Controller design remains an elusive and challenging problem for uncertain nonlinear dynamics. Interval type-2 fuzzy logic systems (IT2FLS) in comparison with type-1 fuzzy logic systems claim to effectively handle system uncertainties especially in the presence of disturbances and noises, but lack a formal mechanism to guarantee performance. In contrast, adaptive sliding mode control (ASMC) pro...

In this paper, a novel robust adaptive sliding-mode control scheme is presented high precision position control for a permanent magnet synchronous linear motor (PMSLM) servo system under the influence of unknown parameters, nonlinear friction, cogging forces, and external distance. The proposed strategy effectively combines the design techniques of adaptive control and sliding-mode control. In ...

For the tracking control problem of vehicle suspension, a robust design method of adaptive sliding mode control is derived in this paper. The influence of parameter uncertainties and external disturbances on the system performance can be reduced and system robustness can be improved. The adaptive sliding mode controller is designed so that the practical system can track the state of the referen...

The dielectric electro-active polymer (DEAP) is a new type of the flexible smart material, which performance is similar to natural muscle. The DEAP has characteristics of light weight, high energy density and big deformation and so on, so it has a wide range of applications for the actuator field of bionic robots. However, the DEAP material generally has strong hysteresis as well as the nonline...

In this article, an adaptive fuzzy sliding mode control (AFSMC) scheme is derived for robotic systems. In the AFSMC design, the sliding mode control (SMC) concept is combined with fuzzy control strategy to obtain a model-free fuzzy sliding mode control. The equivalent controller has been substituted for by a fuzzy system and the uncertainties are estimated on-line. The approach of the AFSMC has...

1PG student, Dept of EEE, Andhra University (A), Visakhapatnam, India 2Assistant Professor, Dept of EEE, Andhra University (A), Visakhapatnam, India ---------------------------------------------------------------------***--------------------------------------------------------------------Abstract – In this paper, a robust control system with the fuzzy sliding mode controller and sliding mode co...

In this paper, a Fractional Adaptive Fuzzy Logic Control (FAFLC) strategy based on active fractional sliding mode (FSM) theory is considered to synchronize chaotic fractional-order systems. Takagi-Sugeno fuzzy systems are used to estimate the plant dynamics represented by unknown fractional order functions. One of the main contributions in this work is to combine an adaptive fractional order PI...

This paper focuses on the design of a formation controller for multi-robot dynamic systems using adaptive fuzzy sliding-mode techniques. From the Lagrangian analysis, the dynamic model of a differential wheeled robot can be obtained. A fuzzy sliding-mode controller is derived for leader-follower formation control based on graph theory and consensus algorithm. Moreover, an adaptive law is provid...

Abstrae1-Most fuzzy controllers (FCs) for nonlinear second order systems are designed with a two-dimensional phase plane in mind. We show that the performance and the robustness of this kind of FC stems from their property of driving the system into the sliding mode (SM), in which the controlled system is invariant to parameter fluctuations and disturbances. Additionally, the continuous distrib...