Robust Control Design for a Hopping Robot in Flight Phase using the Sliding Mode Approach

2021 ◽  
Author(s):  
Guilherme N. Souza ◽  
Tiago Roux Oliveira ◽  
Antonio C. Leite
Keyword(s):  
Robust Control ◽  
Sliding Mode ◽  
Control Design ◽  
Flight Phase ◽  
Hopping Robot ◽  
Robust Control Design

scholarly journals Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Sami ud Din ◽  
Qudrat Khan ◽  
Fazal ur Rehman ◽  
Rini Akmeliawati
Keyword(s):  
Robust Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Integral Manifold ◽  
Control Design ◽  
Underactuated Systems ◽  
Control Laws ◽  
Beam System ◽  
Integral Manifolds ◽  
Robust Control Design

This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinear model of the underactuated systems is transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous control laws are designed which are capable of maintaining sliding mode from the very beginning. The closed loop stability of these systems is presented in an impressive way. The effectiveness and demand of the designed control laws are verified via the simulation and experimental results of ball and beam system.

Robust Control Design Based-On Integral Sliding-Mode Control

2013 ◽  
Vol 284-287 ◽  
pp. 2301-2304 ◽  
Author(s):  
Chieh Chuan Feng ◽  
Li Peng Yin ◽  
En Chih Chang
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Linear Control ◽  
Sliding Surface ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Robust Control Design

This paper proposes a robust control design based-on integral sliding-mode and H2–norm performance criterion to handle a class of time-varying systems with perturbations including non-linearities and disturbances. The stabilization problems for such systems are studied: integral slid-ing-mode is designated to completely nullify the matched perturbations and, in the meantime, elim-inate the reaching phase to the sliding surface, while H2–norm is a robust linear control measured for system on the sliding surface. In addition to the integral sliding mode control, the contribution of the paper is to implement a parameter-dependent Lyapunov function for H2–norm robust linear control that the overall designed system is less conservative for the system with both matched and unmatched perturbations.

Robust Control Design of Nonlinear System via Backstepping-PSO with Sliding Mode Techniques

2017 ◽  
pp. 27-37 ◽  
Author(s):  
Sahazati Md Rozali ◽  
Nor Syaza Farhana ◽  
Muhammad Nizam Kamarudin ◽  
Amar Faiz Zainal Abidin ◽  
Mohd Fua’ad Rahmat ◽  
...  
Keyword(s):  
Robust Control ◽  
Nonlinear System ◽  
Sliding Mode ◽  
Control Design ◽  
Robust Control Design
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