Fuzzy Variable Structure Sliding-mode Control for Dual-arm Space Robot to Get Base and End-points Cooperative Motion

2006 ◽  
Author(s):  
Chen Zhihuang ◽  
Chen Li
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fuzzy Variable ◽  
Variable Structure ◽  
Space Robot ◽  
End Points ◽  
Mode Control ◽  
Cooperative Motion ◽  
Dual Arm

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Robotica ◽  
2021 ◽  
pp. 1-21
Author(s):  
Wen Yan ◽  
Yicheng Liu ◽  
Qijie Lan ◽  
Tao Zhang ◽  
Haiyan Tu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Planning ◽  
Sliding Mode ◽  
Fixed Time ◽  
Planning Method ◽  
Space Robot ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Dual Arm

Abstract This paper addresses fixed-time trajectory tracking for a dual-arm free-floating space robot (FFSR) with the large initial errors and bounded uncertainty. A wrist-based trajectory planning method is improved by fixed-time stability to fast eliminate the error caused by singularity. Then, a novel low-chattering and global-nonsingular fixed-time terminal sliding mode control strategy is studied by state approaching angle and switching sliding mode; the practical fixed-reachable Lyapunov stability analysis is presented for a mechanical control system. In the end, the proposed trajectory planning method and controller are combined to improve the tracking accuracy of end-effector to the nanoscale. Simulation results validate the effectiveness of the proposed methodologies.

Design of Spacecraft Controller Based on Adaptive Fuzzy Sliding Mode Variable Structure

2013 ◽  
Vol 380-384 ◽  
pp. 278-281
Author(s):  
Ju Huo ◽  
Jia Shan Cui
Keyword(s):  
Sliding Mode Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Variable Structure ◽  
External Interference ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
Sliding Mode Variable Structure

Using of feedback linearization technique to solve the problem of traditional sliding mode control chattering. The fuzzy adaptive control and sliding mode variable structure was designed by combining a novel adaptive fuzzy sliding mode variable structure controller. Through fuzzy inference and the stability analysis based on Lyapunov function to obtain fuzzy control rules adaptive law and effective solution to the traditional sliding mode control of the need to determine the parameter perturbation and external interference supremum uncertainty. Simulation results show that this method has better stability and robustness.

scholarly journals Variable Structure Sliding Mode Control and Direct Torque Control of Wind Power Generation System Based on the Pm Synchronous Generator

2015 ◽  
Vol 66 (3) ◽  
pp. 121-131 ◽  
Author(s):  
Youssef Errami ◽  
Mohammed Ouassaid ◽  
Mohamed Cherkaoui ◽  
Mohamed Maaroufi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Direct Torque Control ◽  
Variable Structure ◽  
Synchronous Generator ◽  
Torque Control ◽  
Electrical Network ◽  
Mode Control ◽  
Dc Bus ◽  
Grid Side

Abstract This paper presents a Variable Structure Sliding Mode Control (VS-SMC) scheme and Direct Torque Control (DTC) for Wind Farm (WF) based on the Permanent Magnet Synchronous Generator (PMSG). The WF consists of a 3 PMSGs which are connected to a common dc bus system with rectifier. The dc-bus is connected to the electrical network using only one inverter system, a grid-side filter as well as the transformer. The efficiency of the WF can be greatly improved using an appropriate control approach. So, the control strategy uses the technique of DTC to regulate the speeds of PMSGs for Maximum Power Point Tracking (MPPT) mode. Besides, by employing VS-SMC the grid-side inverter is controlled to inject the generated power into the electrical network, to regulate DC-link voltage and to achieve Unity Power Factor. The used control strategies provide an optimal control solution for WF systems based on the PMSG.

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