Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer

Komijani, Hossein; Masoumnezhad, Mojtaba; Zanjireh, Morteza Mohammadi; Mir, Mahdi

doi:10.1017/s0263574719000882

Cited by 17 publications

(22 citation statements)

References 24 publications

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“…The back-to-back converter, used to control the bidirectional flow of energy, is formed of two IGBT based inverters. By assuming that the electronic switches are ideal, each two-level inverter can be represented by (19) [29].…”

Section: The Simplified Model Of the Voltage Convertermentioning

confidence: 99%

“…More recently, the application of fractional calculus to engineering problems and systems control has attracted a lot of interest. Numerous papers have dealt with the design of fractional-order sliding mode controllers for various types of systems: Areal vehicles [18], robot manipulators [19], and ABS systems [20]. The problem that motivate this work is the design of a control strategy the can force the wind system to produce a high quality energy with the appropriate amount while guaranteeing the stability of the plant.…”

Section: Introductionmentioning

confidence: 99%

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Improvement of Power Quality Injected into the Grid by Using a FOSMC-DPC for Doubly Fed Induction Generator

Beniss¹,

Moussaoui²,

Lamhamdi³

et al. 2021

IJIES

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This research work deals with the design of a direct power control strategy (DPC) based on the fractionalorder sliding mode (FOSMC) theory for the doubly fed induction generator (DFIG). The novelty of this paper is the use of proportional derivative (PD) fractional order sliding surface that is constructed using Riemann-Liouville fractional derivative and its accurate representation with a transfer function. This make the whole control strategy simpler and more accurate. Also the study of the quality of the current injected into the grid is performed. The stability of DFIG is guaranteed by means of the Lyapunov function. In order to optimize the amount of electrical energy captured from the wind, the MPPT (Maximum Power Point Tracking) technique is adopted. The proposed controller forces the system to track the desired values of active and reactive powers. In addition, power ripples are restrained even if the DFIG is subjected to disturbances and parameter variations. Furthermore, a comparative study is conducted between the developed controller and other nonlinear methods that exist in the literature. The results obtained, under different wind profiles, confirm its robustness and superiority in terms of performance and quality of power injected into the grid. In terms of THD, our control strategy does not exceed 1.31%, on the contrary, the fuzzy logic DTC which is developed recently reaches 2.81%.

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Section: The Simplified Model Of the Voltage Convertermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Improvement of Power Quality Injected into the Grid by Using a FOSMC-DPC for Doubly Fed Induction Generator

Beniss¹,

Moussaoui²,

Lamhamdi³

et al. 2021

IJIES

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“…Grey wolf optimization (GWO) [27] is reported as an outstanding optimizing strategy among the numerous metaheuristic algorithms [28]. GWO is used for improving the SMC by adjusting the controller parameters to the optimum values in previous studies [29][30][31]. In this paper, for the purpose of having precise performing controller, an extended grey wolf optimization (EGWO) is developed.…”

Section: Introductionmentioning

confidence: 99%

Hybrid super‐twisting fractional‐order terminal sliding mode control for rolling spherical robot

Parizi

Salemizadehparizi

Vanaei

et al. 2021

Asian Journal of Control

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The unmodeled parameters, uncertainties, chattering, and disturbances can be serious problems for a controller. These issues decrease the performance of the controller and make it difficult to have a satisfactory movement path as well. This paper presents a novel hybrid super‐twisting fractional‐order terminal sliding mode controller (HSTFOTSMC) for a rolling spherical robot (RSR) considering bounded model uncertainties for robot dynamics in presence of external disturbances and noise. The controller is based on a new adaptive fractional‐order terminal sliding surface. The stability of the proposed controller is proved by the Lyapunov theory, and then, it is tuned by a novel extended grey wolf optimizing (EGWO) algorithm to adjust the controller parameters, and assure to achieve the precise robot performance. The results of the optimized controller (EGWO‐HSTFOTSMC) are compared with the typical sliding mode controller (SMC), fractional‐order terminal sliding mode controller (FOTSMC), and super‐twisting fractional‐order terminal sliding mode controller (STFOTSMC), which demonstrate the effectiveness of the controller scheme. The controller implementation can potently eliminate the impacts of disturbances, noise, and uncertainties; meanwhile, it decreases the tracking error and increases the convergence speed of robot responses.

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“…The sliding mode is a well-known technique since it is robust against external disturbances and model uncertainties. 30,31 Reducing the order of the system in the sliding phase is one of its advantages, which simplifies the design procedure. In general, the sliding mode technique has two key steps.…”

Section: Introductionmentioning

confidence: 99%

Robust Stable Limit Cycle Generation in Multi-Input Mechanical Systems

Binazadeh

Karimi

2021

Robotica

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SUMMARY This paper proposes a robust controller for the generation of stable limit cycles in multi-input mechanical systems subjected to model uncertainties. The proposed idea is based on Port-Controlled Hamiltonian (PCH) model and energy-based control by considering the Hamiltonian function as the Lyapunov function. For this purpose, first, a nominal controller is designed by shaping the energy function of the system according to the structure of the desired limit cycle. Then, an additional robustifying control term is designed based on the integral sliding mode method with the selection of an appropriate sliding surface. Finally, computer simulations for two practical case studies are provided to confirm the effectiveness of the proposed controller in the generation of stable limit cycles in the presence of uncertainties.

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Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer

Cited by 17 publications

References 24 publications

Improvement of Power Quality Injected into the Grid by Using a FOSMC-DPC for Doubly Fed Induction Generator

Improvement of Power Quality Injected into the Grid by Using a FOSMC-DPC for Doubly Fed Induction Generator

Hybrid super‐twisting fractional‐order terminal sliding mode control for rolling spherical robot

Robust Stable Limit Cycle Generation in Multi-Input Mechanical Systems

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