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A Finite-time Adaptive Fuzzy Terminal Sliding Mode Control for Uncertain Nonlinear Systems

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Abstract

In this study, a new adaptive fuzzy terminal sliding mode (AFTSM) control is presented for control of uncertain nonlinear systems with disturbances. The proposed controller incorporates terminal-based gradient descent (GD) algorithm and fuzzy logic system into a continuous nonsingular terminal sliding mode. The nonlinear dynamics of the system to be controlled are approximated with the fuzzy logic system and an adaptive law based on the terminal-based GD is proposed for online updating the parameters. The most advantage of the proposed terminal-based GD is the finite-time convergence compared to the conventional GD learning algorithm. It is proved that under the proposed terminal sliding mode and updating law, the tracking and approximation errors converge to the neighbourhood of zero in a very short time. Simulation results are given to illustrate the performance of the proposed AFTSM control through the control of a second-order system and a two-link rigid robotic manipulator. The simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous terminal sliding mode control methods. Moreover, the proposed terminal sliding mode is applied to control of joint movement generated by functional electrical stimulation. The experiment results verify that accurate control of movement is obtained using the proposed control scheme.

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Authors and Affiliations

  1. Department of Biomedical Engineering, Iran Neural Technology Research Centre, Iran University of Science and Technology (IUST), Tehran, Iran

    Ehsan Rouhani & Abbas Erfanian

Authors
  1. Ehsan Rouhani
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  2. Abbas Erfanian
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Corresponding author

Correspondence to Abbas Erfanian.

Additional information

Recommended by Associate Editor Yang Tang under the direction of Editor Hamid Reza Karimi.

Ehsan Rouhani received his B.Sc. degree in electrical engineering from the Shahrekord University, Shahrekord, Iran, in 2006, and the M.Sc. degree in biomedical engineering from the Amirkabir University of Technology, Tehran, Iran, in 2009. He is currently working toward the Ph.D. degree in electrical engineering in Iran University of Science and Technology. His research interests include adaptive and robust control and control of neuromusculoskeletal system using functional electrical stimulation.

Abbas Erfanian received his B.Sc. degree in computer engineering from Shiraz University, Shiraz, Iran, in 1985, the M.Sc. degree in computer engineering from the Sharif University of Technology, Tehran, Iran, in 1989, and the Ph.D. degree in biomedical engineering from Tarbiat Modarres University, Tehran, in 1995. He was a Senior Research Associate with Case Western Reserve University, Cleveland, OH, from 1993 to 1994. Since 1995, he has been a Faculty Member with the Iran University of Science and Technology (IUST), serving as Head of the Department of Biomedical Engineering from 2000 to 2008. Currently, he is a Professor of biomedical engineering at the IUST and the Director of Iran Neural Technology Centre, Tehran. His current research interests include artificial neural networks, biomedical signal processing, chaos theory and its application to biomedical problems, brain-computer interface, and functional neuromuscular stimulation. He is a member of the International Functional Electrical Stimulation Society and the IEEE Engineering in Medicine and Biology Society.

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Rouhani, E., Erfanian, A. A Finite-time Adaptive Fuzzy Terminal Sliding Mode Control for Uncertain Nonlinear Systems. Int. J. Control Autom. Syst. 16, 1938–1950 (2018). https://doi.org/10.1007/s12555-017-0552-x

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  • DOI: https://doi.org/10.1007/s12555-017-0552-x

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