Hierarchical robust fuzzy sliding mode control for a class of simo under-actuated systems with mismatched uncertainties

Abstract

The development of the algorithms for single input multi output (SIMO) under-actuated systems with mismatched uncertainties is important. Hierarchical sliding-mode controller (HSMC) has been successfully employed to control SIMO under-actuated systems with mismatched uncertainties in a hierarchical manner with the use of sliding mode control. However, in such a control scheme, the chattering phenomenon is its main disadvantage. To overcome the above disadvantage, in this paper, a new compound control scheme is proposed for SIMO under-actuated based on HSMC and fuzzy logic control (FLC). By using the HSMC approach, a sliding control law is derived so as to guarantee the stability and robustness under various environments. The FLC as the second controller completely removes the chattering signal caused by the sign function in the sliding control law. The results are verified through theoretical proof and simulation software of MATLAB through two systems Pendubot and series double inverted pendulum.

Two novel approaches of adaptive finite‐time sliding mode control for a class of single‐input multiple‐output uncertain nonlinear systems

“…A few studies in the literature have provided a controller using the sliding mode control (SMC) method for single-input multiple-output (SIMO) nonlinear systems [1][2][3]. In [2,3], models of uncertainties have not been considered in nonlinear SIMO systems that would not be true in practice.…”

“…In [2,3], models of uncertainties have not been considered in nonlinear SIMO systems that would not be true in practice. In [1][2][3], asymptotic stability is only ensured for SIMO nonlinear systems. However, in many practical applications, system stability should be guaranteed within a finite period.…”

“…The proposed controllers are applied to a four-dimensional autonomous hyper-chaotic system with mismatched uncertainties (as an example of a SIMO uncertain nonlinear system) and are simulated to verify their validity and compare them. 1 Compared with 1 Note that this paper is the extended version of our conference paper [4] which was held during 14-15 December 2018 in Melaka, Malaysia. existing works, the major contributions of the article are the following: � A combination of the adaptive method, finite-time stability concept, and SMC method is proposed to stabilise a class of SIMO nonlinear systems with mismatched uncertainties without any knowledge of uncertainty upper bounds.…”

Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis

“…For the chattering phenomenon several research have been carried out. Duc Ha Vu et al, achieve high stability and durability and eliminate chattering signals for under-actuated systems with mismatched uncertainties [10]. Bing Sun and Daqi Zhu, controllers removes the chattering phenomenon and compensate disturbance and nonlinear uncertainties in dynamic systems by replacing a switching term with a model based adaptive SMC continuous term [11].…”

Radial basis function neural network control for parallel spatial robot

“…Simulations with nonsingular terminal super-twisting control to prove the superiority and the effectiveness of the proposed approach. In [44], a new compound hierarchical sliding mode control and fuzzy logic control scheme has been proposed for a class of underactuated systems with mismatched uncertainties.…”