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- 저자 : Ali Soltani Sharif Abadi (검색결과 2 건)
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Ali Soltani Sharif Abadi,Pooyan Alinaghi Hosseinabadi,Saad Mekhilef 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.10
Using state observer has attracted a notable interest of researchers in the control community to provide an on-line state estimator for control systems instead of measuring them physically by sensors which is costly, inaccurate, and easy to contaminate by noise. Some challenges ahead to design state observer in control systems are using estimated data by an observer in the designed controller as well as the system stability analysis by using controller and observer simultaneously. This paper proposes the Fuzzy Adaptive Fixed-time Sliding Mode Control(FAFSMC) technique for trajectory tracking of a class of high-order nonlinear systems with mismatched external disturbances and uncertainties. Meanwhile, the fixed-time state observer is proposed to incorporate with the controller for estimating the unmeasured even states (velocity) and providing on-line data in the controller. A proper candidate Lyapunov function is defined to verify the system’s global fixed-time stability by considering designed control law, state observer term, and adaptive law, simultaneously. The simulation results of three simulation examples, ship course system, two-link robotic manipulator, and three-link robotic manipulator, are carried out in Simulink/MATLAB to reveal the effectiveness of the proposed FAFSMC scheme compared with the other three conventional methods for solving trajectory tracking problem. Two performance criteria, Integral of the Square Value (ISV) and Integral of the Absolute value of the Error (IAE), are used to make a comprehensive comparison among the proposed FAFSMC method with state observer and the other three methods.
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Novel Off-Line Self-Tuning Controller with Guaranteed Stability
Abadi Ali Soltani Sharif,Ordys Andrew,Pierscionek Barbara 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.3
Tuning control parameters is an essential task for the controller in all practical applications. This paper presents a new Lyapunov-based off-line self-tuning control (OSTC). method. The OSTC is a nonlinear controller with applications to nonlinear systems. The OSTC uses the settling point and settling time to tune the control parameters. The presented algorithm tested 150,000 simulations to formulate the control parameters. The tuning task is based on the integral of the absolute error (IAE). and integral of time multiplied by absolute error (ITAE). performance criteria. Simulink/MATLAB was employed to test the OSTC method by defining two regulation and tracking control problems. For each control problem, six practices are considered, and the proposed algorithm is validated by comparing the formulated Equations of the control parameters.
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