sliding mode controller

حرية الوصول المقاله

1 - Chaotic dynamic analysis and nonlinear control of blood glucose regulation system in type 1 diabetic patients
Saeid Khajehvand Seyed Mahdi Abtahi

In this paper, chaotic dynamic and nonlinear control in a glucose-insulin system in types I diabetic patients and a healthy person have been investigated. Chaotic analysis methods of the blood glucose system include Lyapunov exponent and power spectral density based on أکثر

In this paper, chaotic dynamic and nonlinear control in a glucose-insulin system in types I diabetic patients and a healthy person have been investigated. Chaotic analysis methods of the blood glucose system include Lyapunov exponent and power spectral density based on the time series derived from the clinical data. Wolf's algorithm is used to calculate the Lyapunov exponent, which positive values of the Lyapunov exponent mean the dynamical system is chaotic. Also, a wide range in frequency spectrum based on the power spectral density is also used to confirm the chaotic behavior. In order to control the chaotic system and reach the desired level of a healthy person's glucose, a novel fuzzy high-order sliding mode control method has been proposed. Thus, in the control algorithm of the high-order sliding mode controller, all of the control gains computed by the fuzzy inference system accurately. Then the novel control algorithm is applied to the Bergman's mathematical model that is verified using the clinical data set. In this system, the control input is the amount of insulin injected into the body and the control output is the amount of blood glucose level at any moment. The simulation results of the closed-loop system in various conditions, along with the performance of the control system in disturbance presence, indicate the proper functioning of this controller at the settling time, overshoot and the control inputs. تفاصيل المقالة

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2 - An Online Trajectory Tracking Control of a Double Flexible Joint Manipulator Robot by Considering the Parametric and Non-Parametric Uncertainty
Alireza Pezhman Javad Rezapour Mohammadjavad Mahmoodabadi

10.30495/admt.2021.1911965.1223

Accurate trajectory tracking and control of the Double Flexible Joint Manipulator lead to design a controller with complex features. In this paper, we study two significant strategies based on improving the structure of the hybrid controller and training the controller أکثر

Accurate trajectory tracking and control of the Double Flexible Joint Manipulator lead to design a controller with complex features. In this paper, we study two significant strategies based on improving the structure of the hybrid controller and training the controller parameters for an online estimation of time-varying parametric uncertainities. For this purpose, combination of feedback linearization with an adaptive sliding mode control by considering update mechanism is utilized to stabilize the DFJM system. The update mechanism is obtained based on gradient descend method and chain rule of the derivation. Following, in order to eliminate the tedious trial-and-error process of determining the control coefficients, an evolutionary algorithm (NSGA-II) is used to extract the optimal parameters by minimizing the tracking error and control input. In the second step, an online estimation of the designed parameters were proposed based on three intelligent methods; weighting function, Adaptive Neural Network Function Fitting (ANNF), and adaptive Neuro-fuzzy inference system (ANFIS-PSO). The proposed controller reliability finally was examined in condition of the mass and the length of the robot arm was changed and sudden disturbances were imposed at the moment of equilibrium position, simultanously. The results of the tracking error and control input of the trained proposed controller demonstrated minimal energy consumption and shorter stability time in condition that the control parameters are constant and training are not considered. تفاصيل المقالة

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3 - Back-Stepping Sliding Mode Controller for Uncertain Chaotic Colpitts Oscillator with no Chattering
Maryam Ghorbani Hamid Ghadiri

By introducing Colpitts oscillator as a chaotic system, this paper deals with back-stepping control method and investigates the restrictions and problems of the controller where non-existence of a suitable response in the presence of uncertainty is the most important pr أکثر

By introducing Colpitts oscillator as a chaotic system, this paper deals with back-stepping control method and investigates the restrictions and problems of the controller where non-existence of a suitable response in the presence of uncertainty is the most important problem to note. In this paper, the back-stepping sliding mode method is introduced as a robust method for controlling nonlinear Colpitts oscillator system with chaotic behavior. Thereafter, we simulated the proposed method and compared its advantages with that of the previous method. The experimental results show that the most important advantages of the proposed method are making system robust in case of uncertainties and disturbances, and also having a fast response. تفاصيل المقالة

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4 - Heartbeat ECG Tracking Systems Using Observer Based Nonlinear Controller
Mina Ali Akbar Semnani Ahmadreza Vali Seyed Mahdi Hakimi vahid behnamgol

In this paper, an observer based sliding mode method is used to control the heart rhythm system. For this purpose, nonlinear and uncertain dynamics of a sick human heart are considered. The output of the three main parts of the heart is assumed to be the output of the c أکثر

In this paper, an observer based sliding mode method is used to control the heart rhythm system. For this purpose, nonlinear and uncertain dynamics of a sick human heart are considered. The output of the three main parts of the heart is assumed to be the output of the controlled system and the electrical signal applied to the three main parts of the heart is also considered as the input vector. Hence the controller is designed using the MIMO sliding mode method. The control signals applied to the three points of the heart are determined in such a way that the electrocardiogram signal behaves desirable. An observer is also used to estimate unmeasurable state variables and uncertain functions of the heart. Continuous approximation method has been used to produce smooth control signals and remove chattering. The simulation results show the good performance of the proposed control system to control the heart rate behavior of a person with tachycardia disease. تفاصيل المقالة

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5 - Terminal Sliding Mode Controller for Tracking a Wheeled Mobile Robot
Fahimeh Kordi Hamidreza Reza Alikhani Javad Nikoukar

In this paper, reference path tracking based on terminal slip mode control for a wheeled mobile robot is presented and the proposed method is practically simulated on a mobile robot. The wheeled actuator is a nonlinear system with two inputs for controlling and three st أکثر

In this paper, reference path tracking based on terminal slip mode control for a wheeled mobile robot is presented and the proposed method is practically simulated on a mobile robot. The wheeled actuator is a nonlinear system with two inputs for controlling and three state variables and a nonlinear constraint. To control this system in this paper, first by converting the equations of the non-holonomic system into a chain form, the equations of a wheeled mobile robot are extracted for generalized chain equations. Then the limited time terminal sliding model control method is presented to control the reference path tracking of this system. It could be run using a graphical simulation environment in MATLAB software. The proposed method for the wheeled mobile robot used in the laboratory is simulated. The simulation results in the graphical environment show the efficiency of the proposed method in comparison with the classical sliding mode control method. Finally, the practical results of the controller simulation to follow the reference path provided on the mobile robot are shown. The results of the practical simulation show well the proper performance of the proposed method. تفاصيل المقالة

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6 - Reducing Displacement of Spring Mass in Active Vehicle Suspension System Using Sliding Mode Controller Based on Disturbance Observer
Mohammad Vatankhah Mohammad Yousefi Sayyed Mohammad Mehdi Mirtalaei Zahra Alale

10.30495/ijsee.2022.1968573.1230

The main cause of oscillation during the movement of the vehicle is the unevenness of the road. Therefore, in order to maintain the stability of the car in swing states, the suspension system plays an essential role. Therefore, the active suspension system is used to re أکثر

The main cause of oscillation during the movement of the vehicle is the unevenness of the road. Therefore, in order to maintain the stability of the car in swing states, the suspension system plays an essential role. Therefore, the active suspension system is used to replace the conventional passive suspension system, to improve comfort and smoothness. To reduce the displacement of the spring mass in the active vehicle suspension system, a high-order sliding mode controller is proposed in this paper. Uncertainty of system parameters, nonlinear characteristic of damping and spring, load changes and unknown path disturbance are estimated by disturbance observer. The controller only needs the information of the spring mass state variables and therefore does not need separate sensors to measure the suspension mass state variables. Particle swarm optimization algorithm has been used to determine the control parameters. The efficiency of the proposed method has been shown using simulation in MATLAB software and the results have been compared with the passive suspension system. تفاصيل المقالة

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