Fractional-order sliding mode controller for the two-link robot arm

Nguyen, Trong-Thang

doi:10.11591/ijece.v10i6.pp5579-5585

Cited by 10 publications

(8 citation statements)

References 17 publications

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“…The controller provides a feature that when the system slides on the surface, the system is insensitive to plant parameter variation and external disturbances such that the controller performance is determined by the design of the sliding manifolds [29]. Such advantage made the sliding mode controller attractive for the control of many nonlinear systems and hence has gained researchers interest [30]- [32]. As an example, Utkin [33] introduced the discrete-time sliding mode (DSMC) to implement sliding mode controller in discrete time systems.…”

Section: Sliding Mode Nonlinear Controller Designmentioning

confidence: 99%

Design of sliding mode controller for chaotic Josephson-junction

Harb

2023

IJECE

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<span lang="EN-US">It is known that a shunted nonlinear resistive-capacitive-inductance Josephson-junction (RCLSJ) model has a chaotic attractor. This attractor is created as a result of Hopf bifurcation that occurs when a certain direct current (DC) applied to one of the junction terminals. This chaotic attractor prevents the system from reaching the phase-locked state and hence degrade the performance of the junction. This paper aims at controlling and taming this chaotic attractor induced in this model and pulling the system to the phase-locked state. To achieve this task, a sliding mode controller is proposed. The design procedures involve two steps. In the first one, we construct a suitable sliding surface so that the dynamic of the system follows the sliding manifolds in order to meet design specifications. Secondly, a control law is created to force the chaotic attractor to slide on the sliding surface and hence stabilizes system trajectory. The RCLSJ model under consideration is simulated with and without the designed controller. Results demonstrate the validity of the designed controller in taming the induced chaos and stabilizing the system under investigation.</span>

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Section: Sliding Mode Nonlinear Controller Designmentioning

confidence: 99%

Design of sliding mode controller for chaotic Josephson-junction

Harb

2023

IJECE

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“…This has led to much research into developing high-performance control approaches using state-of-the-art control theories [1]. For instance, proportional integral derivative (PID) controller [2]- [4], sliding mode control [5], fractional-order sliding mode controller [6], adaptive sliding mode control [7], fuzzy sliding mode control [8] have been dedicated to the study of flexible-joint robots. An integral sliding mode controller (ISMC) tracks a flexible joint manipulator driven by a direct current (DC) motor.…”

Section: Introductionmentioning

confidence: 99%

Optimal integral sliding mode controller controller design for 2-RLFJ manipulator based on hybrid optimization algorithm

Yahya

Abbas

2022

IJECE

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A newly hybrid nature-inspired algorithm called HSSGWOA is presented with the combination of the salp swarm algorithm (SSA) and grey wolf optimizer (GWO). The major idea is to combine the salp swarm algorithm's exploitation ability with the grey wolf optimizer's exploration ability to generate both variants' strength. The proposed algorithm uses to tune the parameters of the integral sliding mode controller (ISMC) that design to improve the dynamic performance of the two-link flexible joint manipulator. The efficiency and the capability of the proposed hybrid algorithm are evaluated based on the selected test functions. It is clear that when compared to other algorithms like SSA, GWO, differential evolution (DE), gravitational search algorithm (GSA), particles swarm optimization (PSO), and whale optimization algorithm (WOA). The ISMC parameters were tuned using the SSA, which was then compared to the HSSGWOA algorithm. The simulation results show the capabilities of the proposed algorithm, which gives an enhancement percentage of 57.46% compared to the standard algorithm for one of the links, and 55.86% for the other.

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“…In the FOSMC, the improvement in terms of chattering reduction [37] and fast response [38][39][40][41][42][43], is achievable through the concept of fractional order calculus [44]. With these advantages, the FOSMC was utilized in several applications such as aerospace [45][46][47][48], missile guidance [49][50][51], automotive [52][53], robotic [40,[54][55][56][57], energy, and power systems [58][59][60][61]. Also, the SEIR epidemic model's vaccination control policy was established by the FOSMC [62][63].…”

Section: Introductionmentioning

confidence: 99%

Fractional Order Sliding Mode Controller for HBV Epidemic System

Boonyaprapasorn¹,

Kuntanapreeda²,

Ngaimsunthorn³

et al. 2022

MMEP

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The Hepatitis-B (HBV) epidemic's dynamic can be presented as a compartment model. Determining the HBV epidemic control strategy can be considered a nonlinear feedback control problem. The sliding mode controller (SMC) is an effective feedback control method for controlling the dynamical system under disturbances. Recently, the SMC based on fractional order calculus can provide preferable characteristics for a control system such as robustness and convergence rate. In this study, the HBV epidemic system's control policy is proposed using the fractional order sliding mode controller (FOSMC). The control policy with multiple measures including vaccination, isolation, and treatment is formulated to manipulate the susceptible and the infected subpopulations to the desired level. The Lyapunov-based approach is proven for stability analysis. The control policy is applied to the simulation example to verify the feasibility of the proposed FOSMC method. The simulation results are compared with those of the integer order SMC. By the proposed method, the results reveal that the susceptible and infected subpopulations are driven to the desired levels under disturbances with a higher convergence rate compared to that of the integer one. Moreover, the proposed FOSMC method can reduce the chattering occurrence which is the primary drawback of the SMC method.

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Fractional-order sliding mode controller for the two-link robot arm

Cited by 10 publications

References 17 publications

Design of sliding mode controller for chaotic Josephson-junction

Design of sliding mode controller for chaotic Josephson-junction

Optimal integral sliding mode controller controller design for 2-RLFJ manipulator based on hybrid optimization algorithm

Fractional Order Sliding Mode Controller for HBV Epidemic System

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