Abstract
Pendubot has been widely applied as a benchmark platform for control research and education. In this paper, a novel adaptive fuzzy hierarchical sliding mode controller (AFHSMC) is proposed for the pendubot under actuator faults and uncertainties. The proposed controller is designed by combining a hierarchical sliding mode control (HSMC), a fuzzy logic control (FLC), and a balancing composite motion optimization. The proposed controller preserves many advantages such as it has a straightforward structure, simple implementation, chattering reduction, and high precision and robustness. The stability of the proposed controller is ensured by using the Lyapunov approach. To verify the control performance, various numerical simulations and experiments are conducted on a pendubot under the conditions that involve actuator faults
and uncertainties. Compared to the conventional HSMC and FHSMC controllers, the proposed AFHSMC improves 0.43% and 0.38% for tracking precision for the first link’s angle estimate, 3.26% and 0.08% for the second link’s angle estimate when influenced by uncertainties, as well as 65.23% and 12.24% for the first link, 83.95% and 16.15% for the second link when influenced by faults.
and uncertainties. Compared to the conventional HSMC and FHSMC controllers, the proposed AFHSMC improves 0.43% and 0.38% for tracking precision for the first link’s angle estimate, 3.26% and 0.08% for the second link’s angle estimate when influenced by uncertainties, as well as 65.23% and 12.24% for the first link, 83.95% and 16.15% for the second link when influenced by faults.
Original language | English |
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Journal | Results in Engineering |
Publication status | Accepted - 19 Sept 2024 |
Keywords
- Novel adaptive fuzzy control
- pendubot
- actuator faults
- control research