Sliding mode control for underactuated mechanical systems via nonlinear disturbance observer: stabilization of the rotational pendulum

2018 ◽  
Vol 6 (4) ◽  
pp. 1663-1672 ◽  
Author(s):  
Kakoli Majumder ◽  
B. M. Patre
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Underactuated Mechanical Systems ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Nonlinear Disturbance

Adaptive sliding mode control for asymptotic stabilization of underactuated mechanical systems via higher-order nonlinear disturbance observer

2019 ◽  
Vol 25 (17) ◽  
pp. 2340-2350 ◽  
Author(s):  
Kakoli Majumder ◽  
B. M. Patre
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Higher Order ◽  
Adaptive Sliding Mode Control ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance

The development of a nonlinear controller of stabilization of underactuated mechanical systems (UMSs) is a challenging endeavor due to a larger number of output variables to be controlled than the control input space. This paper proposes an adaptive sliding mode control based on a higher-order nonlinear disturbance observer (HONDO) for stabilizing the rotational pendulum (RP) system falling under the class of UMSs. Firstly, the HONDO is designed in such a way that it can improve accuracy in estimations with its incremental order. As a result, the proposed controller obtained from the sliding surface which is developed with system’s states and estimations, forces the states attaining the sliding mode and hence keeps them to their origin forever against disturbances. To achieve this, the sliding coefficients are obtained using inertia matrix of the system. The zero dynamics is stabilized by the proposed controller. This alleviates the chattering problem in the control input. Finally, numerical performance on the underactuated RP model is analyzed to show the efficiency of the proposed controller and it is compared with the established control technique found in the literature.

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

scholarly journals Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

2019 ◽  
Vol 9 (16) ◽  
pp. 3290 ◽  
Author(s):  
Hoai Vu Anh Truong ◽  
Duc Thien Tran ◽  
Xuan Dinh To ◽  
Kyoung Kwan Ahn ◽  
Maolin Jin
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Backstepping Sliding Mode Control ◽  
Hydraulic Manipulator ◽  
Nonlinear Disturbance ◽  
Payload Variation ◽  
Logic System

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping sliding mode control, fuzzy logic system (FLS), and a nonlinear disturbance observer. The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics. The fuzzy logic system is utilized to adjust the control gain and robust gain of the sliding mode control (SMC) based on the output of the nonlinear disturbance observer to compensate the payload. The Lyapunov approach and backstepping technique are used to prove the stability and robustness of the whole system. Some simulations are implemented, and the results are compared to other controllers to exhibit the effectiveness of the proposed control.

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