Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality

Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding  surface.  Stability  of  the  control  algorithm  is  guaranteed  by  Lyapunov  function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%

Fuzzy Logic Control Design in Hybrid Energy Storage System Super-Capacitor Battery for Electric Vehicle

HESS is a suitable technology when applied to electric cars. One application is in SUV (Sport Utility Vehicle) car. The use of Supercapacitors can reduce the excess of load on the battery. Uneven soil contours cause current spike and drop in battery voltage which can reduce battery lifetime. This journal presents a simulated study of HESS batteries and Supercapacitors in SUV cars. Fuzzy-based energy management strategies and threshold control are introduced. The simulation study shows the difference between the control using the number of climb data and not, and the Fuzzy control response to the demand load. The simulation results mention the reduction of the maximum current and the battery voltage drop according to the load. The total energy ratio used between the two controls is also presented