Fuzzy Estimator Indirect Terminal Sliding Mode Control of Nonlinear Systems Based on Adaptive Continuous Barrier Function

Sepestanaki, Mohammadreza Askari; Bahmani, Hamidreza; Ali, Majid; Jalilvand, Abolfazl; Mobayen, Saleh; Fekih, Afef

doi:10.1109/access.2022.3162331

Cited by 5 publications

(4 citation statements)

References 54 publications

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“…The fuzzy logic approach has been employed on various problems, such as image encryption [35], stabilization [36], tracking control [37], exoskeleton robots [38], humanoid robots [39], photo-voltaic inverters [40,41], electric vehicles [42], nonlinear estimation [43], data security [44], etc. In this paper, the adaptive control technique is improved using the fuzzy method.…”

Section: Structure Of Proposed Adaptive Fuzzy Control Systemmentioning

confidence: 99%

Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Hsia

El-Sousy

et al. 2022

Mathematics

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Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design an adaptive fuzzy controller for a cable-driven parallel robot (CDPR). In the proposed controller, the results show that the accuracy of the system performance in tracking the reference value as well as the controller performance speed is better than that of the robust method. In one of the simulation modes, the performance speed of the control system for convergence is reduced and its error is very small, which indicates the proper performance of the proposed adaptive fuzzy method. It should be noted that all simulations are performed in a MATLAB software environment.

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Section: Structure Of Proposed Adaptive Fuzzy Control Systemmentioning

confidence: 99%

Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Hsia

El-Sousy

et al. 2022

Mathematics

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“…Recently, in Mobayen et al [55], a finite‐time technique based on idea of continuous barrier function is proposed to control manipulator robot links. Moreover, in Sepestanaki et al [56], to control an inverted pendulum, a TSMC is designed using the barrier function and fuzzy estimation approach, in which a smooth and continuous control law is obtained. In addition, by the combination of this adaptive technique‐based barrier function with a first‐order SMC, a class of first‐order disturbed systems is controlled [57].…”

Section: Introductionmentioning

confidence: 99%

Adaptive barrier function‐based fractional‐order chattering‐free finite‐time control for uncertain chaotic systems

Sepestanaki

Soofi

Barhaghtalab

et al. 2023

Math Methods in App Sciences

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This study proposes the adaptive continuous barrier function as the fractional‐order control system using the terminal sliding mode control technique with chattering‐free property to stabilize chaotic systems that have unknown uncertainties. The important reason for using the fractional‐order controller is its greater flexibility than the integer‐order controller. Using adaptive approach and Lyapunov's stability theory, an adaptive continuous barrier fractional‐order chattering‐free finite‐time controller for a category of chaotic systems with the unknown uncertainties and external disturbances is presented. The suggested controller can stabilize the chaotic system excellently with a continuous and smooth control law even without knowing the boundaries and in the presence of unknown disturbances due to the model uncertainties. According to MATLAB simulation results, the high efficiency of the suggested control technique to control the chaotic systems in the attendance of unknown perturbations is obviously confirmed.

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“…Also, barrier function-based adaptive high-order SMC has been used for the fast stabilization of a perturbed chain of integrators with bounded uncertainties in [51]. Recently in [52], a TSMC based on the continuous barrier function along with a fuzzy estimator has been designed to control an inverted pendulum. The approach resulted in the creation of continuous and smooth control rules.…”

Section: Introductionmentioning

confidence: 99%

Chattering-Free Terminal Sliding Mode Control Based on Adaptive Barrier Function for Chaotic Systems With Unknown Uncertainties

et al. 2022

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This paper designs and implements a chattering-free terminal sliding mode control approach for a class of chaotic systems with unknown uncertainties. It considers sliding mode control (SMC) to deal with the dynamic model uncertainties of the chaos system, and uses a combination of SMC with an adaptive control approach to solve the upper boundaries problem of unknown model uncertainties and their estimation. Chattering is completely eliminated without over estimating the control gains by adopting an adaptive continuous barrier function in the dynamic switching function. Using the Lyapunov's stability theory, it was shown that the proposed scheme can guarantee the convergence of system states to the vicinity of the sliding surface in finite time. Additionally, the adoption of a sliding surface with a nonlinear and integral switching function resulted in removing the reaching phase of the sliding surface and yielding a controller that is robust to uncertainties from the start. The effectiveness of the proposed control method was assessed using three scenarios implemented to a Liu's uncertain chaotic system in MATLAB/Simulink environment. The obtained results confirmed the ability of the proposed approach to achieve continuous and smooth control rules for such chaotic systems. Among the main attributes of the proposed control method are its ability to completely eliminate chattering and yield a robust performance against model uncertainties and unknown external disturbances; common issues in chaotic systems.INDEX TERMS Terminal sliding mode control, chaotic systems, adaptive barrier function, chattering-free, unknown uncertainty.

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Fuzzy Estimator Indirect Terminal Sliding Mode Control of Nonlinear Systems Based on Adaptive Continuous Barrier Function

Cited by 5 publications

References 54 publications

Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Adaptive barrier function‐based fractional‐order chattering‐free finite‐time control for uncertain chaotic systems

Chattering-Free Terminal Sliding Mode Control Based on Adaptive Barrier Function for Chaotic Systems With Unknown Uncertainties

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