Rotary Flexible Joint Control Using Adaptive Fuzzy Sliding Mode Scheme.

An adaptive fuzzy sliding control (AFSMC) approach is adopted in this paper to address the problem of angular position control and vibration suppression of rotary flexible joint systems. AFSMC consists of fuzzy-based singleton control action and switching control law. By adjusting fuzzy parameters with the self-learning ability to discard system nonlinearities and uncertainties, singleton control based on fuzzy approximation theory can estimate the perfect control law of feedback linearization. To enhance robustness, an additional switching control law is incorporated to reduce the approximation error between the derived singleton control action and the perfect control law of feedback linearization. AFSMC's closed-loop stability will be demonstrated via sliding surface and Lyapunov function analysis of error function. In order to demonstrate the effectiveness of the AFSMC in tracking performance as well as its ability to respond to model uncertainties and external perturbations, simulations are carried out using Simulink and Matlab in order to demonstrate how well it adapts to these situations. Based on these results, it can be concluded that the AFSMC performs satisfactorily in terms of tracking.

Hybrid Approach Named HUAPO Technique to Guide the Lander Based on the Landing Trajectory Generation for Unmanned Lunar Mission.

This manuscript proposes a hybrid method for landing trajectory generation of unmanned lunar mission. The proposed hybrid control scheme is the joint execution of the human urbanization algorithm (HUA) and political optimizer (PO) with radial basis functional neural network (RBFNN); hence it is named as HUA-PORFNN method. The HUA is a metaheuristic method, and it is used to solve several optimization issues and several nature-inspired methods to enhance the convergence speed with quality. On the other hand, multiple-phased political processes inspire the PO. The work aims to guide the lander with minimal fuel consumption from the initial to the final stage, thus minimizing the lunar soft landing issues based on the given cost of operation. Here, the HUAPO method is implemented to overcome thrust discontinuities, checkpoint constraints are suggested for connecting multi-landing phases, angular attitude rate is modeled to obtain radical change rid, and safeguards are enforced to deflect collision along with obstacles. Moreover, first, the issues have been resolved according to the proposed HUAPO method. Here, energy trajectories with 3 terminal processes are deemed. Additionally, the proposed HUAPO method is executed on MATLAB/Simulink site, and the performance of the proposed method is compared with other methods.