Abstract
Reality shows that 1) the effectiveness of compensators for uncertainty and disturbance (UAD) depends deeply on UAD’s time varying rate (TVR), and 2) controlling a system over a network introduces different constraints and conditions, in which some of these are variable delays in control signal, packet losses, data quantization, safety, and security. This paper presents a new design of fuzzy sliding mode control (FSMC) enhanced by compensation for UAD using a disturbance observer (DO), named DO-FSMC, for a class of nonlinear systems subjected to UAD. First, in order to weaken partly the negative influence of TVR of UAD on the compensation effectiveness, we separate explicitly unidentified aspects into two groups, one related to the model error while the other coming from external disturbances, to distinctly consider. To stamp out the chattering status and reduce calculating cost, we propose an adaptive gain updated directly based on the sliding surface convergence status, to which two new control laws, one for the FSMC and the other for the DO-FSMC, are given via Lyapunov stability analysis. In order to evaluate the DO-FSMC, simulations as well as surveys based on a real semi-active suspension system using a Magnetorheological damper (MRD) with measured datasets are performed. The results obtained from the surveys coincide with the theoretical analysis which show that the competence to stamp out vibration is the advantage of the proposed method compared with the other published methods.
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Recommended by Associate Editor Sung Jin Yoo under the direction of Editor Euntai Kim. This research was supported by the Post-doctor Research Program (2016) through the Incheon National University (INU), Incheon, Korea.
Sy Dzung Nguyen received the M.E. degree in Manufacturing Engineering from Ho Chi Minh City University of Technology (HCMUT) - VNU in 2001, Ph.D. degree in Applied Mechanics in 2011 from HCMUT. He was a postdoctoral fellow at Inha University, Korea, 2011–2012, at Incheon National University, Korea, 2015–2016. He is currently a Head of Division of Computational Mechatronics, Institute for Computational Science, Ton Duc Thang University, Vietnam. His research interests include artificial intelligence and its applications to nonlinear adaptive control, system identification and managing structure damage. Dr. Nguyen has been the main author of plenty of ISI papers in these fields.
Seung-Bok Choi received the B.Sc. degree in mechanical engineering from Inha University, Korea, 1979, the M.Sc. and Ph.D. degrees from the Michigan State University, U.S.A in 1986 and 1990, respectively. He is currently a dean of graduate school of Inha University and a distinguished fellow professor of mechanical engineering at Inha University. His research interests are control applications using smart materials such as electro-rheological (ER) fluids, magneto-rheological (MR) fluids, piezoelectric materials and shape memory alloys. He has published more than 450 refereed international journal papers and two books in the area of smart materials and their applications.
Tae-il Seo received the Ph.D. Degree in mechanical engineering, Ecole Centrale de Nantes, France, in 1998. From 1998 to 1999, he was a postdoctoral research fellow in Department of Mechanical Engineering in Inha University, Incheon, Korea. From 1999 to 2001, he was a research fellow in the Department of mechanical corporation Laboratory, Inha University of Korea. From 2001 to 2003, he was a researcher in Department of Precision Mold Lab, KITECH (Korea Institute of Industrial Technology), Korea. Currently, he is a Professor in Department of Mechanical Engineering in Incheon National University, Korea. Dr. Seo’s current research interests include Micro End-Milling, Intelligent Manufacturing System, CAD/CAD systems, etc.
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Nguyen, S.D., Choi, SB. & Seo, TI. Adaptive fuzzy sliding control enhanced by compensation for explicitly unidentified aspects. Int. J. Control Autom. Syst. 15, 2906–2920 (2017). https://doi.org/10.1007/s12555-016-0569-6
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DOI: https://doi.org/10.1007/s12555-016-0569-6