controllers has been demonstrated through simulations and experiments on a fuel cell system.In the next part, the control of two under-actuated systems is studied. The first control problem is the global path following of car-type robotic vehicle, using target-point. The second problem is the precise tracking of surface marine vessels. Both these problems are distinct in nature; however, they are subjected to similar physical constraints. The solutions proposed for these control problems use saturated controls, taking into account the physical bounds on the control inputs. Simulations have been performed to demonstrate the performance of these controllers
3
Ebel, Kathryn C. "Adaptive Sliding Mode Control for Aircraft Engines." Cleveland State University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=csu1323882562.
Full text
4
Migchelbrink, Matthew. "Sliding mode control trajectory tracking implementation on underactuated dynamic systems." Thesis, Kansas State University, 2014. http://hdl.handle.net/2097/18245.
Full textAbstract:
Master of ScienceDepartment of Mechanical Engineering
Warren N. White
The subject of linear control is a mature subject that has many proven powerful techniques. Recent research generally falls into the area of non-linear control. A subsection of non-linear control that has garnered a lot of research recently has been in underactuated dynamic systems. Many applications of the subject exist in robotics, aerospace, marine, constrained systems, walking systems, and non-holonomic systems. This thesis proposes a sliding mode control law for the tracking control of an underactuated dynamic system. A candidate Lyapunov function is used to build the desired tracking control. The proposed control method does not require the integration of feedback as does its predecessor. The proposed control can work on a variety of underactuated systems. Its predecessor only worked on those dynamic systems that are simply underactuated (torques acting on some joints, no torques acting on others). For dynamic systems that contain a roll without slip constraint, often a desired trajectory to follow is related to dynamic coordinates through a non-holonomic constraint. A navigational control is shown to work in conjunction with the sliding mode control to allow tracking of these desired trajectories. The methodology is applied through simulations to a holonomic case of the Segbot, an inverted cart-pole, a non-holonomic case of Segbot, and a rolling wheel. The methodology is implemented on an actual Segbot and shown to provide more favorable tracking results than linear feedback gains.
5
Rios-Bolivar, Miguel. "Adaptive backstepping and sliding mode control of uncertain nonlinear systems." Thesis, University of Sheffield, 1997. http://etheses.whiterose.ac.uk/5995/.
Full textAbstract:
The development of adaptive control design techniques for nonlinear systems with parametric uncertainty has been intensively studied in recent years. The recently developed adaptive backstepping technique has provided a systematic solution to the problem of designing static adaptive controllers for uncertain nonlinear systems transformable into the triangular Parametric Strict Feedback and Parametric Pure Feedback forms. The adaptive backstepping technique has been adopted in this thesis as the control design approach and a number of new algorithms have been developed for the design of dynamical controllers for the regulation and tracking of deterministic and adaptive control systems. The combination of adaptive backstepping and Sliding Mode Control has also been proposed to design robust adaptive strategies for uncertain systems with disturbances. The class of adaptive backstepping nonlinear systems has been broadened to observable minimum phase systems which are not necessarily transformable into tri- angular forms. The design of output feedback control, when only the output is measured, has also been studied for a class of uncertain systems transformable into the adaptive generalized observer canonical form. Since the equations arising from these new algorithms are too complicated to be computed by hand, a symbolic algebraic toolbox has been developed. This toolbox implements the proposed algorithms for the design of static (dynamic) deterministic (adaptive) controllers, and automatically generates MATLAB code programs for computer simulation.
6
Yu, Hai. "The adaptive seeking control strategy and applications in automotive control technology." Columbus, Ohio : Ohio State University, 2006. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1149091437.
Full text
7
Fei, Juntao. "ADAPTIVE SLIDING MODE CONTROL WITH APPLICATION TO A MEMS VIBRATORY GYROSCOPE." University of Akron / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=akron1194886083.
Full text
8
Elhangari, Abdelbaset K. Tahir. "Sliding-Mode Control of the Permanent Magnet Synchronous Motor (PMSM)." University of Dayton / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1386173503.
Full text
9
Durmaz, Burak. "Sliding Mode Control Of Linearly Actuated Nonlinear Systems." Master's thesis, METU, 2009. http://etd.lib.metu.edu.tr/upload/12610666/index.pdf.
Full textAbstract:
This study covers the sliding mode control design for a class of nonlinear systems, where the control input affects the state of the system linearly as described by (d/dt)x=A(x)x+B(x)u+d(x). The main streamline of the study is the sliding surface design for the system. Since there is no systematic way of designing sliding surfaces for nonlinear systems, a moving sliding surface is designed such that its parameters are determined in an adaptive manner to cope with the nonlinearities of the system. This adaptive manner includes only the automatic adaptation of the sliding surface by determining its parameters by means of solving the State Dependent Riccati Equations (SDRE) online during the control process. The two methods developed in this study: SDRE combined sliding control and the pure SDRE with bias terms are applied to a longitudinal model of a generic hypersonic air vehicle to compare the results.
10
Wang, Nengmou. "Modified Sliding Mode Control Algorithm for Vibration Control of Linear and Nonlinear Civil Structures." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1306705560.
Full text
11
Liu, Gang. "Sliding mode output tracking control of nonlinear non-minimum phase and time-delay systems." Thesis, University of Sheffield, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.443901.
Full text
12
FessantFlorian, Le, and 宋富飛. "TRACKING CONTROL USING ADAPTIVE SLIDING MODE CONTROL APPROACH WITH INTEGRAL ACTION." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/8ue26b.
Full textAbstract:
碩士國立成功大學
航空太空工程學系
106
Sliding Mode Control (SMC) as a result of being a powerful robust control design is widely use in control system to analyze non-linear systems and to endow them of stability and performance. Sliding Mode Control is characterized by a suite of feedback control laws and a decision rule. The decision rule, termed the switching function, has as its input some measure of the current system behavior and produces as an output the feedback controller which should be used at that instant in time. The main advantages of SMC are that the dynamic behavior of the system may be tailored by the choice of switching function and the closed-loop response becomes totally insensitive to a particular class of uncertainty in the system which means that even in the presence of chattering, the controller can be designed with bounds for its chattering. However, If the bounds are not defined, robust control seizes to deliver the claimed robustness. To mitigate the problems of uncertainties / perturbations bounds knowledge, an adaptive law is introduced to update the controller gain to obtain a robust sliding mode adaptive gain control law. This thesis demonstrates the design principles of a sliding mode controller with an adaptive law for updating the gain following the new methodology for adaptive sliding mode control [1] proposed by F. Plestan, Y. Shtessel, V. Bregeault and A. Pozniak. The proposed approaches consist in having a dynamical adaptive control gain that successfully establishes a sliding mode in finite time and does not overestimate the magnitude of external disturbances, thus preventing high level of chattering. The efficacy of the proposed algorithms will be discussed while it is implemented on a linear and nonlinear mathematically modeled real time ball and beam system.
13
YE, CHIA-SUO, and 葉佳碩. "The DNLRX Friction Model Based Adaptive Fuzzy Neural Sliding-mode Tracking Control." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/r226kh.
Full textAbstract:
碩士國立虎尾科技大學
自動化工程系碩士班
106
In the field of precision mechanical control, how to overcome the influence of friction force is a key issue. In order to reduce the influence of friction force, this paper developed a precision adaptive fuzzy neural sliding-mode tracking control with friction compensation. In this study, the DNLRX inverse friction force model was used as feedforward controller, and four kinds of feedback controllers: the integral sliding-mode controller, sliding-mode controller, fuzzy sliding-mode controller and neural network sliding-mode controller were used to estimate and compensate the total uncertainty of friction and disturbances. In the experiments, the different controllers were compared with each other for no friction compensation and friction compensation to verify the effect of friction compensation. The experimental results show that the designed controller is effective and feasible, and through the comparison of the experimental results, it can be known that the performance of friction compensation using different feedback controllers is better than without friction compensation and it can reduce the tracking error effectively. Meanwhile, the neural network sliding-mode feedback controller plus DNLRX feed-forward control has the best control performance.
14
Tsai, Tien-Tsung, and 蔡典璁. "Adaptive sliding-mode controller for the pneumatic actuating system tracking control." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/31162845806864848838.
Full textAbstract:
碩士明志科技大學
機電工程研究所
98
Since the diaphragm-type pneumatic-actuating system has nonlinear and time-varying characteristics, it is difficult to establish an accurate dynamic model for designing a model-based controller. Here, a functional approximation based adaptive sliding controller is proposed to control the pneumatic-actuating system. The functional approximation technique is employed to represent the unknown function and release the model-based requirement of sliding-mode control. The update laws for the coefficients of the Fourier series functions or Haar-wavelet functions are derived from a Lyapunov function to guarantee the control system stability. Tracking control of a pneumatic-actuating system using the proposed algorithm is investigated. The experimental results show that the proposed control scheme has satisfactory control performances.
15
Lin, Feng-Ming, and 林峯名. "Interval Type-2 Adaptive Fuzzy Sliding Mode Tracking Control of Nonlinear Systems." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/87365126664178082578.
Full text
16
Lu, Tsung-Hsien, and 呂宗憲. "Adaptive Fuzzy Sliding-Mode Control for Trajectory Tracking of Wheeld Mobile Robot." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/50302653147352746630.
Full textAbstract:
碩士中國文化大學
機械工程學系數位機電碩士班
101
In this thesis, an adaptive fuzzy sliding-mode controller (AFSMC) is developed for wheeled robot to track planned path. The proposed control scheme contains a fuzzy sliding mode controller (FSMC) and an adaptive tuner. In the FSMC, the robot's x, y position errors are utilized to form the PD sliding surfaces and the sliding surfaces are treated as the input variable of the fuzzy inference system. While the left and right wheel motor speeds are designated as the output variables. The singleton fuzzy membership functions are adopted as the consequent part of the fuzzy system. In the adaptive tuner, the adaptive law is derived from Lyapunov stability theorem to tune the parameter. To verify the tracking performance of the wheeled robot, some simulations and experiments are provided. (1) Simulation part: 3 different paths and 2 road conditions are set firstly. Then, the proposed AFSMC is applied to calculate the right and left speed of the wheeled robot. (2) Experiment part: The AFSMC algorithm is written by Matlab and the results are sent to Labview. Then the wheeled robot (FESTO Robotino) is activated by Labview via WiFi, and the commands are sent to motors to track the planned path. The proposed AFSMC has some salient features: (1) Compact fuzzy rule base: 3 fuzzy rules are used; (2) Chattering phenomenon is reduced: the singleton fuzzy membership functions are used in the consequent part of a fuzzy rule; (3) CPU computation load is reduced: only one parameter needs to be adjusted. From the simulation and experimental results, it can be seen that the proposed tracking controller possesses robust and stable performance for wheeled robot path tracking.
17
Lin, Chia Ru, and 林佳如. "Tracking Control of Robot Manipulators Using Fuzzy, Adaptive, and Sliding-Mode Techniques." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/42811471218158794984.
Full text
18
HE, JENG-KUEN, and 何正堃. "Tracking Control of a Robot Manipulator by Using Adaptive Fuzzy Sliding-Mode Controller." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/70564191014988947392.
Full textAbstract:
碩士明志科技大學
機械工程系機械與機電工程碩士班
105
Recently, the applications of robot manipulators widely spread out due to the rise of Industry 4.0 and the needs of automation. Modeling of the robot manipulator is nontrivial because the system has nonlinear and time-varying characteristic. To that end, it is difficult to establish an accurate dynamic model for model-based control. A model-free adaptive fuzzy sliding-mode controller (AFSMC) is proposed to control a two-arm robot manipulator in this research. The proposed method is not only robust but also equippedwith online learning ability. To validate the proposed control scheme tracking control experiments were conducted. Experimental results show that the proposed control scheme can overcome the nonlinearity and time-varying characteristics of the manipulator two-arm system. Tracking accuracies obtained from the proposed method areevidently better than that of the traditional sliding-mode controller (SMC).
19
Lie, Handra-Wijaya, and 李漢春. "Combining Adaptive Fuzzy Sliding Mode Method with Visual Tracking to Control an Overhead Crane." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/60709781904535987736.
Full textAbstract:
碩士中原大學
電機工程研究所
98
This thesis developed a visual feedback controller which used a CCD to control a two dimensional crane system. A control scheme was developed for the position and anti-swing of a two dimensional overhead crane system. The sliding mode control was proposed as the controller, combined with the fuzzy logic controller to enhance the performance of the sliding mode controller. The slope of the sliding mode function is adaptable to the system characteristic by fuzzy logic controller. The output of the sliding mode controller is decided through the fuzzy logic controller either to cancel the chattering problem. Moreover, a motion planning method for the rapid and smooth transportation, which make the slowly change of the crane’s speed and reduce the acceleration is also employed. The visual tracking based on color histogram is proposed to handle the real-time visual tracking. It tracks down the angle of the rope and the position of the load. The fast recognition and localization of the color histogram method for image pattern recognition and the strategy using moving tracking area is used to increase the calculation speed. Finally, it combines the visual tracking and the crane controller, to be a robust visual feedback controller for the position and anti-swing of a two dimensional crane system.
20
Wu, Jai Rong, and 吳佳嶸. "Adaptive sliding-mode controller for the piezo-actuating X-Y-Z table tracking control." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/95224094771286396656.
Full textAbstract:
碩士明志科技大學
機電工程研究所
99
ABSTRACT In this paper, a model-free functional approximation based adaptive sliding controller is integrated with an adaptive fuzzy-based compensator and proposed to control the piezoelectric actuating X-Y-Z table. The functional approximation technique is employed here to approximate the unknown time-varying function and release the model-based requirement of sliding-mode control. The update laws for the coefficients of the Fourier series functions is derived from the Lyapunov stability theory to guarantee the close-loop stability. Tracking control of a piezoelectric actuating X-Y-Z table using the proposed algorithm is investigated experimentally. The experimental results show that the proposed control scheme has satisfactory control performances. In addition, the piezoelectric actuating X-Y-Z table is utilized for a drilling process by using the proposed controller for implementation. Furthermore, in this research, optimal parameters of the proposed controller are derived by using Taguchi method for better experimental results. Keywords: functional approximation technique, adaptive fuzzy sliding-mode controller, piezoelectric actuating X-Y-Z table.
21
Chen, Yi-Chao, and 陳奕超. "State Tracking Control Design of Uncertain Nonlinear System Based on Adaptive Fuzzy Sliding Mode Control Scheme." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/93998386750081487070.
Full textAbstract:
碩士逢甲大學
自動控制工程學系
105
Parameter uncertainties, time-varying and unknown nonlinearities exist in a wide range of physical system. To overcome the control problem, an adaptive robust control scheme has been extensively used in modelling and controlling for uncertain nonlinear systems, and the designed controller have both good adaptability and robust stability thus. However, the scheme cannot ensure real-time tracking performance and accurate tracking of fast trajectories. In addition, the adaptive robust controller is often difficult to implement practically. Therefore, this thesis develops a novel indirect model reference adaptive control (MRAC) strategy based on an adaptive fuzzy neural networks (FNNs) sliding mode control scheme and a fuzzy state estimator model for design of state tracking problem for uncertain nonlinear systems. The thesis consists of two main parts: reference model identification using Takagi-Sugeno(T-S) fuzzy model and nonlinear adaptive state tracking controller. Since the controlled plant is usually assumed to be unknown in traditional MRAC architecture; hence, an adequate reference model is difficult to determine such that matching condition of perfect model can be satisfied in every adaptive step. We first utilize the T-S fuzzy model from measured input-output data. Based on the T-S fuzzy reference model, a novel estimation model and the model reference fuzzy controller are derived using the state estimation error. That is to say, the proposed model reference fuzzy controller can make the estimation model to follow the reference model. Then using the proposed adaptive fuzzy neural networks sliding mode control (AFSMC) scheme, it can guarantee desired output tracking of the controlled system to the estimation model and the closed-loop stability, despite there are uncertain and possibly unknown nonlinear dynamical systems. In addition, the adaptive law is derived from the estimate error of the unknown controller parameters relied on Lyapunov stability theorem. Meanwhile, the parameter adaptive laws are also obtained by using the estimator state error. Therefore, the output of unknown nonlinear systems can be indirectly followed to the reference model via the estimation model and the asymptotic state tracking can be achieve. The proposed indirect model reference adaptive control (MRAC) strategy can relax the strictly matching conditions (non-minimum phase system or zeros outside the unit circle of controlled plant must be the zeros of reference model) for each adaptive processing. Hence, the proposed scheme can deal with in instability systems or a non-canonical form, which is more practical and has extensively applications. Furthermore, the most practical sensors are easily affected by external disturbance, internal noise or transmission delay such that the traditional fuzzy controller using type-1 fuzzy sets may not be overcome uncertainties. For this reason, an adaptive type-2 FNNs controller using type-2 fuzzy sets can handle such uncertainties to produce a better performance, which it attributed with the capability to model and deal with dynamic uncertainties. Finally, the proposed control strategy is applied to several systems such as an inverted pendulum system, electromagnetic suspension system, and an actual two-axis servo motor driven positioning gantry stage. Comparison with classical fuzzy controller design using type-1 fuzzy sets, it is demonstrated that the proposed adaptive type-2 FNNs controller design offers superior tracking performance and response speed.
22
Chiang, Kuo-Hung, and 江國宏. "The Regulation and Tracking Control Design in Three Dimensional Overhead Crane System via Fuzzy Adaptive Sliding Mode Control." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/27986626413130030812.
Full textAbstract:
碩士輔仁大學
電子工程學系
95
This thesis develops a capable control scheme to realize the regulation, tracking and anti-swing for a three dimensional overhead crane system. Through the definition of the decoupling sliding surface vector, the dynamic adaptive strategy of the slope matrix, and the benefit in intuitional design of the fuzzy logic control, the proposed controller can also deal with both the regulation and the tracking control of the three dimensional overhead crane system once little modification of some parameters of the controller. Compared with the conventional fuzzy control design, the proposed control scheme can reduce the number of fuzzy rules effectively, which is more valuable in real time control of a three dimensional overhead crane system. The proposed control scheme just needs to use the dynamic model to choose the proper sliding surface, but it does not need any parameters of the dynamic model in practical control period. In other words, the proposed control scheme is a model free controller. The stability of the proposed scheme is also proved to guarantee that the system states will approach to sliding surface and abide in equilibrium point asymptotically. For the existence of inherent nonlinear control deadzone in the practical crane operation, a compensating algorithm is applied to overcome the deadzone bias in the control. Finally, the success of the proposed control scheme is demonstrated by some simulations and practical experiments.
23
Chu, Yu-Ting, and 褚育廷. "Functional Approximation Based Adaptive sliding-mode controller for the piezoelectric actuating X-Y table tracking control." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/53983486060928685361.
Full textAbstract:
碩士明志科技大學
機電工程研究所
97
Since the piezoelectric actuating X-Y table has hysteresis and friction nonlinearity and time-varying characteristics, it is difficult to establish an accurate dynamic model for designing a model-based controller. In this paper, a model-free functional approximation based adaptive sliding controller is integrated with an adaptive fuzzy-based compensator and proposed to control the piezoelectric actuating X-Y table. The functional approximation technique is employed here to approximate the unknown time-varying function and release the model-based requirement of sliding-mode control. The update laws for the coefficients of the Fourier series functions or Haar-wavelet functions are derived from the Lyapunov stability theory to guarantee the close-loop stability. Tracking control of a piezoelectric actuating X-Y table using the proposed algorithm is investigated experimentally. The experimental results show that the proposed control scheme has satisfactory control performances.
24
Lee, Bo_Xun, and 李柏勳. "Adaptive T-S fuzzy sliding mode tracking control based on T-S fuzzy modeling for nonlinear system." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/34z48y.
Full textAbstract:
碩士國立臺北科技大學
自動化科技研究所
98
In this thesis, we propose a synthetic controller including a T-S fuzzy sliding adaptive tracking controller (TSAC) and a T-S fuzzy model reference adaptive controller (TMRAC) for nonlinear system. To tackle this nonlinear system, a T-S fuzzy controller is designed to aim at the reference model. As the real model is not the same as the reference model, to solve this problem, the T-S fuzzy sliding adaptive tracking controller is designed based on this T-S fuzzy tracking controller. Thus, the TSAC can stabilize this nonlinear system that has uncertainty and disturbance. Then, the TSAC cascade a TMRAC to let the reference model approach to real model. The design procedure of the proposed controller has three steps; firstly, the dynamic equation of the reference model is derived with Lagrange equation. Secondly, the TSAC is designed based on this reference model and the stability of the system is also analyzed. And, the lastly, the MRAC is designed to compensate the difference between the real and reference model. The tracking performance of this proposed synthetic controller is better than traditional T-S fuzzy tracking controller by verification in an eccentric mechanism.
25
Ku, Sung-Chih, and 古松志. "An Image Tracking Method with Adaptive Fuzzy Sliding Mode Control for a Three Dimensional Overhead Crane System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/85861155749930262917.
Full textAbstract:
碩士中原大學
電機工程研究所
101
An image tracking method for a three dimensional overhead crane system was proposed in this thesis. Some mechanism issues and control methods were discussed, which aim at settling defects of encoders using in overhead crane system. Image took the place of encoders in the overhead crane system as a source of feedback for crane controller. The state of the overhead crane system was acquired from images, e.g. positions of the cart, load swing angles and the rope length. A real three dimensional overhead crane system model in the lab was used to to testify to the ability in a real-time control of the crane system and the real-time info-retrieval from images. Observation was used for mechanism of overhead crane system by way of select/give image features, and using the brightest point as the main tracking method; to reduce the computation with moving tracking areas to achieve the objective of control the whole system in real-time. For the model-free crane controller, the sliding mode control was used with fuzzy logic, therefore the slope of sliding function could adapt to the system's different states and improve the performance of control. Methods developed in this thesis give the ability of an overhead crane controller in position, anti-swing, and further, with no drawbacks to encoders. Part of paragraph was used to compare with manual operated control, encoder feedback with intelligent control and visual feedback with intelligent control. In the end, suggestions were made for further research.
26
(9809531), Patrick Keleher. "Adaptive and sliding mode control of articulated robot arms using the Liapunov method incorporating constraint inequalities." Thesis, 2003. https://figshare.com/articles/thesis/Adaptive_and_sliding_mode_control_of_articulated_robot_arms_using_the_Liapunov_method_incorporating_constraint_inequalities/21721025.
Full textAbstract:
In this thesis we investigate the control of rigid robotic manipulators using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's endeffector into a desired fixed target within finite time.
27
Samantaray, Swastik. "Robust Adaptive Control of a Laser Beam System for Static and Moving Targets." Thesis, 2016. http://hdl.handle.net/2005/3204.
Full textAbstract:
The motivation of this thesis is to propose a robust control technique for a laser beam system with target estimation. The laser beam is meant to track and fall on a particular portion of the target until the operation is accomplished. There are many applications of such a system. For example, laser range finder uses laser beam to determine the distance of the target from the source. Recently, unmanned aerial drones have been developed that run on laser power. Drone batteries can be recharged with power sup-ply from laser source on the ground. Laser is also used in high energy laser weapon for defence applications. However, laser beams travelling long distances deviate from the desired location on the target due to continually changing atmospheric parameters (jitter effect) such as pressure, temperature, humidity and wind speed. This deviation error is controlled precisely using a lightweight fast steering mirror (FSM) for fine correction. Furthermore, for a moving target, minimizing the deviation of the beam is not sufficient. Hence, in coarse correction, the target has to be tracked by determining its position and assigning the corresponding azimuth and elevation angles to the laser sources. Once these firing angles are settled within an accuracy of +3 mrad, the effort for minimizing the beam deviation (fine correction) takes place to improve the accu-racy to +10 rad.
The beam deviation due to jitter effect is measured by a narrow field of view (NFOV) camera at a high frame rate (1000 frames per second), which takes one frame to com-pute this error information. As a result, controller receives error information witha delay from NFOV. This data cannot be modelled for prediction and hence, a few promising data driven techniques have been implemented for one step ahead prediction of the beam deviation. The predictions are performed over a set of sliding window data online after rejecting the outliers through least square approximated straight line. In time domain, methods like auto-regressive least square, polynomial extrapolation (zeroth, first and second order), Chebyshev polynomial extrapolation, spline curve extrapolation are implemented. Further, a convex combination of zeroth order hold and spline extrapolation is implemented. In frequency domain, Fourier series-Fourier
transform and L-point Discrete Fourier Transform stretching are implemented where the frequency component of the signal are analysed properly and propagated for one step ahead prediction. After one step ahead prediction, three nominal controllers (PID, DI and DLQR) are designed such that the output of FSM tracks the predicted beam deviation and the performances of these controllers are compared.
Since the FSM is excited by high frequency signals, its performance degrades, which leads to parameter degradation in the mathematical model. Hence, three adaptive controllers have been implemented, namely, model reference adaptive control (MRAC), model reference adaptive sliding mode control (MRASMC) and model following neuro-adaptive control (MFNAC). The parameters of the FSM model are degraded up to 20% and the model is augmented with cross coupling terms because the same mirror is used for horizontal and vertical beam deviation. With this condition, the tracking performance and control rate energy consumption of the implemented adaptive controllers are analysed to choose the best among them.
For a moving target, in coarse correction, two tracking radars are placed to measure the position of the target. However, this information is assumed to be noisy, for which an extended Kalman filter is implemented. Once the position of the target is known, the desired firing angles of the laser sources are determined. Given the laser source steering mathematical model, a controller is designed such that it tracks the desired firing angle. Once the residual error of the coarse correction settles inside 3 mrad, fine correction takes part to reduce the residual error to 10 rad. The residual error magnitude of the proposed mechanization was analysed for a moving target by perturbing the FSM model by 20% and zeroth order hold predictor with different combinations of angle tolerance and frame tolerance.
28
LIN, QING-YAO, and 林清耀. "Adaptive sliding mode control systems." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/90125959077689872073.
Full text
29
Zheng, Da-Xin, and 鄭達新. "Adaptive fuzzy sliding mode control." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/29633408501579642918.
Full textAbstract:
碩士國立中央大學
機械工程學系
85
A decoupled adaptive fuzzy sliding mode controller (DAFSMC) is proposed in this paper. The motivation behind this is to incorporate the best features of self-tuning fuzzy control and sliding-mode control with decoupled method to control an unstable 4-th order inverted pendulum system. The consequent parameters of the membership functions in the fuzzy rule base are tuned according to some adaptive algorithm so as to control the states of two subsystems, decoupled from the 4-th order system, to hit each user-defined sliding surface and then slide along it continuously. The initial IF-THEN rules in the DAFSMC can be randomly selected or roughly given by human experts, and then automatically tuned by a direct adaptive law, therefore, reducing the expertise dependency in the design procedure of fuzzy logic control. By applying the DAFSMC to control a nonlinear unstable inverted pendulum system, the simulation results show that the expected approximation sliding property was occurred, and the dynamic behavior of control system can be determined by the sliding surface. Finally, adaptive fuzzy sliding mode control is applied to control a 6-th order nonlinear system and confirms the validity of the proposed approach.
30
Jiang, Jiunn Huei, and 江俊輝. "Nonlinear Sigma Adaptive Sliding Mode Control." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/46878097310447826880.
Full textAbstract:
碩士國立中山大學
電機工程研究所
84
In this paper, the Sigma Adaptive Sliding Mode Control (SASMC) which is combination of Sliding Mode Control (SMC) and sigma adaptive law for the nonlinear system is developed. The proposed SASMC for the nonlinear systems can overcome the drawbacks due to SMC. It can achieve a smaller mean tracking error than that of SMC, suppress chattering due to SMC, improve transient response due to modeling error, and reduce the gain of the controller. We will compare SASMC with SMC for specific nonlinear vector systems and scalar systems. The simulations and analyses will show that SASMC for the specific nonlinear systems can overcome the drawbacks resulting from the use of SMC.
31
"Stable, robust tracking by sliding mode control." Sloan School of Management, Massachusetts Institute of Technology], 1987. http://hdl.handle.net/1721.1/2992.
Full textAbstract:
George C. Verghese, Benito Fernández R. and J. Karl Hedrick.Caption title.
Bibliography: leaf 12.
Supported, in part, by a grant from the U.S. Army Research Office DAAG29-84-K-0005 Supported, in part, by a grant from the National Science Foundation. ECS-83-12921
32
Yun-ChengHuang and 黃永政. "Study on Adaptive Fuzzy Terminal Sliding-Mode Control and Adaptive Terminal Sliding-Function Control." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/87159422817603739324.
Full text
33
Xu, Rui-Lin, and 許瑞琳. "Application of Sliding Mode Control to Tracking Problems." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/58545168792263076776.
Full textAbstract:
碩士國立成功大學
航空太空工程學系
84
The methods that use to eliminate chattering phenomenon before would make the system sensitive to parameter variation and disturbance, and the system is easy to be influenced by uncertainties and disturbance during approaching phase, so its dynamic behavior is difficult to be specified. The paper uses chattering free sliding control to smooth the discontinuous control by feedback linearization and extended system techniques, and introduce a new sliding surface which is through the initial conditions to force the sliding mode exist at all time. The control strategy eliminate the chattering without destroying the robustness, and make the controlled system have invariance property in whole control process. Due to the existence of sliding mode during whole control process, the dynamic behavior of the control system can be specified by the selected sliding surface. So one can design parameters of the controller according to performance specifications to satisfy the control purposes and requirements. Robust stability and performance are studied using the Lyapunov theory. In this thesis , a tracking problem of robot manipulator and conveyor system is studied to validate the proposed control algorithm. The stability and performances of the control system can be guaranteed by the systematic design procedure proposed in this thesis.
34
Kao, Tung-Yun, and 高同昀. "ADAPTIVE FUZZY SLIDING MODE CONTROL OF NONLINEAR SYSTEM." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/82785174334004024243.
Full textAbstract:
碩士大同大學
電機工程研究所
89
ABSTRACT Fuzzy logic controller is often used in the standard of fuzzy sliding mode controllers because Fuzzy Logic Systems (FLS) can be utilized to approximate complex uncertain dynamic nonlinear systems. In this thesis, we use a new simple FSMC called distance-based fuzzy sliding mode controller (D-FSMC) by using a single fuzzy input variable, which is the distance from the actual state to the sliding line in the plane. Hence, the number of fuzzy rules is greatly reduced compared to the case of the conventional FSMC with two fuzzy inputs. The stability of the fuzzy control system is guaranteed using the Lyapunov stability. In addition, an adaptive fuzzy sliding mode control (SMC) scheme that FLS is used to approximate the unknown systems is proposed. In order to reduce the approximation errors between the true nonlinear function and FLS, an adaptive law is presented. Moreover, we provide a weighting factor. It can adjust the plant and control information by weighting factor, that is, if the plant information is more important and reliable than control information, we should choose a larger factor; otherwise, a smaller factor should be chosen. At last, simulation results show that the proposed controller has the following advantages: 1. It requires only one input variable, signed distance, regardless of the complexity of the controlled plants. 2. The control rule table is constructed on 1-D space. 3. The proposed controller can well control most of the complex systems without known their mathematical model. 4. Less information about the plant and control knowledge are require (if you only known one of the human knowledge). Because the adaptation law can help to learn the dynamics during real-time operation.
35
Han, Cheng-Yan, and 韓承諺. "Rapid Spacecraft Attitude Tracking Maneuvers Using Sliding-Mode Control." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/20695600784647080796.
Full textAbstract:
碩士國立交通大學
電機與控制工程系
89
The thesis described the study of the practical spacecraft attitude guidance maneuvers to design useful rapid spacecraft attitude controller. We will derive the dynamic equation of the satellite and build its control law according to the different direction angles in this thesis. A PD control law will be used as a small-angle error controller which use optimized maneuvers. The guidance be used on ROCSAT-2. A sliding-mode control (SMC) design technique is proposed for tracking the desired trajectories that are based on spacecraft eigenaxis rotation with maximum torques. The major advantage of eigenaxis rotation with maximum torques is that it provides the minimum-time maneuver. Meanwhile, the SMC controller provides the robust control for removing the effects of model uncertainty. Practical control constraint on wheel torque is also taken into account in the determination of the maximum torques. To improve the undesirable transient response before reaching the sliding manifold, the smooth model sliding-mode control is developed. Two previous developed control schemes, quaternion feedback regulator for spacecraft eigenaxis rotation and near-minimum-time eigenaxis rotation maneuvers with rate-tracking feedback, were adapted to show the superiority of the proposed design method.
36
Wei-Liang, Chin. "Adaptive Intelligent Decoupled Fuzzy Sliding-Mode Control System Design." 2004. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-0112200611333833.
Full text
37
He, Liang. "Dynamical Adaptive Backstepping-Sliding Mode Control of Penumatic Actuator." 2010. http://hdl.handle.net/1993/4243.
Full textAbstract:
This thesis documents the development of a novel nonlinear controller for servo pneumatic actuators that give good reference tracking at low speed motion, where friction has strong effect to the system behaviors. The design of the nonlinear controller presented in this thesis is based on the formalism of Lyapunov stability theory. The controller is constructed through a dynamical adaptive backstepping-sliding mode control algorithm. The conventional Lyapunov-based control algorithm is often limited by the order of the dynamical system; however, the backstepping design concept allows the control algorithm to be extended to higher order dynamical systems. In addition, the friction is estimated on-line via the Lyapunov-based adaptive laws embedded in the controller; meanwhile, the sliding mode control provides high robustness to the system parameter uncertainties. The simulation results clearly demonstrating the improved system performance (i.e., fast response and the reduced tracking error) are presented. Finally, the integration of the controller with a Lyapunov-based pressure observer reduces the state feedback of the servo pneumatic actuator model to only the piston displacement.
38
Chin, Wei-Liang, and 秦維良. "Adaptive Intelligent Decoupled Fuzzy Sliding-Mode Control System Design." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/26476359382694789682.
Full textAbstract:
碩士元智大學
電機工程學系
93
The design methods of the adaptive fuzzy sliding-mode controller are proposed in this thesis. The fuzzy logic method is applied to reduce the chattering control signal in conventional sliding-mode controller and the number of the fuzzy membership function. Also, we derive the adaptive laws and use the Lyapunov function to guarantee the stability of the closeed loop. The proposed hierarchical fuzzy sliding-mode controller and adaptive fuzzy sliding-mode controller are applied to three practical systems; the aeroelastic systems, the overhead crane systems and the translational oscillator with rotational actuator (TORA) systems which are all single-input-multi-output (SIMO) nonlinear systems. Simulation results show that the coupling effect of the SIMO system has been solved. Besides, it demonstrates that the system performance is improved sufficiently and stability and robustness properties are also possessed.
39
Pan, Wei-Chun, and 潘為竣. "Adaptive Fuzzy Sliding-Mode Control with Modulated Membership Functions." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/n7utu6.
Full textAbstract:
碩士國立臺北科技大學
電機工程系研究所
98
Fuzzy sliding-mode control integrates fuzzy control with sliding-mode control. Since membership functions of fuzzy control deeply influence the quality of control, adaptive fuzzy control is developed. Modulated membership function is a method to reduce computation in adaptive fuzzy control. Sliding-mode control utilizes a sliding surface to make controller structure simpler; however, its robustness induces chattering. The purpose of this thesis is to design an adaptive fuzzy sliding-mode control, with modulated membership function, for an uncertain multi-input multi-output nonlinear system. The task includes obtaining adaptive laws via Lyapunov function and choosing an available sliding surface. The proposed controller not only saves time in controlling process but also minimize chattering by reducing the output value of sliding-mode control at the right time. From simulations and by observation, control objectives are swiftly and effectively achieved.
40
Lum, Muao Jui, and 繆瑞倫. "Adaptive Fuzzy Sliding Mode Control for Ship Motion System." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/88765773599179656677.
Full textAbstract:
碩士中國科技大學
資訊科技應用研究所碩士在職專班
102
This thesis proposed an adaptive fuzzy sliding mode controller design for ship system. The proposed adaptive fuzzy sliding-mode control system is comprised of an adaptive fuzzy controller and a compensation controller. The adaptive fuzzy controller is the main tracking controller, which is used to approximate an ideal controller. The compensation controller is designed to compensate for the difference between the ideal controller and the adaptive fuzzy controller. Based on Lyapunov sense approach, adaptive tuning laws is derived to tune the premise and consequence parts of the fuzzy rules; so that stability of the system can be guaranteed. To illustrate the effectiveness of the proposed design method, a comparison between a conventional fuzzy sliding mode control and the proposed adaptive fuzzy sliding-mode control is made. Simulation and experimental results verify that the proposed adaptive fuzzy sliding mode control design method can achieve favorable control performance with regard to parameter variations and external disturbances.
41
Hsu, Feng-Jui, and 許峯瑞. "Adaptive backstepping sliding mode control for a fan system." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/95584052778984000670.
Full textAbstract:
碩士國立雲林科技大學
電機工程系
102
ABSTRACT The fan system (FS) is a self-made to control wind speed and adjust air volume of air conditioning experimental system. The precision wind speed control of air-condition system can reduce power loss. This thesis uses PCI-6024E card and lower cost PIC30F4011 microprocessor to implement controller which achieves economic wind speed control system. FS is a nonlinear system which exists parameter uncertainties and external disturbances. The classical control usually uses linearized method to make the system controllable under operating point. The parameter uncertainties and external disturbances always change the operating point which has the system steady state error or out of control. This paper constructed a backstepping controller. The backstepping theory makes FS simplified into a series of low-order system in an ideal mathematical model. The ideal mathematical model of FS represents overall system and lumped bounded uncertainty is zero. However, there exists the lumped bounded uncertainty in actual FS. Therefore, the adaptive control and/or sliding mode control are combined with backstepping control. These controllers design use the Lyapunov stable theorem to guarantee the stability. First of use PCI-6024E card controller and lower cost PIC30F4011 Microprocessor controller are implemented in FS. Experimental results show that the proposed controllers are valid in FS wind speed control.
42
Chen, Jyun-Hao, and 陳俊豪. "Adaptive Backstepping Sliding Mode Control Design for Buck Converters." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/73535241360347968080.
Full textAbstract:
碩士國立東華大學
電機工程學系
97
In this thesis, an adaptive backstepping sliding mode controller for dc-dc buck converters is proposed. This controller combines both the advantages of the adaptive backstepping control and the sliding mode control. Using the proposed controller makes the output voltage accurately track the desired voltage and obtains robustness to parameter uncertainties and disturbance. Moreover, the proposed controller can effectively reduce the chattering behavior. Finally, the proposed controller is verified by the MATLAB/SIMULINK simulation results.
43
Hong, Bo-Wen, and 洪博文. "Application of Adaptive Sliding Mode Control for Robotic Manipulators." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/36740215615650495156.
Full textAbstract:
碩士清雲科技大學
電機工程研究所
96
This thesis proposes an adaptive sliding mode controller (ASMC) which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameter. Based on the concept of sliding mode control, using adaptive algorithm to alleviate the chattering phenomenon of input signal. The propose two types adaptive sliding mode controllers. One is using two adaptive laws to obtain of input switching the gain and the boundary layer parameter. The other is simplified of the first type. Using only one adaptive law to obtain the gain of switching input signal. The stability and the convergence of the robotic manipulator control system are guaranteed by the Lyapunov method. The simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller can achieve robustness and track the objectives.
44
YANG, TENG-KAI, and 楊登凱. "Adaptive Fuzzy Sliding Mode Control for Mobile Robot Design." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/55435092915645978243.
Full textAbstract:
碩士建國科技大學
自動化工程系暨機電光系統研究所
104
This paper designs a self-adopted fuzzy sliding made controller. It creates stability control toward robot’s moving angle, and acceleration. It makes a balance control toward two-wheeled vehicle. Moving robot’s unbalanced control was set up a mathematic model of robot system by Euler-Lagrange equation. It combines fuzzy system and sliding made control to design a self-adopted fuzzy sliding made controller. The stability analysis can practice robot moving’s unstable and shaking situation. The experiment proves that applying self-adopted fuzzy sliding made controller can make moving changes smoothly in robot movement. In addition, it can reduce the shaking of machine operation more effectively and increase the control toward moving robots. Keywords：feedback linearization, self-adopted fuzzy sliding controller, mobile robot, Euler-Lagrange equation, fuzzy systems
45
(9786986), Sze San Chong. "Adaptive sliding mode control for robotic manipulators by hybridisation." Thesis, 1997. https://figshare.com/articles/thesis/Adaptive_sliding_mode_control_for_robotic_manipulators_by_hybridisation/19326698.
Full textAbstract:
In this thesis, the trajectory control of robotic manipulators is studied. The thesis consists of two parts.
The first part is the comparison studies of trajectory control of a two link robotic manipulator using various control laws. Simulations are presented to show the merits of each control law and discussions are given.
The second part is development of new control laws. A new control law is formulated by combining two existing control laws and the performance of the hybrid control law is assessed by simulating the action of the two link robotic manipulator controlled by the new hybrid control law. The effect of Regressor Matrix modification on the performance of the robotic manipulator is then studied by using the control law of Slotine and Li. In order to find out whether regressor matrix modification and composite adaptation can further improve the performance of a control law, these two modifications are then incorporated into the new hybrid control law and the performance of the manipulator is assessed. Simulations are presented to verify the effectiveness of the approach proposed.
46
Hsieh, Sheng-Jung, and 謝昇融. "Fuzzy Control and Adaptive Sliding Mode Control for Pneumatic Positioning System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/5j9fn5.
Full textAbstract:
碩士國立高雄應用科技大學
機械與精密工程研究所
104
In this dissertation, two control methods using adaptive sliding mode control with extension state observer and fuzzy control with compensation design are applied to control a pneumatic precise positioning system. The experimental results of adaptive sliding mode control with extension state observer and fuzzy control with compensation design are compared with the experimental results of PI control and fuzzy control to prove the importance about compensation design. The pneumatic system has nonlinear characteristics that are associated with dead-zone input, friction force, unknown system model, unknown system parameters, unknown system state variables and external disturbances, and its positioning precision can be improved by compensating those nonlinear phenomena. Sliding mode control uses extension state observer to estimate the state variables of system, and an adaptation law is used to compensate the effect of dead-zone. Fuzzy control uses voltage compensation design to decrease the effect of friction when system in small error. In this dissertation, the performance of two control schemes are evaluated on the positioning stage derived by the pneumatic cylinder on the actual control using LabVIEW software and pneumatic equipment. From the experimental results, the positioning accuracy of adaptive sliding mode control and fuzzy control can reach within 30 nm. Comparing the experimental results with PI control and fuzzy control, the positioning accuracy can be improve by the controller with compensation design, and the fuzzy control with compensation design has a faster positioning time and a better reproducibility performance of reproducibility.
47
TSUI, CHIEN-KUO, and 崔建國. "Tracking Controlof a Gyroscope System via Fuzzy Sliding Mode Control." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/sd2fz9.
Full textAbstract:
碩士國立高雄海洋科技大學
海事資訊科技研究所
101
The gyroscope system is widely applied in various areas of engineering. From the state response of the gyroscope system, it is shown that the gyroscope system have highly nonlinearity and chaotic characteristic. In this thesis, a novel scheme using fuzzy sliding mode control (FSMC) is proposed for a gyroscope system. Lyapunove theory is used to prove and verify the error state trajectory of the controlled gyroscope system converges to zero. The numerical simulation results are given to shown the effective and feasibility of the proposed control method. Key words: gyroscope system, fuzzy sliding mode, tracking control
48
Chang, Ming-Jen, and 張銘仁. "Adaptive Sliding-Mode Position Controller For Magnetic Levitation Control Systems." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/67035502228645164726.
Full textAbstract:
碩士國立東華大學
電機工程學系
94
This thesis focuses on the topics concerning about modeling and control of the magnetic levitation control system. A sliding-mode controller with capability of uncertainties estimatation is proposed to improve the position tracking performance. The linearized dynamic model of magnetic levitation system is developed. First, according to the linearized dynamics a sliding-mode controller is proposed. Then, an adaptation law is designed to estimate the bound of uncertainties,and the stability of this adaptive algorithm is approved by Lyapunov Stability Theory. An integral sliding function is designed to improve the steady state error. This proposed controller can force the system states reaching to sliding surface and move forward to the equilibrium point on the phase plane. Finally, simulation and experimental results are illustrated to validate the proposed control method for practical tracking applications
49
Chen, Uan-Shi, and 陳原許. "Adaptive Fuzzy Sliding Mode Control of the Inverted-Pendulum System." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/73987132354515854055.
Full textAbstract:
碩士國立宜蘭大學
電機工程學系碩士班
95
Since the high-nonlinearity and the sensitiveness for the external disturbances, the inverted pendulum-cart system is usually used to test the performance of controllers such as the PID Control, LQR-Optimal Control, Neural-Network Control, Adaptive Sliding Mode Control, and Fuzzy Logic Control, etc. However, to design the traditional controllers often need the accurate mathematic model of the plants. In order to simplify the designed of the controller for an inverted pendulum-cart system, the nonlinearity friction of the cart is usually replaced by the mathematic model which proportion directly with the velocity of a cart. After the inverted pendulum-cart system simplify will not overhang the actions and characters of the system originally, and reduce the integral performance with inverted pendulum-cart system. Therefore, the investigate will combine the fuzzy logic theory and the approach of the sliding mode control to design three fuzzy-hierarchical controllers for the inverted pendulum-cart system with the nonlinearity friction and the limitations on the control action, , and the rail length, . Furthermore, it also adopts the adaptive mechanism to enter into three controllers above to design three adaptive-fuzzy-hierarchical controllers. To control the inverted pendulum-cart system with the six kinds of the controllers previously, it expects to swing-up and balance the inverted pendulum-cart system in seconds. Moreover, to design the controllers by the adaptive mechanisms does not only simplify on devise greatly, but also increases the matching of its parameters with systems. Besides, the six kinds of the controllers are constructed by a main spindle of the fuzzy logic control have the robustness greatly for the uncertain external disturbances and the variable parameters of the system, and after it combines the sliding mode control which is intrinsic robust, the controllers can produce remarkable performance.
50
Yeh, Ken, and 葉根. "Applications of adaptive fuzzy sliding mode control in structural engineering." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/74767232707223050325.
Full textAbstract:
博士國立中央大學
土木工程研究所
88
The purpose of the research is to apply adaptive fuzzy sliding mode control of structural control for bridges and base-isolated buildings. Combining the fuzzy control and sliding mode control one can reduce the complexity of fuzzy rule base. It also ensures the stability and robustness. The Lyapunov theory is used to develop the adaptive law. In addition to full-state-feedback controller, an output feedback algorithm using only the measured information from a few sensors is presented. Finally, the adaptive fuzzy sliding mode control is applied to three types of bridge, no isolator, with LRB, and sliding bearing isolators. It is also used to two types of base-isolated building, with LRB, and sliding bearing isolators. The condition of the stiffness uncertainty and time delay is utilized to illustrate the robustness of this algorithm. The effectiveness of this algorithm is demonstrated by simulation results for a long period, a wide-pass white noise artificial earthquake and Taiwan Chi Chi earthquake occurred in 1999. All these simulations are shown that adaptive fuzzy sliding mode control can achieve satisfactory results in the application of structural control for bridges and base-isolated buildings