Search Results (293)

Achieving high-precision force tracking in robotic physical interaction remains challenging in the presence of environmental and dynamic model uncertainties. Conventional impedance control strategies often exhibit excessive force overshoot at contact onset and persistent steady-state errors under uncertain or time-varying interaction conditions. To overcome these limitations, this paper proposes a fuzzy-adaptive sliding-mode impedance control approach. During the initial contact phase, a tracking differentiator (TD) is employed to generate a smooth and dynamically feasible force reference, effectively suppressing impulsive force transients without requiring explicit contact detection. Furthermore, a fuzzy-logic-modulated adaptive law is developed to adjust online the adaptation gains of the impedance controller, thereby asymptotically eliminating steady-state tracking errors while preserving Lyapunov stability. In addition, a composite PD–suboptimal sliding-mode control law is embedded within the impedance loop to enhance robustness against external disturbances while ensuring continuous, chattering-free control action. The proposed architecture requires no prior knowledge of environmental stiffness and is provably robust to model inaccuracies and unstructured disturbance. Simulation and experimental results conducted on a 6-DOF robotic manipulator demonstrate that, under realistic uncertain contact scenarios and in comparison with three benchmark methods, the proposed approach reduces overshoot by 26%, shortens settling time by 30%, and decreases steady-state error by 48%. Full article

Permanent magnet synchronous motors (PMSMs) are utilized in demanding conditions and applications requiring precision and accuracy, such as servo systems. Especially at low speeds, the effects of cogging torque, current measurement and offset errors, improper controller gains, mechanical resonance, and torque fluctuations caused by load torque and flux result in fluctuations at various frequencies in the motor output speed. This study, motivated by two factors, proposes an extended state observer (ESO)-based multivariable fast response extremum-seeking (FESC) interval type-2 fuzzy PID (IT2FPID) controller to improve dynamic response and reduce speed ripple at low speeds in situations where all these negative factors could arise. This approach enables the real-time adaptation of parameters to counteract the decline in controller performance caused by the nonlinear characteristics of PMSMs and parameter fluctuations while also optimizing disturbance rejection in the speed response under varying operating conditions and existing speed ripple. The experimental results from the prototype setup validate that the proposed control mechanism is functional, valid, and precise in diminishing speed ripples during low-speed operations. The simulation and test outcomes of the control scheme show that speed noise at low speeds is reduced from 26% to 3% compared to traditional proportional-integral (PI) controller and supertwisting (STW) sliding mode controller (SMC) responses and that the scheme exhibits a 16–23% reduction in undershoot amplitude and faster recovery in the presence of load torque variations. Full article

To address the chattering phenomenon and sensitivity to load disturbances in conventional sliding mode observers (SMO) for sensorless permanent magnet synchronous motor (PMSM) control, this paper proposes a robust sensorless control strategy integrating a fuzzy adaptive SMO with an improved sliding mode speed controller. In the observer design, a continuous hyperbolic tangent function, $tanh \left(ax\right)$, replaces the traditional sign function, while a fuzzy logic controller adaptively tunes the convergence factor a to enhance estimation accuracy and suppress high-frequency chattering. Simultaneously, an adaptive quadrature phase-locked loop (AQPLL) is incorporated to achieve adaptive matching across various operating conditions by updating parameters online, which effectively reduces phase delay and improves the dynamic performance of rotor position and speed estimation. Furthermore, a non-singular terminal sliding mode control (NTSMC) strategy is employed in the outer speed loop with a proposed segmented terminal reaching law. This law ensures rapid response in large-error regions and mitigates steady-state oscillations in small-error regions, thereby strengthening system robustness against load disturbances. The stability of the proposed system is rigorously verified via Lyapunov stability analysis. Simulation and experimental results demonstrate that the proposed approach significantly reduces speed and position estimation errors under varying speeds and sudden load changes compared to the conventional SMO-PI method, while effectively suppressing system chattering to confirm its engineering feasibility. Full article

Maximum Power Point Tracking (MPPT) in permanent-magnet synchronous generator (PMSG)-based wind energy conversion systems (WECS) remains challenging owing to strong nonlinearities, parametric uncertainties, and external disturbances. Conventional sliding mode control (SMC) strategies, while robust, suffer from chattering, dependence on full-state measurements, and degraded performance under model mismatch, limiting their practical deployment. To address these issues, this study proposes a neuroadaptive fuzzy fractional-order super-twisting sliding mode control (Fuzzy-FOSTSMC) integrated with a high-gain observer (HGO) and a radial basis function neural network (RBFNN). The HGO estimates unmeasurable higher-order states (e.g., angular acceleration), enabling output-feedback implementation. In contrast, the RBFNN online approximates unknown nonlinear system dynamics $L_f^{2}h\left(x\right)$ and $L_g{L}_{f}h\left(x\right)$, rendering the controller model-free. Chattering is eliminated by replacing the discontinuous signum function with an adaptive fuzzy boundary layer that dynamically modulates the slope near the sliding surface. Stability is theoretically confirmed by Lyapunov analysis. Extensive MATLAB/Simulink simulations verify that the proposed approach yields a tracking precision of 99.96%, a steady-state speed error of 0.018 rad/s, and a 58.2% reduction in the integral absolute error (IAE) compared to the traditional FOSTSMC. It achieves the optimal power coefficient ($C_p=0.4762$) via TSR control at $7.000\pm 0.002$, under ±30% parametric uncertainties, demonstrating excellent robustness and MPPT effectiveness. Full article

The brake-by-wire system is a fundamental and critical component of intelligent electric vehicles. Achieving precise actuator motor response is essential for brake-by-wire braking performance. To address this issue, this article proposes a fuzzy sliding-mode control method for a dual-motor electro-hydraulic braking system. An innovative model of the braking system is established, incorporating the motor, deceleration mechanism, brake master cylinder, brake wheel cylinder, and hydraulic system. Firstly, dynamic models for the permanent magnet synchronous motor (PMSM), the reduction mechanism, the brake master cylinder, and the brake wheel cylinder are developed. Subsequently, the feasibility of the redundant structure is verified. Finally, a novel composite convergence law-based fuzzy adaptive sliding mode control (SMC) method is designed. Simulation results demonstrate that this approach effectively reduces motor response time and enhances braking performance. Full article

This paper proposes a fuzzy sliding mode controller optimized using particle swarm optimization (FSMC-PSO) for trajectory tracking of an autonomous underwater vehicle (AUV). Conventional sliding mode control (SMC) is well known for its robustness against external disturbances, unmodeled dynamics, and parameter uncertainties, ensuring stability under challenging operating conditions. In the proposed FSMC-PSO approach, fuzzy logic adaptively tunes the SMC parameters, while PSO optimizes the fuzzy output membership functions offline to improve tuning accuracy and overall control performance. During online operation, the optimized fuzzy system adaptively adjusts the SMC parameters with minimal computational cost. The effectiveness of the proposed method is evaluated through numerical simulations in the presence of random noise. Performance is assessed using standard tracking indices, including IAE, ITAE, ISE, ITSE, and RMSE. Comparative results show that FSMC-PSO achieves higher trajectory tracking accuracy, reduces steady-state and transient errors, and minimizes chattering compared to conventional SMC and SMC-PSO, as well as the super-twisting algorithm-based PSO (STA-PSO) controller.FSMC-PSO achieves up to an 86.58% reduction in ITAE and a 73.53% reduction in ITSE compared to classical SMC while also outperforming SMC-PSO and STA-PSO across all motion states (X, Y, and $\psi$). These results demonstrate the effectiveness of FSMC-PSO for high-precision and disturbance-resilient AUV trajectory tracking within the simulated scenarios. Full article

In this work, we develop a disturbance suppression-oriented fuzzy sliding mode secured sampled-data controller for third-order parabolic partial differential equations that ought to cope with nonlinearities, hybrid cyber attacks, and modeled disturbances. This endeavor is mainly driven by formulating an observer model with a T–S fuzzy mode of execution that retrieves the latent state variables of the perceived system. Progressing onward, the disturbance observers are formulated to estimate the modeled disturbances emerging from the exogenous systems. In due course, the information received from the system and disturbance estimators, coupled with the sliding surface, is compiled to fabricate the developed controller. Furthermore, in the realm of security, hybrid cyber attacks are scrutinized through the use of stochastic variables that abide by the Bernoulli distributed white sequence, which combat their unpredictability. Proceeding further in this framework, a set of linear matrix inequality conditions is established that relies on the Lyapunov stability theory. Precisely, the refined looped Lyapunov–Krasovskii functional paradigm, which reflects in the sampling period that is intricately split into non-uniform intervals by leveraging a fractional-order parameter, is deployed. In line with this pursuit, a strictly $({\Phi }_1,{\Phi }_2,{\Phi }_3)-\varrho$ dissipative framework is crafted with the intent to curb norm-bounded disturbances. A simulation-backed numerical example is unveiled in the closing segment to underscore the potency and efficacy of the developed control design technique. Full article

With the rapid development of unmanned agricultural machinery technology, the accuracy and stability of agricultural machinery path tracking have become key challenges in achieving precision agriculture. To address the issues of insufficient accuracy and stability in path tracking for rice transplanters in paddy fields, this study proposes a composite control strategy that integrates the extended line-of-sight (LOS) guidance law with an adaptive fuzzy sliding mode control law. By establishing a two degree of freedom dynamic model of the rice transplanter, two extended state observers are designed to estimate the longitudinal and lateral velocities of the rice transplanter in real time. A dynamic compensation mechanism for the sideslip angle is introduced, significantly enhancing the adaptability of the traditional look-ahead guidance law to soil slippage. Furthermore, by combining the approximation capability of fuzzy systems with the adaptive adjustment method of sliding mode control gains, a front wheel steering control law is designed to suppress complex environmental disturbances. The global stability of the closed-loop system is rigorously verified using the Lyapunov theory. Simulation results show that compared to the traditional Stanley algorithm, the proposed method reduces the maximum lateral error by 38.3%, shortens the online time by 23.9%, and decreases the steady-state error by 15.5% in straight-line path tracking. In curved path tracking, the lateral and heading steady-state errors are reduced by 19.2% and 14.6%, respectively. Field experiments validate the effectiveness of this method in paddy fields, with the absolute lateral error stably controlled within 0.1 m, an average error of 0.04 m, and a variance of 0.0027 m². Full article

To improve the continuous chordwise bending performance of morphing wings, this study proposes a rigid–flexible coupled wing rib structure and its control strategy. Initially, the optimal rigid–flexible hybrid configuration was optimized via the mean camber line parameterization and genetic algorithm. For the flexible segment, topology optimization was conducted using the load path method, followed by subspace-based shape–size alternating optimization; bionic “longbow” curved beams and ‘S’-shaped substructures were adopted to enhance deformability. Biomimetic pneumatic muscles were used as actuators, and a fuzzy-adjusted PI sliding mode controller was designed to address the issue that traditional PI sliding mode controllers cannot achieve precise control under non-optimal parameters or when there is a significant difference in deformation targets. Experimental results show that when the flexible rib deflects by 15°, the three-rib wing box achieves a 30° deflection, with stresses within the allowable limit of 7075Al-T6 (540 MPa) and a deformation error of only 7.6%. For the 15° downward bending control, the adjustment time is 6.06 s, the steady-state error is 0.19°, and the overshoot is 1.8%. This study verifies the feasibility of the proposed rigid–flexible coupled structure and fuzzy PI-SMC, providing a technical reference for morphing aircraft. Full article

This paper proposes a Takagi–Sugeno–Kang Elliptic Type-2 Fuzzy Brain-Imitated Neural Network (TET2FNN)-based decoupling control strategy for nonlinear underactuated mechanical systems subject to uncertainties. A sliding-mode framework is employed to construct a decoupled control architecture, in which an intermediate variable is introduced to separate two second-order sliding surfaces, thereby forming a decoupled slip surface. The TET2FNN acts as the main controller and approximates the ideal control law online, while a robust compensator is incorporated to suppress approximation errors and guarantee closed-loop stability. Simulation studies conducted on a double inverted pendulum system demonstrate that the proposed method achieves improved tracking accuracy and disturbance rejection compared with representative state-of-the-art controllers. Furthermore, the computational burden remains reasonable, indicating that the proposed scheme is suitable for real-time implementation and practical nonlinear control applications. Full article

This work investigates resilient control for uncertain nonlinear systems subject to unknown and unpredictable sensor delays. Conventional observer-based delay-compensation methods typically require known delay bounds or measurable timing information, which limits their applicability to strongly nonlinear dynamics. To address this issue, a resilient adaptive fuzzy observer-based sliding control (AFOSMC) framework is developed. A generalized nonlinear plant model is considered, and an adaptive fuzzy observer is constructed to estimate unmeasured states while explicitly decomposing the delayed measurement residual into estimation and delay components. A sliding-mode controller integrated with fuzzy approximation ensures robust tracking in the presence of modeling uncertainties and delay-induced distortions. A delay-dependent Lyapunov function with an integral term is derived, yielding explicit conditions that guarantee uniform ultimate boundedness (UUB) of all closed-loop signals. The proposed approach provides a unified and delay-resilient solution for nonlinear observer–controller co-design under unpredictable sensing delays. Simulations on a Duffing oscillator with a $0.15$ s sensing delay show that the proposed AFOSMC model achieves a total tracking RMSE of $3.6\times {10}^{-2}$, whereas a baseline sliding-mode controller without delay compensation becomes unstable after delay activation. Full article

This paper introduces a novel control framework for prescribed-time synchronization of higher-order nonlinear multi-agent systems (MAS) subject to parametric uncertainties and external disturbances. The proposed method integrates a fuzzy neural network (FNN) with a robust non-singular terminal sliding mode controller (NTSMC) to ensure leader–follower consensus within a user-defined time horizon, regardless of the initial conditions. The FNN is employed to approximate unknown nonlinearities online, while an adaptive update law ensures accurate compensation for uncertainty. A terminal sliding manifold is designed to enforce finite-time convergence, and Lyapunov-based analysis rigorously proves prescribed-time stability and boundedness of all closed-loop signals. Simulation studies on a leader–follower MAS with four nonlinear agents under directed communication topology demonstrate the superiority of the proposed approach over conventional sliding mode control, achieving faster convergence, enhanced robustness, and improved adaptability against system uncertainties and external perturbations. Full article

This study addresses the challenge of designing an event-triggered observer for neural network-enhanced sliding mode control in nonlinear Takagi–Sugeno fuzzy Markov jump systems, where premise variables are not directly measurable. Firstly, for the purpose of state observer design, a dynamic event-triggered mechanism integrated with a neural network-based compensator is developed. Secondly, through the construction of an integral sliding surface, the dynamic behaviors of both the sliding mode and the error system are formulated, incorporating estimated premise parameters. Thirdly, rigorous stochastic stabilization criteria are established, incorporating $H_{\infty }$ disturbance attenuation with a specified level $\gamma$, while accounting for transition rates with general uncertainty characteristics. Subsequently, a fuzzy adaptive sliding mode control scheme is synthesized to ensure finite-time convergence of the system states to the predefined sliding surface. Finally, the effectiveness of the proposed control strategy is thoroughly validated through high-fidelity numerical simulations on a practical example. Full article

Permanent Magnet Synchronous Motors (PMSMs) exhibit inherent symmetry in their electromagnetic structure yet behave as nonlinear and strongly coupled systems that are susceptible to internal parameter perturbations and external disturbances, posing challenges to effective control under dynamic operating conditions. To address these issues, this paper proposes a sliding mode control strategy for PMSMs that integrates a Novel Adaptive Reaching Law (NARL) and an Improved Terminal Fuzzy Sliding Mode Disturbance Observer (IFTSMDO), denoted as SMC-NARL-IFTSMDO. The NARL is designed with a state-dependent dynamic gain adjustment mechanism and terminal attractive factor characteristics: it increases the gain to ensure fast convergence when the system state is far from the sliding mode surface, and adaptively attenuates the gain to suppress chattering when approaching the sliding mode surface, thereby balancing the contradiction between convergence speed and chattering in traditional sliding mode control. The IFTSMDO constructs a composite sliding mode surface incorporating error derivatives, terminal power terms, and saturation functions, which enhances the sensitivity of disturbance estimation in the small-error stage, avoids high-frequency chattering caused by sign functions, and provides accurate feedforward compensation for the speed loop controller to improve the system’s anti-disturbance capability. Additionally, the asymptotic stability of the proposed control strategy is strictly proven using the Lyapunov stability theory, laying a solid theoretical foundation for its application. Experiments are conducted on a TMS320F28379D DSP-based platform, and quantitative results show that compared with the traditional sliding mode control (SMC-TRL), the proposed strategy reduces the no-load startup response time by 60%, the steady-state speed fluctuation by 60%, and the speed fluctuation under load disturbance by 81.5%, fully demonstrating its superiority in dynamic response and anti-disturbance performance. Full article

This study proposes a fractional-order adaptive super-twisting sliding mode control (FO-ASTSMC) strategy to mitigate the difficulties arising from nonlinearity, uncertain parameters, and substantial external interferences during path-following operations of a hydraulic excavator working device. The developed approach merges a high-order sliding mode differentiator aimed at state observation, a fresh fractional-order sliding manifold that embeds a memory component for bolstering transient performance and equilibrium accuracy, together with an adaptable super-twisting coefficient. This adaptive gain eliminates the requirement for prior awareness of disturbance limits, all the while mitigating chattering effects and bolstering system robustness. Utilizing Lyapunov theory, the finite-time stability of the overall closed-loop framework has been thoroughly demonstrated. For controller verification, joint simulations employing AMESim and Simulink platforms were performed, pitting its efficacy against both terminal sliding mode control (TSMC) and adaptive fuzzy sliding mode control (AFSMC). In nominal scenarios, the FO-ASTSMC method yielded the lowest root mean square error (RMSE) along with maximum error (MAXE) across boom, arm, and bucket articulations, registering mean decreases of $60\%$ in RMSE and $58.2\%$ in MAXE when benchmarked against AFSMC, alongside $41.8\%$ in RMSE and $43.6\%$ in MAXE versus TSMC. Facing sudden variations in loading, it exhibited enhanced robustness, achieving reductions of $64.2\%$ in RMSE and $54.5\%$ in MAXE beyond AFSMC, as well as $39\%$ in RMSE and $36.5\%$ in MAXE in comparison to TSMC. Outcomes from the simulations affirm that the suggested controller exhibits elevated precision, formidable robustness, and good applicability to actuators, thereby highlighting its considerable promise for implementation in actual engineering scenarios. Full article