Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1701-1727 ◽  
Author(s):  
Mohd Ariffanan Mohd Basri
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Control Approach ◽  
Mode Control ◽  
Aerial Robot ◽  
Six Dof

SUMMARYThe quadrotor aerial robot is a complex system and its dynamics involve nonlinearity, uncertainty, and coupling. In this paper, an adaptive backstepping sliding mode control (ABSMC) is presented for stabilizing, tracking, and position control of a quadrotor aerial robot subjected to external disturbances. The developed control structure integrates a backstepping and a sliding mode control approach. A sliding surface is introduced in a Lyapunov function of backstepping design in order to further improve robustness of the system. To attenuate a chattering problem, a saturation function is used to replace a discontinuous sign function. Moreover, to avoid a necessity for knowledge of a bound of external disturbance, an online adaptation law is derived. Particle swarm optimization (PSO) algorithm has been adopted to find parameters of the controller. Simulations using a dynamic model of a six degrees of freedom (DOF) quadrotor aerial robot show the effectiveness of the approach in performing stabilization and position control even in the presence of external disturbances.

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.

Electro-Hydraulic Servo System Controlled by Index Reaching Law Sliding Mode

2011 ◽  
Vol 317-319 ◽  
pp. 1490-1494 ◽  
Author(s):  
Bao Quan Jin ◽  
Yan Kun Wang ◽  
Ya Li Ma
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Servo System ◽  
Response Speed ◽  
Reaching Law ◽  
Mode Control ◽  
Hydraulic Servo

The parameters uncertainty and external disturbance play a negative role to improve electro-hydraulic position servo system performance. The valve controlled cylinder system model is established, using the traditional PID control strategy and reaching law control strategy for simulating the system, respectively, the two methods have similar control effects in the ideal model, but considering the external disturbances, the index approaches sliding mode control law has better response speed and stability. Research shown that sliding mode control algorithm has an important role for improving the performance of hydraulic servo position control system.

scholarly journals Adaptive Backstepping Sliding Mode Control for Direct Driven Hydraulics

Proceedings ◽  
2020 ◽  
Vol 64 (1) ◽  
pp. 1
Author(s):  
Shuzhong Zhang ◽  
Tianyi Chen ◽  
Fuquan Dai
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
External Disturbance ◽  
High Energy ◽  
Hydraulic Actuator ◽  
Adaptive Backstepping ◽  
Mode Control ◽  
Adaptive Law ◽  
Backstepping Sliding Mode Control

Due to the advantages of high energy efficiency and environmental friendliness, the electro-hydraulic actuator (EHA) plays a vital role in fluid power control. One variant of EHA, double pump direct driven hydraulics (DDH), is proposed, which consists of double fixed-displacement pumps, a servo motor, an asymmetric cylinder and auxiliary components. This paper proposes an adaptive backstepping sliding mode control (ABSMC) strategy for DDH to eliminate the adverse effect produced by parametric uncertainty, nonlinear characteristics and the uncertain external disturbance. Based on theoretical analysis, the nonlinear system model is built and transformed. Furthermore, by defining the sliding manifold and selecting a proper Lyapunov function, the nesting problems (of the designed variable and adaptive law) caused by uncertain coefficients are solved. Moreover, the adaptive backstepping control and the sliding mode control are combined to boost system robustness. At the same time, the controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. Simulations of the DDH are performed with the proposed control strategy and proportional–integral–differential (PID), respectively. The results show that the proposed control strategy can achieve better position tracking and stronger robustness under parameter changing compared with PID.

Stabilization of a Class of Fractional-Order Chaotic Systems via Direct Adaptive Fuzzy Optimal Sliding Mode Control

2018 ◽  
pp. 289-304
Author(s):  
Bachir Bourouba
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Optimization Technique ◽  
External Disturbances ◽  
Control Approach ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Fuzzy Control Strategy

In this chapter a new direct adaptive fuzzy optimal sliding mode control approach is proposed for the stabilization of fractional chaotic systems with different initial conditions of the state under the presence of uncertainties and external disturbances. Using Lyapunov analysis, the direct adaptive fuzzy optimal sliding mode control approach illustrates asymptotic convergence of error to zero as well as good robustness against external disturbances and uncertainties. The authors present a method for optimum tuning of sliding mode control system parameter using particle swarm optimization (PSO) algorithm. PSO is a robust stochastic optimization technique based on the movement and intelligence of swarm, applying the concept of social interaction to problem solving. Simulation examples for the control of nonlinear fractional-order systems are given to illustrate the effectiveness of the proposed fractional adaptive fuzzy control strategy.

Adaptive-gain fast nonsingular terminal sliding mode for position control of a piezo positioning stage

2018 ◽  
Vol 232 (8) ◽  
pp. 994-1014 ◽  
Author(s):  
To Xuan Dinh ◽  
Kyoung Kwan Ahn
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Cerebellar Model Articulation Controller ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Uncertainty Model ◽  
Positioning Stage

This article proposed a variable gain fast terminal sliding mode controller with an estimator of the uncertainty model for a piezo positioning stage system. The designed terminal sliding mode control has some advantages over the linear sliding mode control such as fast convergence and chattering reduction while maintains its robustness to the uncertainties. Next, an indirect technique is developed to enable the elimination of the singularity problem corresponding to initial terminal sliding mode control. In addition, a cerebellar model articulation controller is carried out to estimate the nonlinear dynamics of the piezo positioning stage. To deal with unknown bounds of uncertainties and disturbances, the proposed scheme consists of using online tuning control gains that ensure the establishment of a real terminal sliding mode in a finite time. Moreover, a fuzzy logic scheme is presented to smooth out the discontinuity part of the control signal, hence improve the control performance. Stability analysis of closed loop system is provided using the Lyapunov function method. Experiment results are presented to evaluate the effectiveness of the designed control approach.

Design and Implementation of a Rocket Launcher with Improved High Speed & Accuracy

2012 ◽  
Vol 466-467 ◽  
pp. 1334-1338 ◽  
Author(s):  
De Ying Li
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
External Disturbance ◽  
Strong Impact ◽  
Internal Mode ◽  
Mode Control ◽  
Speed Accuracy

Aiming at high speed and accuracy position control, this paper introduces design of an optimal internal mode control and sliding mode control for rocket launcher servo systems which have large varied moment of inertia, strong impact moment and load moment. Internal mode control designed by LQR theory can satisfy system requirement of the position loop in PMSM system. Sliding mode control can restrain effects that caused by model parameter perturbation and external disturbance and realize high performance position control. Simulation results show that the control method is simple and has better performances compared with PID controller.

Position Sliding Mode Control of Manipulator Joint Based on Genetic Algorithm

2014 ◽  
Vol 912-914 ◽  
pp. 727-731
Author(s):  
Tao Zhou ◽  
Xi Feng Liang
Keyword(s):  
Genetic Algorithm ◽  
Control System ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Switching Function ◽  
Joint Control ◽  
Precise Position ◽  
Mode Control

In order to improve the control performance of position trajectory tracking of manipulator joint, a sliding mode control (SMC) method based on genetic algorithm(GA) is proposed in this paper. In this method, the performance of SMC algorithm is improved through adjusting the parameters of switching function and exponential approach law by genetic algorithm. The method was applied to accomplish the precise position control of manipulator joint. Simulation experiments show that the response time in manipulator joint control system by the SMC method based on GA is reduced 0.62s than the ordinary SMC algorithm. And the system restore stability time with a load change is also reduced 0.7s. External disturbance has no significant effect on the control system. The chattering of controller output is significantly reduced.

Robust sliding mode control of uncertain nonlinear systems with chattering alleviating scheme

2021 ◽  
pp. 2140042
Author(s):  
Bhausaheb B. Musmade ◽  
Balasaheb M. Patre
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
External Disturbance ◽  
Uncertain Nonlinear Systems ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Controlled System ◽  
Mode Control

In this paper, a class of uncertain nonlinear systems is investigated and a sliding mode control (SMC) design is presented. The method is proposed for uncertain systems with model uncertainties, nonlinear dynamics and external disturbances. Using nominal system and related bounds of uncertainties, a chattering alleviating scheme is also proposed, which can ensure the robust SMC law. The performance and the significance of the controlled system are investigated under variation in system parameters and also in presence of an external disturbance. The simulation results indicate that performance of the proposed controller is effective compared to the existing controllers.

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