Minimum Tracking Error Control of Flexible Ball Screw Drives Using a Discrete-Time Sliding Mode Controller

2009 ◽  
Vol 131 (5) ◽  
Author(s):  
Chinedum Okwudire ◽  
Yusuf Altintas
Keyword(s):  
Discrete Time ◽  
Error Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Open Loop ◽  
Ball Screw ◽  
Sliding Mode Controller ◽  
Tracking Accuracy ◽  
Ball Screw Drives ◽  
Tracking Error Control

This paper presents modeling, identification, and discrete-time sliding mode control of ball screw drives with structural flexibility. The mechanical system of the drive is modeled by a two degree-of-freedom system dominated by the coupled longitudinal and torsional dynamics of the drive assembly whose parameters are identified. A mode-compensating disturbance adaptive discrete-time sliding mode controller is then designed to actively suppress the vibrations of the drive. However, it is shown theoretically that, without using minimum tracking error filters, the tracking errors of the drive do not go to zero when sliding mode is reached. Therefore, a method for designing stable and robust minimum tracking error filters, irrespective of the identified open-loop behavior of the drive is proposed. The identification and control of flexible ball screw drives are experimentally tested, and the tracking accuracy of the drives is shown to improve considerably as a result of the designed minimum tracking error filters.

scholarly journals A Chattering Free Discrete-Time Global Sliding Mode Controller for Optoelectronic Tracking System

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Yan Ren ◽  
Zhenghua Liu ◽  
Xiaodong Liu ◽  
Yu Zhang
Keyword(s):  
Discrete Time ◽  
High Frequency ◽  
Sliding Mode ◽  
Tracking System ◽  
Tracking Error ◽  
Switching Function ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Reaching Law ◽  
Chattering Free

Aiming at the uncertainties including parameter variations and external disturbances in optoelectronic tracking system, a discrete-time global sliding mode controller (DGSMC) is proposed. By the design of nonlinear switching function, the initial state of control system is set on the switching surface. An adaptive discrete-time reaching law is introduced to suppress the high-frequency chattering at control input, and a linear extrapolation method is employed to estimate the unknown uncertainties and commands. The global reachability for sliding mode and the chattering-free property are proven by means of mathematical derivation. Numerical simulation presents that the proposed DGSMC scheme not only ensures strong robustness against system uncertainties and small tracking error, but also suppresses the high-frequency chattering at control input effectively, compared with the SMC scheme using conventional discrete-time reaching law.

Cascaded fractional order sliding mode control for trajectory control of a ball and plate system

2016 ◽  
Vol 40 (3) ◽  
pp. 701-711 ◽  
Author(s):  
Prasanta Roy ◽  
Arindam Das ◽  
Binoy Krishna Roy
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Control Strategies ◽  
Experimental Studies ◽  
Open Loop ◽  
Trajectory Control ◽  
Sliding Mode Controller ◽  
Tracking Accuracy ◽  
Laboratory Setup ◽  
Plate System

This paper presents a comparative study between a sliding mode controller and a fractional order sliding mode controller applied to the problem of trajectory control of a ball in a ball and plate system. The ball and plate system is a well-known benchmark to test advanced control strategies because of its multivariable nonlinear coupled dynamics, open loop instability, parameter uncertainty, and under actuation. A cascaded sliding mode controller is initially designed to mitigate the problem. Furthermore, to improve the performance, a cascaded fractional order sliding mode controller is proposed. The proposed control strategies are experimentally validated on a ball and plate laboratory setup (Feedback Instruments Model No. 033-240). Simulation and experimental studies reveal that the fractional order sliding mode controller outperforms the sliding mode controller in terms of tracking accuracy, speed of response, chattering effect, and energy efficiency.

The Simulation Analysis of Semi-Active Suspension System in Vehicle Based on Sliding Mode Control with Varying Structure

2011 ◽  
Vol 216 ◽  
pp. 96-100
Author(s):  
Jing Jun Zhang ◽  
Wei Sha Han ◽  
Li Ya Cao ◽  
Rui Zhen Gao
Keyword(s):  
Control Method ◽  
Simulation Analysis ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Active Suspension ◽  
Suspension System ◽  
Sliding Mode Controller ◽  
Error Dynamics ◽  
Dynamic Quality

A sliding mode controller for semi-active suspension system of a quarter car is designed with sliding model varying structure control method. This controller chooses Skyhook as a reference model, and to force the tracking error dynamics between the reference model and the plant in an asymptotically stable sliding mode. An equal near rate is used to improve the dynamic quality of sliding mode motion. Simulation result shows that the stability of performance of the sliding-mode controller can effectively improve the driving smoothness and safety.

An Adaptive PI/Sliding Mode Controller for a Speed Drive

1989 ◽  
Vol 111 (3) ◽  
pp. 409-415 ◽  
Author(s):  
R. M. DeSantis
Keyword(s):  
Performance Improvement ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Industrial Applications ◽  
Open Loop ◽  
Sliding Mode Controller ◽  
Switching Element ◽  
Parallel Addition ◽  
Self Tuning ◽  
Theoretical Results

A classical PI speed drive controller modified with the parallel addition of an on-off switching element appears to offer a potential for reasonable improvement over the performance of the original version. This improvement is obtained by combining classical transfer function techniques, sliding mode systems ideas, and self-tuning. While theoretical results, extended simulations, and preliminary experimental tests are encouraging, they do suggest that in actual industrial applications performance improvement may be conditioned by the usage of better performing open loop components.

Fuzzy Sliding-Mode Control of a Variable Geometry Manipulator: Experimental Investigation

2000 ◽  
Author(s):  
J. Choi ◽  
C. W. de Silva ◽  
V. J. Modi ◽  
A. K. Misra
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Experimental Studies ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Knowledge Based ◽  
Fuzzy Sliding Mode

Abstract This paper focuses a robust and knowledge-based control approach for multi-link robot manipulator systems. Based on the concepts of sliding-mode control and fuzzy logic control (FLC), a fuzzy sliding-mode controller has been developed in previous work. This controller possesses good robustness properties of sliding-mode control and the flexibility and ‘intelligent’ capabilities of knowledge-based control through the use of fuzzy logic. This paper presents experimental studies with fuzzy sliding-mode control as well as conventional sliding-mode control. The results show that the tracking error is guaranteed to converge to a specification in the presence of uncertainties. The performance of the fuzzy sliding-mode controller is found to be somewhat better than that of the conventional sliding-mode controller.

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