Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle Based on Variable Rate Reaching Law

2012 ◽  
Vol 178-181 ◽  
pp. 2801-2804
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Zhi Yi Chen ◽  
Lei Lei ◽  
Yi Xuan Zhang
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Flapping Wing ◽  
Variable Rate ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Reaching Law ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

A fuzzy sliding mode control scheme based on variable rate reaching law for attitude control of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a sliding mode controller is designed. To faster response speed, a fuzzy controller is designed to adaptively tune the slope of sliding mode surface. To reduce the chattering, the variable rate reaching law is proposed. The variable rate reaching law is composed of the distance from current point to sliding mode surface in phase plane. The simulation studies for attitude control of a flapping wing micro aerial vehicle have been carried out. Simulation results show that the proposed control scheme is effective.

Fast Terminal Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2013 ◽  
Vol 427-429 ◽  
pp. 1179-1182
Author(s):  
Sheng Bin Hu ◽  
Jin Yuan Xu ◽  
Xuan Wu ◽  
Chi Zhang ◽  
Yi Hao He
Keyword(s):  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

A fast terminal fuzzy sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a fast terminal sliding mode controller is designed. To diminish the chattering in the control input, a fuzzy controller is designed to adjust the generalized gain of fast terminal fuzzy sliding mode controller according to fast terminal sliding mode surface. The stability of the control algorithm is verified by using Lyapunov theory. Simulation results show that the proposed control scheme is effective.

Attitude Control of Flapping Wing Micro Aerial Vehicle Based on Double Fuzzy Sliding Mode Control

2012 ◽  
Vol 468-471 ◽  
pp. 704-707
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Zhi Yi Chen ◽  
Lei Lei ◽  
Yi Xuan Zhang
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

An adaptive Double Fuzzy Sliding Mode Control scheme for attitude control of Flapping Wing Micro Aerial Vehicle is proposed in this paper. Based on the feedback linearization technique, a sliding mode controller is designed. To faster response speed, a fuzzy controller is designed to adaptively tune the slope of sliding mode surface. To reduce the chattering, another fuzzy controller is designed to adaptively tune the switch part of sliding mode control. The system stability is proved by Lyapunov principle. Simulation results show that the proposed control scheme is effective.

Flapping Wing Micro Aerial Vehicle Attitude Control with Fuzzy Sliding Mode Controller Based on RBF Neural Network

2012 ◽  
Vol 443-444 ◽  
pp. 177-182
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Min Xun Lu
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Attitude Control ◽  
Sliding Mode ◽  
Flapping Wing ◽  
Micro Aerial Vehicle ◽  
Mode Control ◽  
Attitude Tracking ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

A adaptive fuzzy Sliding Mode Control (SMC) scheme based on Radial Basis Function Neural Network (RBFNN) for attitude tracking control of Flapping Wing Micro Aerial Vehicle (FWMAV) is proposed in this paper. A RBFNN is used to compute the equivalent control of sliding mode control, An adaptive algorithm is used for weight adaptation of the RBFNN and A Lyapunov function is selected for the design of the SMC. The simulation results of FWMAV demonstrate that the control scheme is effective.

Backstepping Fuzzy Sliding Mode Control for a Three-Links Spatial Robot Based on Variable Rate Reaching Law

2011 ◽  
Vol 105-107 ◽  
pp. 2213-2216 ◽  
Author(s):  
Sheng Bin Hu ◽  
Min Xun Lu
Keyword(s):  
Sliding Mode Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Variable Rate ◽  
Reaching Law ◽  
Mode Control ◽  
Adjustment Time ◽  
Control Scheme ◽  
Fuzzy Sliding Mode

To achieve the tracing control of a three-links spatial robot, a backstepping fuzzy sliding mode controller based on variable rate reaching law is proposed in this paper. The sliding mode controller is designed by means of backstepping way. To reduce the adjustment time, a fuzzy controller is designed to adjust the slope of sliding mode surface. To diminish the chattering of traditional sliding mode control, the variable rate reaching law is proposed. The variable rate reaching law is composed of the distance from current point to sliding mode surface in phase plane. The simulation studies for the tracking control of a three-links spatial robot have been carried out. Simulation results show the validity of the proposed control scheme.

Fuzzy Nonsingular Terminal Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2014 ◽  
Vol 716-717 ◽  
pp. 1694-1698
Author(s):  
Sheng Bin Hu ◽  
Jian Feng Yin ◽  
He Ju Liang ◽  
Hui Liu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme ◽  
Aerial Vehicle

A fuzzy nonsingular terminal sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a nonsingular terminal sliding mode controller is designed. To reduce the chattering in the control input, a fuzzy controller is designed to adaptively tune the switch part gain of nonsingular terminal sliding mode controller according to the nonsingular terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov principle. Simulation results show that the proposed control scheme is effective.

Fuzzy Adaptive Terminal Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2012 ◽  
Vol 605-607 ◽  
pp. 1478-1482
Author(s):  
Wen Hua Lu ◽  
Sheng Bin Hu ◽  
Jian Wei ◽  
Da Min Cao
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Fuzzy Adaptive

A fuzzy adaptive terminal sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a terminal sliding mode controller is designed. The singularity of the controller can be solved through switching between terminal sliding mode surface and linear sliding mode surface. To reduce the chattering in the control input, a fuzzy controller is designed to adaptively adjust the gain of the terminal sliding mode controller according to the normal of the terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov theory. Simulation results show that the proposed control scheme is effective.

scholarly journals Electronic Differential and Neuro-Fuzzy Sliding Mode Control with Extended State Observer for an Electric Vehicle System

2018 ◽  
Vol 61 ◽  
pp. 00007
Author(s):  
Ibrahim Farouk Bouguenna ◽  
Ahmed Azaiz ◽  
Ahmed Tahour ◽  
Ahmed Larbaoui
Keyword(s):  
Sliding Mode Control ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Current Loop ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Neuro Fuzzy ◽  
Control Scheme ◽  
Fuzzy Sliding Mode ◽  
Hybrid Control Scheme

In this paper a neuro-fuzzy-sliding mode control (NFSMC) with extended state observer (ESO) technique; is designed to guarantee the traction of an electric vehicle with two distinct permanent magnet synchronous motor (PMSM). Each PMSM systems (source-convertermotor) are attached to an electronic differential (ED), in order to adjust the senses of direction of the vehicle, and sustain a stable speed by adapting the difference in velocity of each motor-wheel according to the direction in the case of a turn. Two types of controllers are employed by a hybrid control scheme to assure the control and the performance of the vehicle. This hybrid control scheme guarantees the stability of the vehicle by ED, reduces the chattering phenomena in the PMSM electric motor, and improves the disturbance rejection ability which employs tow types of controllers. The neuro-fuzzy sliding mode control on the direct current loop and ESO controller on the speed loop, and the quadratic current loop; taking into account the dynamic of the vehicle. Simulation runs under Matlab/Simulink to assess the efficiency, and strength of the recommended control method on the closed loop system.

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