Research on the Control Method of Electromechanical Action System Based On Improved Sliding Mode Algorithm

Background: A novel type of control strategy is presented for control of chaotic systems particularly a chaotic robot in joint and workspace which is the result of applying fractional calculus to dynamic sliding mode control. Objectives: To guarantee the sliding mode condition, control law is introduced based on the Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Conclusion: Also, all of chaotic robot's qualitative and quantitative characteristics have been investigated. Numerical simulations indicate viability of our control method. Results: Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.

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Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.672-674.1770 ◽

2014 ◽

Vol 672-674 ◽

pp. 1770-1773 ◽

Cited By ~ 1

Author(s):

Fu Cheng Cao ◽

Li Min Du

Keyword(s):

Dynamic Response ◽

Sliding Mode Control ◽

Lower Limb ◽

Control Method ◽

Sliding Mode ◽

Impedance Control ◽

Rehabilitation Robot ◽

Active Rehabilitation ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

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Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽

10.3390/act10070154 ◽

2021 ◽

Vol 10 (7) ◽

pp. 154

Author(s):

Bin Wang ◽

Pengda Ren ◽

Xinhao Huang

Keyword(s):

Sliding Mode Control ◽

Position Control ◽

Control Method ◽

Sliding Mode ◽

Piezoelectric Pump ◽

Mode Control ◽

Control Precision ◽

Backstepping Sliding Mode Control ◽

Actuator System ◽

The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

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Dynamic Modeling and Anti-Disturbing Control of an Electromagnetic MEMS Torsional Micromirror Considering External Vibrations in Vehicular LiDAR

Micromachines ◽

10.3390/mi12010069 ◽

2021 ◽

Vol 12 (1) ◽

pp. 69

Author(s):

Yong Hua ◽

Shuangyuan Wang ◽

Bingchu Li ◽

Guozhen Bai ◽

Pengju Zhang

Keyword(s):

Dynamic Model ◽

Optical Switching ◽

Control Method ◽

Sliding Mode ◽

Algorithm Design ◽

Coupling Model ◽

Micro Electro Mechanical Systems ◽

Mems Technology ◽

Torsional Micromirror ◽

Dynamic Coupling Model

Micromirrors based on micro-electro-mechanical systems (MEMS) technology are widely employed in different areas, such as optical switching and medical scan imaging. As the key component of MEMS LiDAR, electromagnetic MEMS torsional micromirrors have the advantages of small size, a simple structure, and low energy consumption. However, MEMS micromirrors face severe disturbances due to vehicular vibrations in realistic use situations. The paper deals with the precise motion control of MEMS micromirrors, considering external vibration. A dynamic model of MEMS micromirrors, considering the coupling between vibration and torsion, is proposed. The coefficients in the dynamic model were identified using the experimental method. A feedforward sliding mode control method (FSMC) is proposed in this paper. By establishing the dynamic coupling model of electromagnetic MEMS torsional micromirrors, the proposed FSMC is evaluated considering external vibrations, and compared with conventional proportion-integral-derivative (PID) controls in terms of robustness and accuracy. The simulation experiment results indicate that the FSMC controller has certain advantages over a PID controller. This paper revealed the coupling dynamic of MEMS micromirrors, which could be used for a dynamic analysis and a control algorithm design for MEMS micromirrors.

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Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/09596518211027716 ◽

2021 ◽

pp. 095965182110277

Author(s):

Abdelkrim Brahmi ◽

Maarouf Saad ◽

Brahim Brahmi ◽

Ibrahim El Bojairami ◽

Guy Gauthier ◽

...

Keyword(s):

Control Method ◽

Sliding Mode ◽

Robust Adaptive Control ◽

Convergence Time ◽

Adaptive Sliding Mode Control ◽

Mobile Manipulator ◽

Control Law ◽

Adaptive Tracking Control ◽

Robust Adaptive ◽

Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

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Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

World Electric Vehicle Journal ◽

10.3390/wevj12010042 ◽

2021 ◽

Vol 12 (1) ◽

pp. 42

Author(s):

Kun Yang ◽

Danxiu Dong ◽

Chao Ma ◽

Zhaoxian Tian ◽

Yile Chang ◽

...

Keyword(s):

Electric Vehicles ◽

Control Method ◽

Sliding Mode ◽

Stability Control ◽

Torque Control ◽

Wheel Load ◽

Sideslip Angle ◽

Distribution Method ◽

Load Rate ◽

The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

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A novel robust finite-time tracking control of uncertain robotic manipulators with disturbances

Journal of Vibration and Control ◽

10.1177/1077546320982449 ◽

2020 ◽

pp. 107754632098244

Author(s):

Hamid Razmjooei ◽

Mohammad Hossein Shafiei ◽

Elahe Abdi ◽

Chenguang Yang

Keyword(s):

Finite Time ◽

Control Method ◽

Sliding Mode ◽

Robotic Manipulators ◽

Sliding Mode Controller ◽

Time Varying ◽

State Variables ◽

Terminal Sliding Mode ◽

Control Laws ◽

Finite Time Boundedness

In this article, an innovative technique to design a robust finite-time state feedback controller for a class of uncertain robotic manipulators is proposed. This controller aims to converge the state variables of the system to a small bound around the origin in a finite time. The main innovation of this article is transforming the model of an uncertain robotic manipulator into a new time-varying form to achieve the finite-time boundedness criteria using asymptotic stability methods. First, based on prior knowledge about the upper bound of uncertainties and disturbances, an innovative finite-time sliding mode controller is designed. Then, the innovative finite-time sliding mode controller is developed for finite-time tracking of time-varying reference signals by the outputs of the system. Finally, the efficiency of the proposed control laws is illustrated for serial robotic manipulators with any number of links through numerical simulations, and it is compared with the nonsingular terminal sliding mode control method as one of the most powerful finite-time techniques.

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