An Application of Quasi Newton Algorithm and Improvement of Sliding Surface for Robot Control
This article describes the use of an enhanced sliding surface and a Quasi-Newton algorithm for mobile robot control. To enhance performance and reduce chattering around a sliding surface, a proportional-integral sliding surface (PI-SS) is used. The objective of the proportional-integral sliding mode...
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| Format: | Article |
| Language: | English |
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Tamkang University Press
2025-03-01
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| Series: | Journal of Applied Science and Engineering |
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| Online Access: | http://jase.tku.edu.tw/articles/jase-202510-28-10-0018 |
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| author | Chi-Ngon Nguyen Thanh Tung Pham |
| author_facet | Chi-Ngon Nguyen Thanh Tung Pham |
| author_sort | Chi-Ngon Nguyen |
| collection | DOAJ |
| description | This article describes the use of an enhanced sliding surface and a Quasi-Newton algorithm for mobile robot control. To enhance performance and reduce chattering around a sliding surface, a proportional-integral sliding surface (PI-SS) is used. The objective of the proportional-integral sliding mode control declared in this study is to provide a switching control law that will allow the system’s output to get closer to the references and significantly lessen chattering. Regarded as the most well-liked and effective method for resolving unconstrained
optimization issues is the Quasi Newton algorithm. The radial basis function neural network (RBF-NN), which approximates the nonlinear elements in the sliding mode controller, is trained using this approach. According to this proposed controller, the confirmed trajectory of the mobile robot will converge to the request trajectory in finite time. By using Lyapunov’s theory, the system’s stability is demonstrated. The efficacy of the suggested controller is demonstrated by the MATLAB/Simulink simulation results, which show that the chattering phenomenon was reduced and that the steady-state error converged to zero, the rising time reached 0.2284 s,
the settling time was 0.4454 s, the overshoot was 1.9984e-13 % in x-coordinate; 0.2285 s, 0.4456 s, 1.5543e-13 % in y-coordinate, respectively. |
| format | Article |
| id | doaj-art-cd607084081f4a3c816c77356dcb74d3 |
| institution | DOAJ |
| issn | 2708-9967 2708-9975 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | Tamkang University Press |
| record_format | Article |
| series | Journal of Applied Science and Engineering |
| spelling | doaj-art-cd607084081f4a3c816c77356dcb74d32025-08-20T02:50:55ZengTamkang University PressJournal of Applied Science and Engineering2708-99672708-99752025-03-0128102059206510.6180/jase.202510_28(10).0018An Application of Quasi Newton Algorithm and Improvement of Sliding Surface for Robot ControlChi-Ngon Nguyen0 Thanh Tung Pham1Vice Chairman of the Board of Trustees, Can Tho University, VietnamFaculty of Electrical and Electronics Engineering Technology, Vinh Long University of Technology Education, VietnamThis article describes the use of an enhanced sliding surface and a Quasi-Newton algorithm for mobile robot control. To enhance performance and reduce chattering around a sliding surface, a proportional-integral sliding surface (PI-SS) is used. The objective of the proportional-integral sliding mode control declared in this study is to provide a switching control law that will allow the system’s output to get closer to the references and significantly lessen chattering. Regarded as the most well-liked and effective method for resolving unconstrained optimization issues is the Quasi Newton algorithm. The radial basis function neural network (RBF-NN), which approximates the nonlinear elements in the sliding mode controller, is trained using this approach. According to this proposed controller, the confirmed trajectory of the mobile robot will converge to the request trajectory in finite time. By using Lyapunov’s theory, the system’s stability is demonstrated. The efficacy of the suggested controller is demonstrated by the MATLAB/Simulink simulation results, which show that the chattering phenomenon was reduced and that the steady-state error converged to zero, the rising time reached 0.2284 s, the settling time was 0.4454 s, the overshoot was 1.9984e-13 % in x-coordinate; 0.2285 s, 0.4456 s, 1.5543e-13 % in y-coordinate, respectively.http://jase.tku.edu.tw/articles/jase-202510-28-10-0018quasi newtonsliding surfaceproportional-integralrobotmatlab/simulink |
| spellingShingle | Chi-Ngon Nguyen Thanh Tung Pham An Application of Quasi Newton Algorithm and Improvement of Sliding Surface for Robot Control Journal of Applied Science and Engineering quasi newton sliding surface proportional-integral robot matlab/simulink |
| title | An Application of Quasi Newton Algorithm and Improvement of Sliding Surface for Robot Control |
| title_full | An Application of Quasi Newton Algorithm and Improvement of Sliding Surface for Robot Control |
| title_fullStr | An Application of Quasi Newton Algorithm and Improvement of Sliding Surface for Robot Control |
| title_full_unstemmed | An Application of Quasi Newton Algorithm and Improvement of Sliding Surface for Robot Control |
| title_short | An Application of Quasi Newton Algorithm and Improvement of Sliding Surface for Robot Control |
| title_sort | application of quasi newton algorithm and improvement of sliding surface for robot control |
| topic | quasi newton sliding surface proportional-integral robot matlab/simulink |
| url | http://jase.tku.edu.tw/articles/jase-202510-28-10-0018 |
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