Adaptive Fuzzy Sliding Mode Control for Network-Based Nonlinear Systems With Actuator Failures

Chen, Liheng; Liu, Ming; Huang, Xin; Fu, Shuai; Qiu, Jianbin

doi:10.1109/tfuzz.2017.2718968

Cited by 86 publications

(55 citation statements)

References 32 publications

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“…To utilize SM control and its variants in practical systems, some methods have been proposed and used to suppress the chattering, such as reaching laws, boundary layer, adaptive control, fuzzy logical, neural networks control, and high‐order SM (HOSM) control . The latter has enjoyed many interests thanks to its good comprehensive performance.…”

Section: Introductionmentioning

confidence: 99%

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Wang

Yan

Zhu

et al. 2019

Intl J Robust & Nonlinear

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In this paper, a new practical robust control scheme is proposed and investigated for the cable-driven manipulators under lumped uncertainties. There are three parts in the proposed method, ie, a time-delay estimation (TDE) part, a modified super-twisting algorithm (STA) part, and a fractional-order nonsingular terminal sliding mode (FONTSM) error dynamics part. The TDE uses intentionally time-delayed system signals to estimate the lumped dynamics of the system and ensures an attractive model-free control structure. The STA is applied to guarantee high performance and chattering suppression simultaneously in the reaching phase. The FONTSM error dynamics is utilized to obtain fast convergence and strong robustness in the sliding mode phase. Thanks to the above three parts, the proposed control scheme is model free and can ensure high control performance under lumped uncertainties. The stability considering the FONTSM error dynamics and modified STA scheme is analyzed. Comparative simulation and experiments were conducted to demonstrate the effectiveness and superiorities of the newly proposed control scheme. Corresponding experimental results show that our newly proposed control scheme can provide more than 20% improvement of the steady control accuracy under three different reference trajectories. KEYWORDS cable-driven manipulators, fractional order, model free, nonsingular terminal sliding mode, super-twisting algorithm (STA), time-delay estimation (TDE) INTRODUCTIONRobot manipulators have been widely utilized in many practical fields benefitting from their excellent capability to execute automatic tasks. 1-4 Usually, the drive motors are directly installed in the joints to simplify the system structure and obtain good control accuracy, which in turn will bring in high stiffness and big moving inertia. This design performs well for the industrial applications, but it will not be safe for the physical interactions with human due to the high stiffness and large moving mass. Therefore, the cable-driven manipulators were proposed and utilized to efficiently settle the above issue. 5 Compared with the widely used classical robot manipulators, the cable-driven ones have much lower stiffness and smaller moving mass, which can effectively guarantee the safety for physical interactions with human. Due to above obvious advantages, cable-driven manipulators have been widely used in medical care, flexible manufacturing, and academic studies. [6][7][8][9][10][11][12] Int J Robust Nonlinear Control. 2019;29:3405-3425.wileyonlinelibrary.com/journal/rnc

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Section: Introductionmentioning

confidence: 99%

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Wang

Yan

Zhu

et al. 2019

Intl J Robust & Nonlinear

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“…The controller of the current envelope region is designed for the model. Therefore, the linear small deviation state space model is used to study the design of the controller [32][33][34]. It is assumed that DCS sensor and actuator are clock driven, controller is event driven.…”

Section: Time-delay Multi-packet Transmission Dcs Modelingmentioning

confidence: 99%

“…According to Eq (34), at this time, no matter s(k)>0 or s(k)�0, can meet the requirements of Eq (33). Furthermore, the stability of the PID approach law sliding-mode controller is analyzed, and the Lyapunov function is defined:…”

Section: Plos Onementioning

confidence: 99%

Multi-packet transmission aero-engine DCS neural network sliding mode control based on multi-kernel LS-SVM packet dropout online compensation

Wang

Ren

2020

PLoS ONE

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In view of the strong nonlinear characteristics of the multi-packet transmission Aero-engine DCS with induced delay and random packet dropout, a neural network PID approach law sliding-mode controller using sliding window strategy and multi-kernel LS-SVM packet dropout online compensation is proposed. Firstly, the time-delay term in the system model is transformed equivalently, to establish the discrete system model of multi-packet transmission without time-delay; furthermore, the construction of multi-kernel function is transformed into kernel function coefficient optimization, and the optimization problem can be solved by the chaos adaptive artificial fish swarm algorithm, then the online predictive compensation will be made for data packet dropout of multi-packet transmission through the sliding window multi-kernel LS-SVM. After that, a sliding-mode controller design method of proportional integral differential approach law based on neural network is proposed. And online adjustment of PID approach law parameters can be achieved by nonlinear mapping of neural network. Finally, Truetime is used to simulate the method. The results shows that when the packet dropout rate is 30% and 60%, the average error of packet dropout prediction of multikernel LS-SVM reduces 29.21% and 44.66% compared with that of combined kernel LS-SVM, and the chattering amplitude of the proposed neural network PID approach law sliding-mode controller is decreased compared with other five approach law methods respectively. This controller can ensure a fast response speed, which shows that this method can achieve a better tracking control of the aeroengine network control system.

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“…In Assumption 1, we can obtain that | j ( )| ≤ k j || ||. This means that there exist monotonically increasing functions j (s) = k j s( j = 1, 2 … , n) being the bounding functions of j (·) for s ∈ R. Furthermore, with the help of this variable separation approach, nonlinear function j ( ) can be converted into a sum of the functions with respect to error variable j defined in (27), which can work for the subsequent backstepping-based design procedures.…”

Section: Assumptionmentioning

confidence: 99%

“…Wu and Yang 26 were concerned with robust adaptive fuzzy tracking control for uncertain nonlinear time-delayed systems with actuator failures. Recently, a new adaptive sliding mode control scheme 27 was proposed for the developed nonlinear systems with unknown time-varying actuator faults over digital communication networks. On the other hand, FTC algorithm has received increasing attention in various practical systems.…”

Section: Introductionmentioning

confidence: 99%

Finite‐time prescribed performance adaptive fuzzy fault‐tolerant control for nonstrict‐feedback nonlinear systems

Zhang

2019

Adaptive Control & Signal

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This paper focuses on a finite-time adaptive fuzzy control problem for nonstrict-feedback nonlinear systems with actuator faults and prescribed performance. Compared with existing results, the finite-time prescribed performance adaptive fuzzy output feedback control is under study for the first time.By designing performance function, the transient performance of the corresponding controlled variable is maintained in a prescribed area. Combining the finite-time stability criterion with backstepping technique, a feasible adaptive fault-tolerant control scheme is proposed to guarantee that the system output converges to a small neighborhood of the origin in finite time, and the closed-loop signals are bounded. Finally, simulation results are shown to illustrate the effectiveness of the presented control method.

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Adaptive Fuzzy Sliding Mode Control for Network-Based Nonlinear Systems With Actuator Failures

Cited by 86 publications

References 32 publications

A new practical robust control of cable‐driven manipulators using time‐delay estimation

A new practical robust control of cable‐driven manipulators using time‐delay estimation

Multi-packet transmission aero-engine DCS neural network sliding mode control based on multi-kernel LS-SVM packet dropout online compensation

Finite‐time prescribed performance adaptive fuzzy fault‐tolerant control for nonstrict‐feedback nonlinear systems

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