scholarly journals GPS Path Tracking Control of Military Unmanned Vehicle Based on Preview Variable Universe Fuzzy Sliding Mode Control

Machines ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 304
Author(s):  
Houzhong Zhang ◽  
Xiangtian Yang ◽  
Jiasheng Liang ◽  
Xing Xu ◽  
Xiaoqiang Sun
Keyword(s):  
Sliding Mode ◽  
Unmanned Vehicles ◽  
Path Tracking ◽  
Tracking Algorithm ◽  
Effective Control ◽  
Lateral Motion ◽  
Differential Gps ◽  
Unmanned Vehicle ◽  
Variable Universe ◽  
Fuzzy Sliding Mode

In the process of the continuous development and improvement of modern military systems, military unmanned vehicles play an important role in field reconnaissance and strategic deployment. In this paper, the precise tracking algorithm of a military unmanned vehicle, based on GPS navigation, is studied. Firstly, the optimal preview point is obtained according to the data points of a differential GPS signal. Secondly, the pure tracking algorithm is used to calculate the demand steering angle, and a variable universe fuzzy sliding mode controller is designed to control the lateral motion of the vehicle, which is verified by the joint simulation platform of Simulink and CarSim, under multiple working conditions. Finally, the actual vehicle is verified by using the Autobox platform. The results show that the lateral motion control of path tracking designed in this paper can achieve an accurate and effective control effect, and has real-time performance for engineering applications.

scholarly journals Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-21 ◽  
Author(s):  
Guo Haigang ◽  
Li Hongxing ◽  
Zhao Weijing ◽  
Song Zhankui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Variable Universe ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Control Schemes ◽  
Equivalent Control ◽  
Fuzzy Sliding Mode

Combining adaptive fuzzy sliding mode control with fuzzy or variable universe fuzzy switching technique, this study develops two novel direct adaptive schemes for a class of MIMO nonlinear systems with uncertainties and external disturbances. The proposed control schemes consist of fuzzy equivalent control terms, fuzzy switching control terms (in scheme one) or variable universe fuzzy switching control terms (in scheme two), and compensation control terms. The compensation control terms are used to relax the assumption on fuzzy approximation error. Based on Lyapunov stability theory, the parameters update laws are adaptively tuned online and the global asymptotic stability of the closed-loop system can be guaranteed. The major contribution of this study is to develop a novel framework for designing direct adaptive fuzzy sliding mode control scheme facing model uncertainties and external disturbances. The derived schemes can effectively solve the chattering problem and the equivalent control calculation in that environment. Simulation results performed on a two-link robotic manipulator demonstrate the feasibility of the proposed control schemes.

Adaptive Variable Universe of Discourse Fuzzy Sliding Mode Control

2014 ◽  
Vol 656 ◽  
pp. 327-334 ◽  
Author(s):  
Nasim Ullah ◽  
Faizan Ahmad Bhatti
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Poor Performance ◽  
Fuzzy Sliding Mode Control ◽  
Variable Universe ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
Error Dynamics ◽  
Universe Of Discourse

This paper proposes adaptive variable universe of discourse fuzzy sliding mode control for efficient compensation of unbounded disturbances and reduced chattering. Classical sliding mode control is robust to bounded uncertainties and disturbances. The disadvantages of classical sliding mode control are high frequency chattering and poor performance in case of unbounded disturbances. Chattering phenomena is minimized using adaptive fuzzy sliding mode control but fuzzy fixed universe of discourse makes it in-efficient for time varying unbounded disturbances and uncertainties. This article investigates a variable universe of discourse fuzzy logic system for unbounded disturbances. Fuzzy universe of discourse for membership functions of input and output parameters is tuned online using an adaptive empirical law derived from the error dynamics. Performance of proposed control is verified using extensive simulations.

scholarly journals Variable universe adaptive fuzzy sliding mode projective synchronization of hyperjerk system based on disturbance observer

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Baojie Zhang ◽  
Yuming Feng ◽  
Hongyan Yu ◽  
Xianxiu Zhang
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
Adaptive Fuzzy Control ◽  
Projective Synchronization ◽  
Time Varying ◽  
Adaptive Fuzzy ◽  
Variable Universe ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
Hyperjerk System

AbstractIn this paper, a sliding mode projective synchronization strategy based on disturbance observer and fuzzy system is presented to implement projective synchronization of hyperjerk system with low time-varying disturbance and white noise. Theoretical analysis and numerical calculation show that the disturbance observer can approach the low time-varying disturbance very well. The application of disturbance observer reduces the chattering of the controller. Variable universe adaptive fuzzy control (VUAFC) method is utilized to further reduce the chattering phenomenon. The simulation results demonstrate the effectiveness of the proposed controller.

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