Fractional Order Fuzzy Dynamic Backstepping Sliding Mode Controller Design for Triaxial MEMS Gyroscope Based on High-gain and Disturbance Observers (original) (raw)
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2019
In this paper, a dynamic sliding mode controller with fractional order sliding surface based on backstepping algorithm is designed and presented for controlling performance of a micro-electro-mechanical triaxial gyroscope. To compensate uncertainties and incoming disturbances to the system, a sliding mode controller is used. In order to increase the degree of freedom and further robustness of the controller, the sliding surface is selected as fractional order form. Using dynamic sliding mode controller in addition to the increasing the performance of controller, cause to reduce the chattering phenomenon in the input control signal. Using the backstepping approach as a very powerful design tool for nonlinear systems, makes the designed controller more robust against incoming disturbances to the system. Asymptotic stability of the closed loop system will be proven by Lyapunov stability theorem. At the end of the design, in order to efficacious reduce the chattering phenomenon in the c...
Adaptive Fractional Order Sliding Mode Control for a Nonlinear System
2021 International Conference on Electronic Engineering (ICEEM), 2021
In this study, an adaptive fractional order sliding mode controller with a neural estimator is proposed for a class of systems with nonlinear disturbances. Compared with traditional sliding mode controller, the new proposed fractional order sliding mode controller contains a fractional order term in the sliding surface. The fractional order sliding surface is used in adaptive laws which are derived in the framework of Lyapunov stability theory. The bound of the disturbances is estimated by a radial basis function neural network to relax the requirement of disturbance bound. To investigate the effectiveness of the proposed adaptive neural fractional order sliding mode controller, the methodology is applied to a Z-axis Micro-Electro-Mechanical System (MEMS) gyroscope to control the vibrating dynamics of the proof mass. Simulation results demonstrate that the proposed control system can improve tracking performance as well as parameter identification performance.
Fuzzy Adaptive Sliding Mode Controller for MEMS Vibratory Rate Gyroscope
IFAC Proceedings Volumes, 2011
Using a proportional-integral sliding surface, a fuzzy adaptive sliding mode controller (SMC) is proposed to control micro-electromechanical systems (MEMS) gyroscopes and estimating the angular rate, damping ratios and stiffness coefficients in real time. The tracking performance of pure adaptive SMC is affected by high range chattering due to modeling uncertainties and exogenous inputs. Therefore, the discontinuous term of SMC is replaced by a fuzzy system which results in chattering free tracking and improved estimation accuracy. Therefore, the simple and intelligent Mamdani-type controller is resulted with high robustness against parametric uncertainties and exogenous disturbances. The performance of the proposed methods is evaluated through simulations.
Soft Computing
An adaptive fractional-order sliding mode control (AFOSMC) is proposed to control a nonlinear fractional-order system. This scheme combines the features of sliding mode control and fractional control for improving the response of nonlinear systems. The structure of AFOSMC includes two units: fractional-order sliding mode control (FOSMC) and the tuning unit that employs a certain Takagi–Sugeno–Kang fuzzy logic system for online adjusting the parameters of FOSMC. Tuning the parameters of the FOSMC improves its performance with various control problems. Moreover, stability analysis of the proposed controller is studied using Lyapunov theorem. Finally, the developed control scheme is introduced for controlling a fractional-order gyroscope system. The proposed AFOSMC is implemented practically using a microcontroller where the test is carried out using the hardware-in-the-loop simulation. The practical results indicate the improvements and enhancements introduced by the developed control...
2013
Performance control law is studied for an interconnected fractional nonlinear system. Applying a backstepping algorithm, a backstepping sliding mode controller (BSMC) is developed for fractional nonlinear system. To improve control law performance, BSMC is coupled to an adaptive sliding mode observer have a filtered error as a sliding surface. The both architecture performance is studied throughout the inverted pendulum mounted on a cart. Simulation result show that the BSMC coupled to an adaptive sliding mode observer have stable control law and eligible control amplitude than the BSMC.
Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope
ISA Transactions, 2013
Keywords: z-axis MEMS vibratory gyroscope The least mean squares algorithm Interval type-2 fuzzy logic Sliding mode control a b s t r a c t This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via the Lyapunov stability theorem. Finally, numerical simulation is done in order to validate the effectiveness of the proposed method, both for a constant and time-varying angular rate.
Aerospace Science and Technology, 2015
An adaptive fuzzy fractional order sliding mode control (FFOSMC) is introduced for a high performance servo actuation system that is subjected to aerodynamic loads and uncertainties. During flight, aerodynamic loads are exerted on control surfaces which directly affect the performance of position servo loop. Moreover, since these loads are not linear so qualification of servo actuators is an important process in aerospace industry. This article focuses on formulating a servo position controller using fractional calculus and verifying its performance under system uncertainties, nonlinear friction and aerodynamic loads. Utilizing the advantages of fractional order proportional-integral PIα sliding surface and fractional order proportional-derivative PDλ sliding surface, a novel sliding surface is proposed. To reduce chattering phenomenon in sliding mode control, fuzzy logic controller (FLC) is used to deal with uncertain nonlinearities, parametric uncertainties and external disturbances. FLC makes it possible to use small switching gain of the discontinuous control in the presence of large upper bounded uncertainties. Adaptive laws are formulated using Lyapunov function to guarantee the sliding condition. Efficiency of the proposed controller is demonstrated through numerical simulations.
The design of a fractional-order sliding mode controller with a time-varying sliding surface
Transactions of the Institute of Measurement and Control, 2020
The novelty of this paper is the usage of a time-varying sliding surface with a fractional-order sliding mode controller. The objective of the controller is to allow the system states to move to the sliding surface and remain on it so as to ensure the asymptotic stability of the closed-loop system. The Lyapunov stability method is adopted to verify the stability of the controller. Firstly, by using the geometric coordinate transformation that is formerly defined for conventional sliding mode controller, a novel fractional-order sliding surface is defined. The time-varying fractional-order sliding surface is then rotated in the region in which the system state trajectories are stable. The adjustment of the sliding surface slope on the new coordinate axes is achieved by tuning a parameter defined as a sigmoid function. Then, a new control rule is derived. Numerical simulations are performed on the nonlinear mass-spring-damper and 2-DOF robot manipulator system models with parameter un...
Microsystem Technologies, 2019
In this paper a robust backstepping sliding mode controller is developed for tracking control of 2-DOF piezo-actuated micromanipulation system. The control approach is established to obtain high precision tracking in the existence of hysteresis nonlinearity, model uncertainties and external disturbances which treated as a lumped uncertainty. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by a discontinuous switching function, a simple fuzzy system is used. The asymptotical stability of the system can be guaranteed since the control law is derived based on Lyapunov theorem. The effectiveness and feasibility of the suggested approach are tested for tracking of a micrometer-level reference trajectories. From the results, it is shown that the developed control system not only achieves satisfactory control performance, but also eliminates the chattering phenomena in the control effort.
An Adaptive-Fuzzy Fractional-Order Sliding Mode Controller Design for an Unmanned Vehicle
Elektronika ir Elektrotechnika, 2018
In this paper, speed and direction angle of a four wheel skid-steered mobile robot (4 WD SSMR) has been controlled via adaptive-fuzzy fractional-order sliding mode controller (AFFOSMC) under different speed and angle reference signals. The hybrid control method is designed to combine all advantages that controllers have such as flexibility realized by fractional order calculation, robustness to disturbances and parameters variations provided by sliding mode controller (SMC) as well as adaptation of G constant of SMC via fuzzy controller, simultaneously. Also, a fractionalorder SMC is applied to the system for the same reference speed and angle references to show the effects of the changes and adaptation of G constant. Experimental results show that the AFFOSMC has better trajectory tracking performance than the FOSMC.