Sliding Control Without Reaching Phase and Its Application to Bipedal Locomotion

1993 ◽  
Vol 115 (3) ◽  
pp. 447-455 ◽  
Author(s):  
Tai-Heng Chang ◽  
Yildirim Hurmuzlu
Keyword(s):  
Trajectory Planning ◽  
Planning Process ◽  
Control Method ◽  
Variable Structure ◽  
Bipedal Locomotion ◽  
Tracking Errors ◽  
Structure Control ◽  
Control Scheme ◽  
Lyapunov’S Second Method ◽  
Planning Problems

A new variable structure control law based on the Lyapunov’s second method that can be used in trajectory planning problems of robotic systems is developed. A modified approach to the formulation of the sliding domain equations in terms of tracking errors has been presented. This approach possesses three distinct advantages: (i) it eliminates the reaching phase, (ii) it provides means to predict the entire motion and directly control the evolution of tracking errors, (iii) it facilitates the trajectory planning process in the joint and/or cartesian spaces. A planar, five-link bipedal locomotion model has been developed. Five constraint relations that cast the motion of the biped in terms of four parameters are developed. The new control method is applied to regulate the locomotion of the system according to the five constraint relations. Numerical simulation is performed to verify the ability of the controller to achieve steady gait by applying the proposed control scheme. Bifurcation diagrams of the periodic motions of the biped are used to demonstrate the improvements in controller performance that arise from the application of the proposed method.

Eliminating the Reaching Phase From Variable Structure Control

2000 ◽  
Vol 122 (4) ◽  
pp. 753-757 ◽  
Author(s):  
Cuneyt Yilmaz ◽  
Yildirim Hurmuzlu
Keyword(s):  
Control Method ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Exponential Functions ◽  
Tracking Errors ◽  
Control Effort ◽  
Structure Control ◽  
Optimal Convergence ◽  
And Control

In this paper, we present a variable structure control method that eliminates the reaching phase. The approach is based on modifying the sliding domain equations through the use of exponential functions. In addition, the proposed method insures optimal convergence parameters with respect to the tracking errors and control effort. [S0022-0434(00)02504-1]

scholarly journals Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 6224
Author(s):  
Qisong Zhou ◽  
Jianzhong Tang ◽  
Yong Nie ◽  
Zheng Chen ◽  
Long Qin
Keyword(s):  
Visual Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Adaptive Optimization ◽  
Tracking Errors ◽  
Kinematics Model ◽  
Compound Control ◽  
Original Intention ◽  
Control Scheme ◽  
Specific Geometry

The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, performs flexible kinematic skills and competitive compound capability under complicated working circumstances. Nevertheless, the drawback of lacking the ability to perceive the environment to perform intelligently in complex scenarios leaves a lot to be improved, which is the original intention to introduce visual tracking feedback acting as an instructor. In this paper, a cable-driven snake-like robotic arm combined with a visual tracking technique is introduced. A visual tracking approach based on dual correlation filter is designed to guide the CHSM in detecting the target and tracing after its trajectory. Specifically, it contains an adaptive optimization for the scale variation of the tracking target via pyramid sampling. For the CHSM, an explicit kinematics model is derived from its specific geometry relationships and followed by a simplification for the inverse kinematics based on some assumption or limitation. A control scheme is brought up to combine the kinematics with visual tracking via the processing tracking errors. The experimental results with a practical prototype validate the availability of the proposed compound control method with the derived kinematics model.

CONTROLLING THE UNCERTAIN MULTI-SCROLL CRITICAL CHAOTIC SYSTEM WITH INPUT NONLINEAR USING SLIDING MODE CONTROL

2009 ◽  
Vol 23 (16) ◽  
pp. 2021-2034 ◽  
Author(s):  
XINGYUAN WANG ◽  
DA LIN ◽  
ZHANJIE WANG
Keyword(s):  
Chaotic System ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Dead Zone ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Global Stabilization ◽  
Structure Control ◽  
Control Scheme ◽  
Simulation Results

In this paper, control of the uncertain multi-scroll critical chaotic system is studied. According to variable structure control theory, we design the sliding mode controller of the uncertain multi-scroll critical chaotic system, which contains sector nonlinearity and dead zone inputs. For an arbitrarily given equilibrium point of the uncertain multi-scroll chaotic system, we achieve global stabilization for the equilibrium points. Particularly, a class of proportional integral (PI) switching surface is introduced for determining the convergence rate. Furthermore, the proposed control scheme can be extended to complex multi-scroll networks. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

1996 ◽  
Vol 118 (2) ◽  
pp. 327-332 ◽  
Author(s):  
Robert R. Y. Zhen ◽  
Andrew A. Goldenberg
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Hierarchical Control ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Control Algorithms ◽  
Constrained Motion ◽  
Structure Control

This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks.

Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment

2020 ◽  
Vol 47 (2) ◽  
pp. 219-229 ◽  
Author(s):  
Hong Jun Li ◽  
Wei Jiang ◽  
Dehua Zou ◽  
Yu Yan ◽  
An Zhang ◽  
...  
Keyword(s):  
Motion Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Control Model ◽  
Joint Motion ◽  
Content Type ◽  
Structure Control ◽  
Sliding Mode Variable Structure

Purpose In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory. Design/methodology/approach Through the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory. Findings The robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion. Originality/value Three-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation of the robot joint motion and the state space expression of the robot control system have been established. Based on this, a robot closed-loop trajectory tracking control system has been designed. A robust trajectory tracking motion control method for robots based on sliding mode variable structure theory has been proposed, and a sliding mode control model for the robot has been constructed. The uncertain parameters in the control model have been compensated by the neural network in real-time, and the sliding mode robust control law of the robot manipulator has been solved and obtained. A suitable Lyapunov function has been selected to prove the stability of the system. This method enhances the expansibility of the robot control system and shortens the development cycle of the controller. The trajectory tracking simulation experiment of the robot manipulator proves that the sliding mode variable structure control can effectively restrain the influence of disturbance and uncertainty on the robot motion stability, and meet the design requirements of the control system with fast response, high tracking accuracy and sound stability. Finally, the engineering practicability and superiority of sliding mode variable structure control have been further verified by field operation experiments.

scholarly journals Research on Trajectory Planning and Tracking of Hexa-copter

2018 ◽  
Vol 173 ◽  
pp. 02008
Author(s):  
Qiyu Wang ◽  
Huijie Zhang ◽  
Jinrong Han
Keyword(s):  
Trajectory Planning ◽  
Flight Control ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
Variable Structure ◽  
Flight Trajectory ◽  
Attitude Stability

In this paper, the flight control problem of hexa-copter is studied in detail from threedimensional trajectory planning to tracking. Then the cubic spline interpolation method is used to generate the trajectory by using these time marked waypoints. The flight trajectory curve produced by this method is smooth, twice differentiable, and it is easy to control implementation. The flight dynamics model of the UAV has the characteristics of multi-input multi-output, strong coupling, under-actuation, severe nonlinearity and external environmental disturbance. In order to improve the accuracy of flight trajectory and the stability of attitude control, a multi-loop sliding mode variable structure control method is proposed to achieve the hexa-copter flight trajectory tracking. The simulation results show that this method can track the predetermined flight trajectory and keep the attitude stability of the UAV normally.

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