Influence of Joint Actuator Dynamics on Sliding Mode Controlled Flexible Manipulators

2020 ◽  
Author(s):  
Yanmin Wang ◽  
Zhao Ying ◽  
Weiqi Zhang
Keyword(s):  
Sliding Mode ◽  
Flexible Manipulators ◽  
Actuator Dynamics

Modified sliding mode control of a seismic active mass damper system considering model uncertainties and input time delay

2016 ◽  
Vol 24 (6) ◽  
pp. 1051-1064 ◽  
Author(s):  
Mehdi Soleymani ◽  
Amir Hossein Abolmasoumi ◽  
Hasanali Bahrami ◽  
Arash Khalatbari-S ◽  
Elham Khoshbin ◽  
...  
Keyword(s):  
Structural Control ◽  
Sliding Mode ◽  
Test Structure ◽  
Dynamic State ◽  
Shake Table ◽  
Model Uncertainties ◽  
Actuator Dynamics ◽  
Active Structural Control ◽  
Mass Damper ◽  
Active Mass Damper

Model uncertainties and actuator delays are two factors that degrade the performance of active structural control systems. A new robust control system is proposed for control of an active tuned mass damper (AMD) in a high-rise building. The controller comprises a two-loop sliding model controller in conjunction with a dynamic state predictor. The sliding model controller is responsible for model uncertainties and the state predictor compensates for the time delays due to actuator dynamics and process delay. A reduced model that is validated against experimental data was constructed and equipped with an electro-mechanical AMD system mounted on the top storey. The proposed controller was implemented in the test structure and its performance under seismic disturbances was simulated using a seismic shake table. Moreover, robustness of the proposed controller was examined via variation of the test structure parameters. The shake table test results reveal the effectiveness of the proposed controller at tackling the simulated disturbances in the presence of model uncertainties and input delay.

Terminal Sliding Mode Control of the Flexible Manipulator

2014 ◽  
Vol 530-531 ◽  
pp. 1026-1031
Author(s):  
Sheng Li ◽  
Yi Qing Wang ◽  
Bao Lin Hou
Keyword(s):  
Linear System ◽  
Sliding Mode Control ◽  
Finite Time ◽  
State Feedback ◽  
Sliding Mode ◽  
Feedback Controller ◽  
Flexible Manipulators ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

Aimed at the finite-time stabilization problem of a class of flexible manipulators, a stabilization controller based on terminal sliding mode control was proposed in this paper. Firstly, the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization. Based on the finite time stabilization control method of the linear system, a stabilization controller based on terminal sliding mode control was designed for the flexible manipulators. Furthermore, it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite time with the proposed controller. The simulation results showed that the performance of the flexible manipulators with the proposed finite-time state feedback controller was effective. At last, the analysis and comparison of the proposed controller and the finite-time state feedback controller were given.

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