Adaptive Sliding Mode Position Control for Electrical Motors

2014 ◽  
Author(s):  
Oscar Barambones ◽  
Patxi Alkorta ◽  
Jose Maria Gonzalez de Durana
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode ◽  
Electrical Motors

Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping

Robotica ◽  
2014 ◽  
Vol 34 (5) ◽  
pp. 1168-1185 ◽  
Author(s):  
Ting Zhang ◽  
Li Jiang ◽  
Shaowei Fan ◽  
Xinyu Wu ◽  
Wei Feng
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Impedance Control ◽  
Adaptive Estimation ◽  
Environmental Parameters ◽  
Parameters Estimation ◽  
Friction Compensation ◽  
Adaptive Sliding Mode ◽  
Force Tracking ◽  
Artificial Hand

SUMMARYThis paper presents adaptive impedance controllers with adaptive sliding mode friction compensation for anthropomorphic artificial hand. A five-fingered anthropomorphic artificial hand with multi-sensory and Field-Programmable Gate Arra (FPGA)-based control hardware and software architecture is designed to fulfill the requirements of the grasping force controller. In order to improve the force-tracking precision, the indirect adaptive algorithm was applied to estimate the parameters of the environment. The generalized momentum-based disturbance observer was applied to estimate the contact force from the torque sensor. Based on the sensors of the finger, an adaptive sliding mode friction compensation algorithm was utilized to improve the accuracy of the position control. The performances of the force-tracking impedance controller and position-based joint impedance control for the five-fingered anthropomorphic artificial hand are analyzed and compared in this paper. Furthermore, the performances of the force-tracking impedance controller with environmental parameters adaptive estimation and without environmental parameters estimation are analyzed and compared. Experimental results prove that accurate force-tracking and stable torque/force response under uncertain environments of unknown stiffness and position can be achieved with the proposed adaptive force-tracking impedance controller with friction compensation on five-finger artificial hand.

scholarly journals Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Yan Ren ◽  
Zhenghua Liu ◽  
Le Chang ◽  
Nuan Wen
Keyword(s):  
Robust Control ◽  
High Frequency ◽  
Disturbance Observer ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Servo System ◽  
Adaptive Sliding Mode ◽  
Main System

A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

scholarly journals Sensorless adaptive sliding mode position control for piezoelectric actuators with charge leakage

2019 ◽  
Vol 31 (1) ◽  
pp. 40-52
Author(s):  
Davood Soleymanzadeh ◽  
Hamed Ghafarirad ◽  
Mohammad Zareinejad
Keyword(s):  
Closed Loop ◽  
Position Control ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Position Estimation ◽  
Adaptive Sliding Mode Control ◽  
Control Procedure ◽  
Loop Control ◽  
Precise Position ◽  
Adaptive Sliding Mode

Position control of piezoelectric actuators is greatly affected by nonlinearities such as hysteresis and creep. Therefore, precise position sensors must be utilized which have high cost and complicated structures in micro scales. Charge-based position estimation is an alternative method which resorts to piezoelectric linear charge-position property to estimate the actuator position, but in low-impedance actuators, there is a charge leakage caused by actuator internal resistance which deteriorates the position estimation and closed-loop control performance. In this article, the leakage is considered as a sensor fault. Therefore, a combination of charge measurement method and an appropriate observer is designed to detect and isolate the mentioned fault and estimate the actuator position properly. In addition, an adaptive sliding mode control procedure is proposed for trajectory tracking in the presence of estimated states. The required analysis is carried out to guarantee the closed-loop stability. Finally, experimental results show the effectiveness of the proposed method.

A model reference adaptive sliding mode control for the position control of permanent magnet synchronous motor

2020 ◽  
pp. 095965182094195
Author(s):  
Junfeng Jiang ◽  
Xiaojun Zhou ◽  
Wei Zhao ◽  
Wei Li
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Reference Model ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Adaptive Sliding Mode Control ◽  
Model Reference ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Model Reference Adaptive

A model reference adaptive sliding mode control for the position control of the permanent magnet synchronous motor is developed in this article. First of all, a fast sliding surface is designed to achieve faster convergence than the ordinary sliding mode control. Then, the adaptive laws are developed to make the control parameters, especially the switching gain, updated online. Therefore, the chattering can be reduced effectively and the disturbance can be rejected well. Finally, a reference model which produces an exponential decay curve is applied for the position error to follow. Thus, not only fast error convergence can be guaranteed, but also the dynamic process of the system response can be controlled easily by modifying the decay rate of the reference model. The proposed model reference adaptive sliding mode control scheme combines the advantages of the sliding mode control and the model reference adaptive control. Simulation and experimental results reveal that faster and more accurate performance with smoother control signal and better robustness is obtained compared with other methods. Also, the model reference adaptive sliding mode control method can maintain good performance when the system inertia or the position reference varies in a wide range.

Adaptive Sliding-Mode Position Control for Piezo-Actuated Stage

2008 ◽  
Vol 55 (11) ◽  
pp. 3927-3934 ◽  
Author(s):  
Xinkai Chen ◽  
Takeshi Hisayama
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode
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