Simplex Based Sliding Mode Control of an Underwater Gripper

2000 ◽  
Vol 122 (4) ◽  
pp. 604-610 ◽  
Author(s):  
G. Bartolini ◽  
M. Coccoli ◽  
E. Punta
Keyword(s):  
Control Theory ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Hydraulic Circuit ◽  
Linear Motors ◽  
Mode Control ◽  
Constant Control ◽  
Input Signals ◽  
Control Methodology

In this paper the sliding mode control theory is applied to a particular underwater gripper actuated by linear motors which, acting on a hydraulic circuit, generate mono-directional forces. In practical realizations actuators often show imprecise relationships between electrical input signals and mechanical output; such a situation constitutes a source of uncertainties. A sliding mode control methodology based on the use of a simplex of constant control vectors is presented. The proposed approach is general enough to also work with different applications. [S0022-0434(00)01204-1]

Nonlinear Position Control of Smart Actuators Using Model Predictive Sliding Mode Control

2008 ◽  
Author(s):  
Byeongil Kim ◽  
Gregory N. Washington
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Hysteresis Model ◽  
Positioning Control ◽  
Mode Control ◽  
Input Field ◽  
Control Methodology ◽  
Piezoelectric Devices

This paper investigates a novel nonlinear positioning control methodology for piezoelectric stack actuators. Piezoelectric devices become very common recently for precise positioning, primarily due to the fact that they are solid state and can be accurately controlled by a voltage or current input. However, hysteresis decreases positioning accuracy and could lead to instability. The ultimate goal is to reduce it so that the piezoelectric device has a nearly linear relationship between the input field and output strain. The main purpose of this research is the reduction of the hysteresis utilizing a hysteresis model and a nonlinear model-based controller. A novel control method called model predictive sliding mode control (MPSMC) will be utilized on an actuator using a nonlinear energy-based hysteresis model. The idea of MPSMC is to implement model predictive control techniques to improve sliding mode control by forcing the system to reach the sliding surface in an optimal manner. Simulations and experiments were conducted to verify the technique.

A model-based sliding mode control methodology applied to the HDA-plant

2003 ◽  
Vol 13 (2) ◽  
pp. 129-138 ◽  
Author(s):  
Guido Herrmann ◽  
Sarah K. Spurgeon ◽  
Christopher Edwards
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Model Based ◽  
Mode Control ◽  
Control Methodology
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