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All Journal Bulletin of Electrical Engineering and Informatics Journal of Robotics and Control (JRC)
Thang, Le Tran
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Synthesis of sliding mode control for flexible-joint manipulators based on serial invariant manifolds Thang, Le Tran; Son, Tran Van; Khoa, Truong Dang; Chiem, Nguyen Xuan
Bulletin of Electrical Engineering and Informatics Vol 12, No 1: February 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v12i1.4363

Abstract

This paper focuses on synthesizing sliding mode control (SMC) for flexible-joint manipulators (FJM) based on serial invariant manifolds in order to increase the control quality for the system. SMC based on the serial invariant manifolds is proposed. The control law is found based on synergetic control theory (SCT) and analytical design of aggregated regulators (ADAR) method. In order to improve the control quality due to the effect of the stiffness value between two links in the system, a mechanism for constructing manifolds is built. The time response of the outer loop manifolds close to the actuator will be larger in the next round. The control quality of the system can be pre-evaluated through the parameters of the designed manifolds. Global stability is demonstrated by using the Lyapunov function in the design process. Finally, the effectiveness of the proposed controller based on SCT is demonstrated by numerical simulation results and compared with the traditional SMC.
Synthesis of Hybrid Fuzzy Logic Law for Stable Control of Magnetic Levitation System Chiem, Nguyen Xuan; Thang, Le Tran
Journal of Robotics and Control (JRC) Vol 4, No 2 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i2.17537

Abstract

In this paper, we present a method to design a hybrid fuzzy logic controller (FLC) for a magnetic levitation system (MLS) based on the linear feedforward control method combined with FLC. MLS has many applications in industry, transportation, but the system is strongly nonlinear and unstable at equilibrium. The fast response linear control law ensures that the ball is kept at the desired point, but does not remain stable at that point in the presence of noise or deviation from the desired position. The controller that combines linear feedforward control and FLC is designed to ensure ball stability and increase the system's fast-response when deviating from equilibrium and improve control quality. Simulation results in the presence of noise show that the proposed control law has a fast and stable effect on external noise. The advantages of the proposed controller are shown through the comparison results with conventional PID and FLC control laws.
Co-Authors Chiem, Nguyen Xuan Khoa, Truong Dang Son, Tran Van