Robust Stabilization of a Class of Nonaffine Quadratic Polynomial Systems: Application in Magnetic Ball Levitation System

2014 ◽  
Vol 10 (1) ◽  
Author(s):  
T. Binazadeh ◽  
M. H. Shafiei ◽  
M. A. Rahgoshay
Keyword(s):  
Sliding Mode ◽  
Polynomial System ◽  
Robust Stabilization ◽  
Polynomial Systems ◽  
Quadratic Polynomial ◽  
Upper And Lower Bounds ◽  
Control Law ◽  
Quadratic Polynomials ◽  
New Approach ◽  
Levitation System

In this paper, a new approach is suggested for asymptotic stabilization of a class of nonaffine quadratic polynomial systems in the presence of uncertainties. The designed controller is based on the sliding mode (SM) technique. This technique is basically introduced for nonlinear affine systems and in facing with nonaffine systems; attempts have been made to transform the system into an affine form. Lake of robustness is the main problem of the transformation approach. In this paper, a simple but effective idea is suggested to stabilize a system in its nonaffine structure and, therefore, a nonrobust transformation is not needed. In the proposed method, according to upper and lower bounds of uncertainties, two quadratic polynomials are constructed and with respect to the position of the roots of these polynomials, a new SM controller is proposed. This idea is also used for robust stabilization of a practical nonaffine quadratic polynomial system (magnetic ball levitation system). Computer simulations show the efficiency of the proposed control law.

scholarly journals Design and Stability Analysis of a Robust-Adaptive Sliding Mode Control Applied on a Robot Arm with Flexible Links

Vibration ◽  
2021 ◽  
Vol 5 (1) ◽  
pp. 1-19
Author(s):  
Çağlar Uyulan
Keyword(s):  
Sliding Mode ◽  
Robust Stabilization ◽  
Unmodeled Dynamics ◽  
Control Law ◽  
Robot Arm ◽  
Flexible Robot ◽  
Model Uncertainties ◽  
Actuator Dynamics ◽  
Chattering Free ◽  
Robust Adaptive

Modelling errors and robust stabilization/tracking problems under parameter and model uncertainties complicate the control of the flexible underactuated systems. Chattering-free sliding-mode-based input-output control law realizes robustness against the structured and unstructured uncertainties in the system dynamics and avoids the excitation of unmodeled dynamics. The main purpose of this paper was to propose a robust adaptive solution for stabilizing and tracking direct-drive (DD) flexible robot arms under parameter and model uncertainties, as well as external disturbances. A lightweight robot arm subject to external and internal dynamic effects was taken into consideration. The challenges were compensating actuator dynamics with the inverter switching effects and torque ripples, stabilizing the zero dynamics under parameter/model uncertainties and disturbances while precisely tracking the predefined reference position. The precise control of this kind of system demands an accurate system model and knowledge of all sources that excite unmodeled dynamics. For this purpose, equations of motion for a flexible robot arm were derived and formulated for the large motion via Lagrange’s method. The goals were determined to achieve high-speed, precise position control, and satisfied accuracy by compensating the unwanted torque ripple and friction that degrades performance through an adaptive robust control approach. The actuator dynamics and their effect on the torque output were investigated due to the transmitted torque to the load side. The high-performance goals, precision and robustness issues, and stability concerns were satisfied by using robust-adaptive input-output linearization-based control law combining chattering-free sliding mode control (SMC) while avoiding the excitation of unmodeled dynamics. The following highlights are covered: A 2-DOF flexible robot arm considering actuator dynamics was modelled; the theoretical implication of the chattering-free sliding mode-adaptive linearizing algorithm, which ensures robust stabilization and precise tracking control, was designed based on the full system model including actuator dynamics with computer simulations. Stability analysis of the zero dynamics originated from the Lyapunov theorem was performed. The conceptual design necessity of nonlinear observers for the estimation of immeasurable variables and parameters required for the control algorithms was emphasized.

Delay-independent sliding mode control of time-delay linear fractional order systems

2016 ◽  
Vol 40 (4) ◽  
pp. 1212-1222 ◽  
Author(s):  
M Yousefi ◽  
T Binazadeh
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Control Law ◽  
State Delay ◽  
New Approach ◽  
Mode Control ◽  
Sliding Manifold ◽  
Theoretical Results

This paper considers the problem of delay-independent stabilization of linear fractional order (FO) systems with state delay. As in most practical systems in which the value of delay is not exactly known (or is time varying), a new approach is proposed in this paper, which results in asymptotic delay-independent stability of the closed-loop time-delay FO system. For this purpose, a novel FO sliding mode control law is proposed in which its main advantage is its independence to delay. Furthermore, a novel appropriate delay-independent sliding manifold is suggested. Additionally, two theorems are given and proved, which guarantee the occurrence of the reaching phase in finite time and the asymptotic delay-independent stability conditions of the dynamic equations in the sliding phase. Finally, in order to verify the theoretical results, two examples are given and simulation results confirm the performance of the proposed controller.

scholarly journals Visualization of Four Limit Cycles in Near-Integrable Quadratic Polynomial Systems

2020 ◽  
Vol 30 (15) ◽  
pp. 2050236
Author(s):  
Pei Yu ◽  
Yanni Zeng
Keyword(s):  
Limit Cycles ◽  
Polynomial System ◽  
Polynomial Systems ◽  
Quadratic System ◽  
Quadratic Polynomial ◽  
Quadratic Systems ◽  
Size Limit ◽  
Integral Systems ◽  
Parameter Values

It has been known for almost 40 years that general planar quadratic polynomial systems can have four limit cycles. Recently, four limit cycles were also found in near-integrable quadratic polynomial systems. To help more people to understand limit cycles theory, the visualization of such four numerically simulated limit cycles in quadratic systems has attracted researchers’ attention. However, for near-integral systems, such visualization becomes much more difficult due to limitation on choosing parameter values. In this paper, we start from the simulation of the well-known quadratic systems constructed around the end of 1979, then reconsider the simulation of a recently published quadratic system which exhibits four big size limit cycles, and finally provide a concrete near-integral quadratic polynomial system to show four normal size limit cycles.

scholarly journals Improved Results on Robust Stability Analysis and Stabilization for a Class of Uncertain Nonlinear Systems

2010 ◽  
Vol 2010 ◽  
pp. 1-24 ◽  
Author(s):  
Mohamed Moez Belhaouane ◽  
Mohamed Faiez Ghariani ◽  
Hela Belkhiria Ayadi ◽  
Naceur Benhadj Braiek
Keyword(s):  
Stability Analysis ◽  
Robust Stability ◽  
Polynomial System ◽  
Robust Stabilization ◽  
Polynomial Systems ◽  
System Stability ◽  
Stability Robustness ◽  
Robust Stability Analysis ◽  
The Stability ◽  
Systems Simulation

This paper deals with the problems of robust stability analysis and robust stabilization for uncertain nonlinear polynomial systems. The combination of a polynomial system stability criterion with an improved robustness measure of uncertain linear systems has allowed the formulation of a new criterion for robustness bound estimation of the studied uncertain polynomial systems. Indeed, the formulated approach is extended to involve the global stabilization of nonlinear polynomial systems with maximization of the stability robustness bound. The proposed method is helpful to improve the existing techniques used in the analysis and control for uncertain polynomial systems. Simulation examples illustrate the potentials of the proposed approach.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

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.

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

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