Formation Control of DWMRs: Sliding Mode Control Techniques

2021 ◽  
pp. 175-209
Author(s):  
Nardênio Almeida Martins ◽  
Douglas Wildgrube Bertol
Keyword(s):  
Sliding Mode Control ◽  
Formation Control ◽  
Sliding Mode ◽  
Control Techniques ◽  
Mode Control

A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control

2012 ◽  
Vol 134 (6) ◽  
Author(s):  
Veysel Gazi ◽  
Barış Fidan ◽  
Raúl Ordóñez ◽  
M. İlter Köksal
Keyword(s):  
Sliding Mode Control ◽  
Target Tracking ◽  
Continuous Time ◽  
Sliding Mode ◽  
Control Techniques ◽  
Maneuvering Target ◽  
Mode Control ◽  
Time Control ◽  
Control Scheme ◽  
Simulation Results

In this paper, we consider the task of tracking a maneuvering target both with a single nonholonomic agent and a swarm of nonholonomic agents. In order to achieve the tracking task, a decentralized continuous-time control scheme, which combines artificial potentials and sliding mode control techniques, is developed via constructive analysis. The effectiveness of the proposed control scheme is established analytically and demonstrated via a set of simulation results.

Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles

2013 ◽  
Vol 25 (1) ◽  
pp. 60-71 ◽  
Author(s):  
Mohammad Fadhil Bin Abas ◽  
◽  
Dwi Pebrianti ◽  
Syaril Azrad Md. Ali ◽  
Daisuke Iwakura ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Circular Motion ◽  
Experimental Result ◽  
Distance Error ◽  
Mode Control ◽  
Aerial Vehicles

This paper describes the leader-follower formation control using two different approaches which are the PID leader-follower formation control (PID-LFFC) and Sliding Mode Control leader-follower formation control (SMC-LFFC). The strategy used in this paper is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curves lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Based on the experimental result, it is seen that the performance of the algorithm is reliable. When using SMC-LFFC over the PID-LFFC, the leader to follower distance error is 30% smaller and has a high 70% occurrence at 0 errors. Additionally, this research is known to be the first conducted in Japan.

scholarly journals SIMULATION OF ANTAGONISTIC MUSCLE ACTIONS THROUGH THE USE OF SLIDING-MODE CONTROL TECHNIQUES

2005 ◽  
Vol 38 (1) ◽  
pp. 190-195
Author(s):  
S.J. Lister ◽  
S.K. Spurgeon ◽  
J.J.A. Scott ◽  
N.B. Jones
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Techniques ◽  
Mode Control ◽  
Antagonistic Muscle ◽  
Muscle Actions

Experimental Analysis of Higher-Order Sliding Mode Control Applied to Dynamic Positioning Systems

2013 ◽  
Author(s):  
Tadeu F. de Sousa ◽  
Eduardo A. Tannuri
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Real Time ◽  
Sliding Mode ◽  
Higher Order ◽  
Scale Model ◽  
Dynamic Positioning ◽  
Control Techniques ◽  
Mode Control ◽  
Position Signal

The control algorithm normally used in Dynamic Positioning (DP) Systems is based on linear control theory (proportional-derivative or linear quadratic MIMO controller), coupled to an Extended Kalman Filter (EKF) to estimate the environmental forces and wave filtering. Such controllers and estimators have problems of performance and stability related to large variations of loading (for tankers for example) or environmental conditions. The adjustment of controller gains and parameters of EKF is a complex process. Therefore, other techniques are being applied. An investigation into the area of control of mechanical systems was made, carrying out theoretical and experimental studies involving nonlinear robust control techniques applied to dynamic positioning of floating vessels. Two robust control techniques were applied and compared: first order sliding mode control (SMC) and higher order sliding mode control (HOSM). It is known that the main drawback of SMC is the presence of high-frequency oscillations called chattering. This undesirable effect can be eliminated by using HOSM. In order to ascertain the performance of the controller under the DP system, time-domain simulations were done. Furthermore, the technique of sliding mode requires higher order derivatives of the vessel’s position signal. Therefore was developed an exact real-time differentiator, a mathematical technique used to obtain the signal derived from the position signal in real time. To validate the simulated controller, experimental tests were performed considering a small-scale model of a DP tanker. The results confirmed the robustness of the HOSM controller, the good performance of the differentiator and the elimination of the chattering problem.

Sign in / Sign up

Export Citation Format

Share Document