Robust adaptive position control of automotive electronic throttle valve using PID-type sliding mode technique

2016 ◽  
Vol 85 (2) ◽  
pp. 1331-1344 ◽  
Author(s):  
Hai Wang ◽  
Linfeng Liu ◽  
Ping He ◽  
Ming Yu ◽  
Manh Tuan Do ◽  
...  
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Electronic Throttle ◽  
Automotive Electronic ◽  
Throttle Valve ◽  
Robust Adaptive ◽  
Mode Technique ◽  
Sliding Mode Technique

A Robust Terminal Sliding Mode Adaptive Control for Robot Manipulators

2011 ◽  
Vol 204-210 ◽  
pp. 1978-1983
Author(s):  
Zhen Hua Qin ◽  
Xiong Xiong He
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Design Method ◽  
Estimation Error ◽  
Parameters Estimation ◽  
Terminal Sliding Mode ◽  
Internal Parameters ◽  
Robust Adaptive ◽  
Mode Technique ◽  
Sliding Mode Technique

A robust adaptive terminal sliding mode control(SMC) algorithm is developed for the trajectory control of the rigid manipulators. The upper bounds of uncertain nonlinearities and unknown internal parameters of rigid manipulators are estimated through an adaptive mechanism and used for the main part of the controller, and additional part based terminal sliding mode technique is used to compensate the bounded parameters estimation error and achieve robustness of the control system. Continuous sliding mode controller is developed by replacing the signum functions with saturation functions to reduce the chattering that traditional sliding mode have common. The proposed design method is evaluated on a 2-DOF robot manipulator to demonstrate the effectiveness of the theory.

scholarly journals Iterative Learning Control Based on Sliding Mode Technique for Hybrid Force/Position Control of Robot Manipulators

2021 ◽  
Author(s):  
Xinxin Zhang ◽  
Huafeng Ding ◽  
Min Li ◽  
Andrés Kecskeméthy
Keyword(s):  
Iterative Learning Control ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Learning Control ◽  
Iterative Learning ◽  
Planar Parallel Manipulator ◽  
Mode Technique ◽  
Sliding Mode Technique

Abstract In this paper, an iterative learning control (ILC) method based on sliding mode technique is proposed for hybrid force/position control of robot manipulators. Different from traditional ILC, the main purpose of the proposed ILC is to learn the dynamic parameters rather than the control signals. The sliding mode technique is applied to enhance the robustness of the proposed ILC method against external disturbances and noise. The switching gain of the sliding mode term is time-varying and learned by ILC such that the chattering is suppressed effectively compared to traditional sliding mode control (SMC). Simulation studies are performed on a two degrees of freedom planar parallel manipulator. Simulation results demonstrate that the proposed method can achieve higher force/position tracking performance than the traditional SMC and ILC.

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