Sliding-mode control of a three-degrees-of-freedom nanopositioner

2008 ◽  
Vol 10 (3) ◽  
pp. 267-276 ◽  
Author(s):  
Jing-Chung Shen ◽  
Wen-Yuh Jywe ◽  
Chien-Hung Liu ◽  
Yu-Te Jian ◽  
Jeffrey Yang
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mode Control ◽  
Three Degrees Of Freedom

scholarly journals A Neural Network Based Sliding Mode Control for Tracking Performance with Parameters Variation of a 3-DOF Manipulator

2019 ◽  
Vol 9 (10) ◽  
pp. 2023 ◽  
Author(s):  
Hoai-Vu-Anh Truong ◽  
Duc-Thien Tran ◽  
Kyoung Kwan Ahn
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
External Disturbance ◽  
Robotic Manipulator ◽  
Tracking Performance ◽  
Mode Control ◽  
Tracking Motion ◽  
Three Degrees Of Freedom

The manipulator, in most cases, works in unstructured and changeable conditions. With large external variations, the demand for stability and robustness must be ensured. This paper proposes a neural network sliding mode control (NNSMC) to cope with uncertainties and improve the behavior of the robotic manipulator in the presence of an external disturbance. The proposed method is applied to the three degrees of freedom (DOF) manipulator. Some comparisons between the proposed and the conventional algorithms are given in both simulation and experiments to prove that the designed control can achieve higher accuracy in tracking motion.

Emergency Avoidance Control System for an Automatic Vehicle – Slip Ratio Control Using Sliding Mode Control and Real-Number-Coded Immune Algorithm –

2015 ◽  
Vol 27 (6) ◽  
pp. 645-652 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
◽  
Takao Taniguchi
Keyword(s):  
Sliding Mode Control ◽  
Real Number ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Linear Interpolation ◽  
Immune Algorithm ◽  
Transport Systems ◽  
Slip Ratio ◽  
Mode Control ◽  
Data Points

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/06.jpg"" width=""300"" /> Vehicle behavior in emergency avoidance</div>The automotive industry facilitates research and development on intelligent transport systems. One area researched intensively to enhance passenger safety is the prevention of collisions by controlling steering and braking precisely. In this study, we assume that an automatic vehicle travelling on a highway is on a collision course with an obstacle. The purpose of this research is combining steering and braking to find a set of operations the vehicle can follow to avoid the projected collision. To do this, we propose slip ratio control using sliding mode control using a real-number-coded immune algorithm (IA). CarSim (produced by Mechanical Simulation Company) provides full vehicle dynamics with 27 degrees of freedom adopted as a vehicle model. Operation waveforms are generated by linear interpolation through designated data points. The IA, which is a coded real-number expression, is used to determine data points. Our proposal's efficiency is verified through emergency avoidance simulation using CarSim. Simulation results demonstrate operation that keeps tires from skidding using slip ratio control and halting the vehicle in the shortest braking distance possible.

Fuzzy Sliding Mode Control of Robotic Manipulators With Kinematic and Dynamic Uncertainties

2012 ◽  
Vol 134 (6) ◽  
Author(s):  
Haitao Liu ◽  
Tie Zhang
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Mode Control ◽  
Control Scheme ◽  
Adaptive Fuzzy Logic ◽  
Fuzzy Sliding Mode ◽  
Dynamic Uncertainties

Sliding mode control is a very attractive control scheme with strong robustness to structured and unstructured uncertainties as well as to external disturbances. In this paper, a robust fuzzy sliding mode controller, which is combined with an adaptive fuzzy logic system, is proposed to improve the control performance of the robotic manipulator with kinematic and dynamic uncertainties. In this controller, the sliding mode control is employed to improve the control accuracy and the robustness of the robotic manipulator, and the fuzzy logic control is adopted to approximate various uncertainties and to eliminate the chattering without the help of any prior knowledge of system uncertainties. The effectiveness of the proposed controller is then verified by the simulations on a 2-DOF (degrees of freedom) robotic manipulator and the experiments on an SCARA robot with four degrees of freedom. Simulated and experimental results indicate that the proposed controller is effective in the robust tracking of the robotic manipulator with kinematic and dynamic uncertainties.

Sliding Mode Control for Hexacopter Stabilization with Motor Failure

2016 ◽  
Vol 28 (6) ◽  
pp. 936-948 ◽  
Author(s):  
Yi Yang ◽  
◽  
Wei Wang ◽  
Daisuke Iwakura ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Linear Constraints ◽  
Control Input ◽  
Linear Quadratic ◽  
Mode Control ◽  
Integral Controller ◽  
Quadratic Integral ◽  
Comparative Results

[abstFig src='/00280006/18.jpg' width='300' text='Hovering with 5 rotors' ] This study presents a fault-tolerance approach for hexacopters with failed propulsion systems (i.e., motors and propellers) using sliding mode control theory. In this study, we use an explicit control allocation method with linear constraints for allocating the control input to redundancy actuators, as well as a new sliding model controller designed to stabilize the attitude and maintain the basic flight performance of a vehicle with a single failed motor during an outdoor autonomous flight mission. An asymmetrical motor rotation arrangement is applied in order to ensure controllability for all degrees of freedom. We verify the developed system on a real hexacopter suffering propulsion-system failure. Finally, the comparative results between the linear-quadratic-integral controller and model reference sliding mode controller are presented to evaluate the robustness of each controller against the failure of redundancy actuators.

445 Frequency-Shaped Sliding Mode Control for a Nonlinear Multi Degrees of Freedom Structure

2005 ◽  
Vol 2005 (0) ◽  
pp. _445-1_-_445-6_
Author(s):  
Junichi HINO ◽  
Toshio Abe ◽  
Toshio YOSHIMURA ◽  
Masao Kurimoto
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mode Control

SLIDING MODE CONTROL ON ISOLATED BRIDGES WITH COLUMNS OF IRREGULAR HEIGHTS USING POLE ASSIGNMENT AND PSO-SA HYBRID ALGORITHM

2012 ◽  
Vol 12 (03) ◽  
pp. 1250014 ◽  
Author(s):  
TZU-YING LEE ◽  
PO-CHUAN CHEN ◽  
DER-SHIN JUANG
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Numerical Models ◽  
Pso Algorithm ◽  
Equivalent Model ◽  
Sliding Surface ◽  
Mode Control ◽  
Isolated Bridge ◽  
Isolated Bridges

The effectiveness of sliding mode control on the seismic response of an isolated bridge with columns of irregular heights, which exhibit hysteretic behaviors at both the columns and isolators, is studied. The bridge of concern consists of a two-span continuous deck and three columns of irregular heights, adjoining two single-span approaches each at the two ends. The irregular isolated bridge is idealized by an equivalent model to reduce the number of degrees of freedom involved. Compared with typical isolated bridges, the irregular isolated bridge has more poles of sliding surface, which dominates the dynamic characteristics of the controlled system and should be determined for the sliding mode control. The particle swarm optimization-simulated annealing (PSO-SA) hybrid searching algorithm is thus employed and shown to outperform the PSO algorithm and a parametric approach in finding the best sliding surface. Numerical simulations reveal that the sliding mode control together with the PSO-SA hybrid searching algorithm provides a simple and powerful technique for controlling the nonlinear seismic responses of irregular isolated bridges. Such a technique combining the control and optimization technology can be applied to practical bridges or structures, which are generally complicated and should be idealized by sophisticated numerical models.

Robust Sliding Mode Control of a Full Vehicle Without Suspension Gap Loss

2005 ◽  
Vol 11 (11) ◽  
pp. 1357-1374 ◽  
Author(s):  
N. Yagiz ◽  
L. E. Sakman
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
The Body ◽  
Vehicle Body ◽  
New Approach ◽  
Full Vehicle ◽  
Mode Control

A seven-degrees-of-freedom full vehicle model is used to design a robust controller and to investigate the performance of active suspensions without losing the suspension working space. Zero reference for vehicle body displacement finishes suspension working distance. Thus, a new approach is suggested in this paper. Force actuators are placed parallel to the suspensions and non-chattering sliding mode control is applied. Since any change in vehicle parameters because of different load or road conditions adversely affects the performance of the ordinary control methods, a robust control method is preferred. To obtain the desired improvement in ride comfort, we aim to decrease the magnitudes of the body vibrations and their accelerations. We present body bounce, pitch and roll motions of the vehicle with the conventional approach and the proposed approach without suspension gap loss, both in the time domain in the case of traveling over a step road profile and in the frequency domain. The results of both approaches are compared. The solution to the suspension gap loss problem has also been presented on periodic road surfaces. At the end of the paper, we discuss the improvement in the performance of the new controller with its robust behavior and the advantage of the new approach.

An Experimental Study of Robustness of Multi-Objective Optimal Sliding Mode Control

2016 ◽  
Vol 138 (5) ◽  
Author(s):  
Zhi-Chang Qin ◽  
Fu-Rui Xiong ◽  
Jian-Qiao Sun
Keyword(s):  
Experimental Study ◽  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Estimation Error ◽  
Multi Objective ◽  
Mode Control ◽  
System A ◽  
Performance Variation ◽  
The Stability

This paper presents an experimental study of robustness of multi-objective optimal sliding mode control, which is designed in a previous study. Inertial and stiffness uncertainties are introduced to a two degrees-of-freedom (DOF) under-actuated rotary flexible joint system. A randomly selected design from the Pareto set of multi-objective optimal sliding mode controls is used in the experiments. Three indices are introduced to evaluate the performance variation of the tracking control in the presence of uncertainties. We have found that the multi-objective optimal sliding mode control is quite robust against the inertial and stiffness uncertainties in terms of maintaining the stability and delivering satisfactory tracking performance as compared to the control of the nominal system, even when the uncertainty is not a small quantity. Furthermore, we have studied the effect of upper bounds of the model estimation error on the stability of the closed-loop system.

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