Adaptive Fuzzy Sliding Mode Control for Translational Oscillator With Rotating Actuator: A Fuzzy Model

Wu, Tiebin; Gui, Weihua; Hu, Dong; Du, Chenglong

doi:10.1109/access.2018.2872690

Cited by 20 publications

(17 citation statements)

References 27 publications

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“…By taking uncertain system parameters into consideration, Wu et al (2017) propose an adaptive control method for multi-TORA systems which have a series of single TORA subsystems connected to each other via elastic springs. Owing to the strong robustness of the sliding mode control technique, a number of sliding mode controllers are proposed to deal with uncertain system parameters and external disturbances (Mobayen, 2016; Wu et al, 2018; Xu and Özgüner, 2008). By using the adaptive control strategy, Wu and Gu (2019) propose an adaptive controller for the TORA system to deal with parameter uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs

et al. 2020

Transactions of the Institute of Measurement and Control

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In this paper, we consider the control issues of the two-dimensional translational oscillator with rotational actuator (2DTORA) system, which has two translational carts and one rotational rotor. An output feedback controller for the 2DTORA system is proposed, which can prevent the unwinding behaviour. In addition, the velocity signal unavailability and actuator saturation are taken into account, simultaneously. In particular, the dynamics of the 2DTORA system are given first. On the basis of the passivity and control objectives of the 2DTORA system, an elaborate Lyapunov function is constructed. Then, based on the introduced Lyapunov function, a novel output feedback control method is proposed straightforwardly for the 2DTORA system. Lyapunov theory and LaSalle’s invariance principle are utilized to analyse the stability of the closed-loop system and the convergence of the states. Finally, simulation results are provided to illustrate the excellent control performance of the proposed controller in comparison with the existing method.

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Section: Introductionmentioning

confidence: 99%

Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs

et al. 2020

Transactions of the Institute of Measurement and Control

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“…The TORA (translational oscillators with rotating actuator) is a classical underactuated mechanical system, which is composed of a non-actuated translational oscillator and an actuated pendulum. The research of control strategy for the TORA systems is of great theoretical significance because it exhibits a specific nonlinear interaction between translational and rotational movements, which makes it an ideal benchmark system for testing advanced nonlinear control algorithms [1], [2]. Moreover, since the rotational/translational interaction is quite analogous to the spin interaction of a dual-spin spacecraft [1], [7], it presents very similar dynamical characteristics to the dual-spin spacecrafts.…”

Section: Introductionmentioning

confidence: 99%

“…The research of control strategy for the TORA systems is of great theoretical significance because it exhibits a specific nonlinear interaction between translational and rotational movements, which makes it an ideal benchmark system for testing advanced nonlinear control algorithms [1], [2]. Moreover, since the rotational/translational interaction is quite analogous to the spin interaction of a dual-spin spacecraft [1], [7], it presents very similar dynamical characteristics to the dual-spin spacecrafts. Therefore, the research motivation to control the TORA may be an independent interest to control the TORA as a benchmark problem with an advanced nonlinear control algorithm or the possible application to suppress the translational vibration with a rotational actuation.…”

Section: Introductionmentioning

confidence: 99%

“…Some focus on the intelligent design methods [1]- [4] and some focus on the nonlinear design methods [5]- [16]. Among the intelligent design methods, the fuzzy methods are proposed [1]- [3] and there are some fuzzy rules and parameters to be preset. A neural network controller is proposed with SPSA Algorithm [4] and a time-consuming learning process is needed.…”

Section: Introductionmentioning

confidence: 99%

“…A neural network controller is proposed with SPSA Algorithm [4] and a time-consuming learning process is needed. Among the nonlinear design methods, such as adaptive control [5], [6], nonlinear control [7]- [9], energy-or passivity-based control [10]- [12], repetitive control [13], and sliding mode-based design [1], [3], [10], [14], the design processes and the obtained controllers are relatively cumbersome. A comparison study of nonlinear control techniques for the TORA is performed [10].…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Dynamic Surface Control for the Underactuated Translational Oscillator With Rotating Actuator System

Guo

Liu

2019

IEEE Access

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This paper is concerned with the issue of nonlinear dynamic surface control for an underactuated translational oscillator with a rotating actuator (TORA). The nonlinear feedback cascade model of the underactuated TORA is obtained through a collocated partial feedback linearization and a global change of coordinates. A nonlinear controller is designed to treat the state variables as virtual control inputs to design the virtual controller step by step. Dynamic surface control is used to avoid the ''explosion of complexity'' in the backstepping design process. Considering that there is no affine appearance of the variables to be used as virtual controls for the second state, the first step is designed for a one-input and two-state system. It is proved that the proposed design method can guarantee semi-global uniform ultimate boundedness of all signals in the closed-loop system with arbitrary small tracking error by appropriately choosing design constants. The simulation results demonstrate the effectiveness of the proposed approach.

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Output feedback control for an underactuated benchmark system with bounded torques

et al. 2020

Asian Journal of Control

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In this paper, we consider the stabilization of the translational oscillator with a rotational actuator (TORA) system. Existing control methods for the TORA system are developed on the basis of the assumptions that full state feedback is available, and the actuator can supply control torques with any bounded amplitudes or system parameters are exactly known. In order to relax these assumptions, an amplitude‐saturated output feedback controller is proposed for the TORA system. Compared with existing control methods, the proposed method exhibits four remarkable features: free of plant parameters, bounded amplitude, output feedback, and unwinding behavior prevention. Specifically, the passivity of the TORA system is analyzed first. Then, a constructive energy‐like function is introduced and a corresponding amplitude‐saturated output feedback control law for the TORA system is proposed on the basis of the constructed energy‐like function. Lyapunov‐based analysis and LaSalle's invariance principle are used to prove the boundedness and convergence of the closed‐loop signals. Finally, numerical simulations with comparisons to previous reported methods are implemented to demonstrate the superior performance of the proposed method.

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Adaptive Fuzzy Sliding Mode Control for Translational Oscillator With Rotating Actuator: A Fuzzy Model

Cited by 20 publications

References 27 publications

Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs

Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs

Nonlinear Dynamic Surface Control for the Underactuated Translational Oscillator With Rotating Actuator System

Output feedback control for an underactuated benchmark system with bounded torques

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