A Gain Scheduled Sliding Mode Control Scheme Using Filtering Techniques With Applications to Multilink Robotic Manipulators

2000 ◽  
Vol 122 (4) ◽  
pp. 641-649 ◽  
Author(s):  
Jian-Xin Xu ◽  
Ya-Jun Pan ◽  
Tong-Heng Lee
Keyword(s):  
Time Domain ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Switching Control ◽  
Control Input ◽  
Control Scheme ◽  
Low Pass ◽  
Equivalent Control ◽  
Low Pass Filters ◽  
Gain Scheduled

In this paper, a gain scheduled sliding mode control (SMC) scheme is proposed for tracking control tasks of multilink robotic manipulators. In the new scheme, filtering techniques play the key role in acquiring equivalent control signals and scheduling the switching control gain automatically. Once the system enters the sliding motion, two classes of low-pass filters are introduced to work concurrently for the purpose of acquiring equivalent control, reducing the switching gain effectively, and as a result eliminating chattering. By virtue of equivalent control theory, one class of filters is designed to capture the “average” profile of the switching quantity, which is in proportion to the desired control input. Meanwhile, another class of low-pass filters is added to scale down the gain of the switching control. The convergence property of the proposed control scheme is rigorously analyzed in time domain and the frequency domain knowledge can be easily incorporated into the construction of the two classes of filters. Excellent tracking performance is achieved with the direct manipulation of switching control input using filtering technology and with the integration of both time domain and frequency domain system knowledge in controller design. [S0022-0434(00)01604-X]

scholarly journals Position Domain Synchronization Control For Robotic Manipulators

2021 ◽  
Author(s):  
Vangjel Pano
Keyword(s):  
Time Domain ◽  
Robotic Manipulators ◽  
Synchronization Control ◽  
Control Law ◽  
Control Input ◽  
Contour Tracking ◽  
Hybrid Controller ◽  
Reference Motion ◽  
Control Scheme ◽  
Control Schemes

Developed in this thesis is a new control law focusing on the improvement of contour tracking of robotic manipulators. The new control scheme is a hybrid controller based on position domain control (PDC) and position synchronization control (PSC). On PDC, the system’s dynamics are transformed from time domain to position domain via a one-to-one mapping and the position of the master axis motion is used as reference instead of time. The elimination of the reference motion from the control input improves contouring performance relative to time domain controllers. Conversely, PSC seeks to reduce the error of the systems by diminishing the synchronization error between each agent of the system. The new control law utilizes the aforementioned techniques to maximize the contour performance. The Lyapunov method was used to prove the proposed controller’s stability. The new control law was compared to existing control schemes via simulations of linear and nonlinear contours, and was shown to provide good tracking and contouring performances.

scholarly journals Position Domain Synchronization Control For Robotic Manipulators

2021 ◽  
Author(s):  
Vangjel Pano
Keyword(s):  
Time Domain ◽  
Robotic Manipulators ◽  
Synchronization Control ◽  
Control Law ◽  
Control Input ◽  
Contour Tracking ◽  
Hybrid Controller ◽  
Reference Motion ◽  
Control Scheme ◽  
Control Schemes

Developed in this thesis is a new control law focusing on the improvement of contour tracking of robotic manipulators. The new control scheme is a hybrid controller based on position domain control (PDC) and position synchronization control (PSC). On PDC, the system’s dynamics are transformed from time domain to position domain via a one-to-one mapping and the position of the master axis motion is used as reference instead of time. The elimination of the reference motion from the control input improves contouring performance relative to time domain controllers. Conversely, PSC seeks to reduce the error of the systems by diminishing the synchronization error between each agent of the system. The new control law utilizes the aforementioned techniques to maximize the contour performance. The Lyapunov method was used to prove the proposed controller’s stability. The new control law was compared to existing control schemes via simulations of linear and nonlinear contours, and was shown to provide good tracking and contouring performances.

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

A robust cascaded controller for DC-DC Boost and Cuk converters

2017 ◽  
Vol 14 (5) ◽  
pp. 459-466 ◽  
Author(s):  
Fiaz Ahmad ◽  
Akhtar Rasool ◽  
Esref Emre Ozsoy ◽  
Asif Sabanoviç ◽  
Meltem Elitas
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Supply Voltage ◽  
Load Resistance ◽  
Switching Frequency ◽  
Content Type ◽  
Mode Control ◽  
Control Scheme ◽  
Equivalent Control ◽  
Discontinuous Nature

Purpose This paper aims to propose a robust cascaded controller based on proportional-integral (PI) and continuous sliding mode control. Design/methodology/approach Cascaded control structure is an attractive control scheme for DC-DC power converters. It has a two-loop structure where the outer loop contains PI controller and the inner loop uses sliding mode control (SMC). This structure thus combines the merits of both the control schemes. However, there are some issues that have prohibited its adoption in industry, the discontinuous nature of SMC which leads to variable switching frequency operation and is hard to realize practically. This paper attempts to overcome this issue by changing the discontinuous functionality of SMC to continuous by utilizing the concept of equivalent control. Findings The robustness of the controller designed is verified by considering various cases, namely, ideal case with no uncertainties, sudden variation of input supply voltage, load resistance, reference voltage, circuit-parameters and for noise disturbance. The controller effectiveness is validated by simulating the DC-DC boost and Cuk converters in SimPowerSystems toolbox of MATLAB/Simulink. It is shown that the performance of the proposed controller is satisfactory, and both reference output voltage and inductor current are tracked with little or no sensitivity to disturbances. Originality/value The results for various scenarios are interesting and show that the controller works quite satisfactorily for all the simulated uncertainties.

Chatter alleviation for a class of second-order under-actuated mechanical systems with matched and mismatched disturbances

2016 ◽  
Vol 23 (3) ◽  
pp. 458-468
Author(s):  
Jinjin Shi ◽  
Jinxiang Wang ◽  
Fangfa Fu
Keyword(s):  
Sliding Mode ◽  
Mechanical Systems ◽  
Design Procedure ◽  
Second Order ◽  
Control Input ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Sliding Surfaces ◽  
Low Pass ◽  
Mismatched Disturbances

The chattering phenomenon and a system with both matched and mismatched disturbances are the major difficulties in sliding mode control design. This paper presents an effective design procedure to alleviate these two difficulties for a class of second-order under-actuated mechanical systems. In the proposed design, new hierarchical sliding surfaces are designed and a modified disturbance observer is utilized to estimate the lumped disturbance which is a linear combination of the matched and mismatched disturbances. The chatter in control input is filtered out by an integrator, which acts as a low-pass filter. The asymptotic stabilities of the entire sliding surfaces are guaranteed. A design study considering lateral control of a vehicle with matched and mismatched disturbances demonstrates the effectiveness of the proposed design.

Adaptive non-singular terminal sliding mode controller: new design for full control of the quadrotor with external disturbances

2016 ◽  
Vol 39 (3) ◽  
pp. 371-383 ◽  
Author(s):  
Alireza Modirrousta ◽  
Mahdi Khodabandeh
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Control Input ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Tuning Method ◽  
Regular Control ◽  
Control Scheme ◽  
Sliding Mode Controllers

This paper proposes two different adaptive robust sliding mode controllers for attitude, altitude and position control of a quadrotor. Firstly, it proposes a backstepping non-singular terminal sliding mode control with an adaptive algorithm that is applied to the quadrotor for free chattering, finite time convergence and robust aims. In this control scheme instead of regular control input, the derivative of the control input is achieved from a non-singular terminal second-layer sliding surface. An adaptive tuning method is utilized to deal with the external disturbances whose upper bounds are not required to be known in advance in the inner loop. Secondly, a nonlinear disturbance observer based on the integral sliding mode with adaptive gains is proposed for position control, which is known as the outer loop. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. The simulation results demonstrate the validation of the proposed control scheme.

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