Nonlinear dynamic analysis and sliding mode control for a gyroscope system

2010 ◽  
Vol 66 (1-2) ◽  
pp. 53-65 ◽  
Author(s):  
Cheng-Chi Wang ◽  
Her-Terng Yau
Keyword(s):  
Sliding Mode Control ◽  
Dynamic Analysis ◽  
Nonlinear Dynamic ◽  
Sliding Mode ◽  
Nonlinear Dynamic Analysis ◽  
Mode Control ◽  
Gyroscope System

Nonlinear dynamic modeling and adaptive sliding control of the milling head for efficient and powerful machining

2016 ◽  
Vol 232 (3) ◽  
pp. 381-393 ◽  
Author(s):  
Pengbing Zhao ◽  
Jin Huang ◽  
Yaoyao Shi
Keyword(s):  
Sliding Mode Control ◽  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Sliding Mode ◽  
Numerical Control ◽  
Adaptive Sliding Mode Control ◽  
Nonlinear Dynamic Model ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Precision

Milling head is an essential assembly in the five-axis computer numerical control machine tools, positioning precision of which directly affects the machining accuracy and surface quality of the processed parts. Considering the influence of nonlinear friction in the transmission mechanism and the uncertain cutting force disturbance on the control precision of the milling head, the static and dynamic performances of the milling head are analyzed; relationships among the drive torque, load torque, motion direction and system parameters are discussed; and, finally, nonlinear dynamic model of the milling head is established. A novel adaptive sliding mode control scheme based on the variable switching gain and the adjustable boundary thickness is proposed for this nonlinear dynamic model; the stability of the closed-loop system is guaranteed by the Lyapunov theory. Experimental results show that the proposed adaptive sliding mode control can reduce the chattering in the traditional sliding mode control and can achieve high control precision without knowing the boundaries of uncertainties in advance.

Dynamic Analysis and Sliding Mode Control of a Novel Extendable Modular Multi-DOFs Link

2012 ◽  
Author(s):  
Hak Yi ◽  
Je Hong Yoo ◽  
Reza Langari
Keyword(s):  
Sliding Mode Control ◽  
Dynamic Analysis ◽  
Sliding Mode ◽  
Free Motion ◽  
Modular Robot ◽  
Nonlinear Controller ◽  
Control Approach ◽  
Mode Control ◽  
Reachable Workspace ◽  
Simulation Results

In this paper, we have considered the new extendable modular multi-DOFs link to have a larger reachable workspace and more dexterous manipulability, as compared to a typical link. As a part of the extendable modular robot (EMR), our link is implemented to allow free motion when performing required tasks. In addition, this paper deals with a function of adjusting the link’s length (within 25% of the nominal length). Our investigation also focuses on the dynamics of a multi-DOFs link and the nonlinear controller for a given trajectory. The simulation results show the effectiveness of this control approach.

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