Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

2016 ◽  
Vol 139 (4) ◽  
Author(s):  
Yi Min Zhao ◽  
Yu Lin ◽  
Fengfeng Xi ◽  
Shuai Guo ◽  
Puren Ouyang
Keyword(s):  
Visual Servoing ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Path Following ◽  
External Disturbances ◽  
Control Scheme ◽  
Riveting Process ◽  
The Stability ◽  
Time Required ◽  
Two Stages

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

Robust Guidance Control for Nonholonomic AGV Based on First Order Dynamic Sliding Mode Techniques

2013 ◽  
Vol 709 ◽  
pp. 583-588
Author(s):  
Jin Hua Ye ◽  
Di Li ◽  
Shi Yong Wang ◽  
Feng Ye
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Path Following ◽  
Lyapunov Theory ◽  
External Disturbances ◽  
Guidance Control ◽  
First Order ◽  
Control Scheme ◽  
The Impact ◽  
Dynamic Sliding Mode

This paper develops a high performance guidance controller for automated guided vehicle (AGV) with nonholonomic constraint. In this controller, the path following method in the Serret-Frenet frame is used for driving the AGV onto a predefined path at a constant forward speed. Moreover, a first order dynamic sliding mode controller is proposed, not only to overcome the impact of unknown model uncertainties and external disturbances of the system, but also to weaken the chattering in the standard sliding mode control. The global asymptotic stability and robustness of the system is proven by the Lyapunov theory and LaSalles invariance principle. Simulation results show the validity of the proposed guidance control scheme.

scholarly journals Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Lei Zuo ◽  
Ye Zhang ◽  
Maode Yan ◽  
Wenrui Ma
Keyword(s):  
Sliding Mode ◽  
Quadratic Function ◽  
External Disturbances ◽  
Time Headway ◽  
Driving Behaviors ◽  
Traffic Capacity ◽  
Control Scheme ◽  
Mode Method ◽  
Vehicle Platoon ◽  
The Stability

This paper investigates the nonlinear vehicle platoon control problems with external disturbances. The quadratic spacing policy (QSP) is applied into the platoon control, in which the desired intervehicle distance is a quadratic function in terms of the vehicle’s velocities. Comparing with the general constant time headway policy (CTHP), the QSP is more suitable to the human driving behaviors (HDB) and can improve the traffic capacity. Then, a novel platoon control scheme is proposed based on the distributed integrated sliding mode (DISM). Since the external disturbances are taken into consideration, the sliding mode method is employed to handle the disturbances. Moreover, the stability and string stability of the proposed platoon control system are strictly analyzed. In final, numerical simulations are provided to verify the proposed approaches.

scholarly journals Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Li Ding ◽  
Qing He ◽  
Chengjun Wang ◽  
Rongzhi Qi
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Linear Extended State Observer ◽  
The Stability ◽  
Theory And Experiment

In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller.

Design of adaptive optimal robust control for two-flexible-link manipulators in the presence of matched uncertainties

2020 ◽  
pp. 107754632093202
Author(s):  
Hamid Reza Shafei ◽  
Mohsen Bahrami ◽  
Heidar Ali Talebi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flexible Link ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme ◽  
The Stability

This study uses a comprehensive control approach to deal with the trajectory tracking problem of a two-flexible-link manipulator subjected to model uncertainties. Because the control inputs of two-flexible-link manipulators are less than their state variables, the proposed controller should be able to tackle the stated challenge. Practically speaking, there is only a single control signal for each joint, which can be used to suppress link deflections and control joint trajectories. To achieve this objective, a novel optimal robust control scheme, with an updated gain under the adaptive law, has been developed in this work for the first time. In this regard, a nonsingular terminal sliding mode control approach is used as the robust controller and a control Lyapunov function is used as the optimal control law, to benefit from the advantages of both methods. To systematically deal with system uncertainties, an adaptive law is used to update the gain of nonsingular terminal sliding mode control. The advantage of this approach over the existing methods is that it not only can robustly and stably control an uncertain nonlinear system against external disturbances but also can optimally solve a quadratic cost function (e.g. minimization of control effort). The Lyapunov stability theory has been applied to verify the stability of the proposed approach. Moreover, to show the superiority of this method, the computer simulation results of the proposed method have been compared with those of an adaptive sliding mode control scheme. This comparison shows that the presented approach is capable of optimizing the control inputs while achieving the stability of the examined two-flexible-link manipulator in the presence of model uncertainties and external disturbances.

Sliding Mode Control of a 2D Torsional MEMS Micromirror with Sidewall Electrodes

2013 ◽  
Vol 3 (1) ◽  
pp. 16-26
Author(s):  
Hui Chen ◽  
Manu Pallapa ◽  
Weijie Sun ◽  
Zhendong Sun ◽  
John T. W. Yeow
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Loop System ◽  
Closed Loop System ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Mode Control ◽  
Control Scheme ◽  
The Stability

This paper presents a sliding mode control scheme to improve the positioning performance of a 2-Degree-of-freedom (DOF) torsional MEMS micromirror with sidewall electrodes. The stability of closed-loop system is proved by Lyapunov stability theorem under the existence of bounded parameter uncertainties and external disturbances. Furthermore, the performance of the closed-loop system is illustrated by experimental and simulation results which verify that the feasibility and effectiveness of the proposed scheme. The results demonstrated that the torsional MEMS micromirror with the proposed sliding mode controller has a good transient response and tracking performance.

Robust Multimode Flight Framework Based on Sliding Mode Control for a Rotary UAV

Robotica ◽  
2020 ◽  
pp. 1-19
Author(s):  
Abraham Villanueva ◽  
Luis F. Luque-Vega ◽  
Luis E. González-Jiménez ◽  
Carlos A. Arellano-Muro
Keyword(s):  
Flight Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Fire Detection ◽  
External Disturbances ◽  
Complete Control ◽  
Flight Mode ◽  
Control Scheme ◽  
The Stability ◽  
Twisting Algorithm

SUMMARY This work presents a multimode flight framework control scheme for a quadrotor based on the super twisting algorithm. The controller design stages for six flight control modes are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is shown in a 3D simulation environment considering a forest fire detection task, which takes into account external disturbances.

scholarly journals A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Ban Wang ◽  
Peng Huang ◽  
Wei Zhang
Keyword(s):  
Fault Diagnosis ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
External Disturbances ◽  
Quadrotor Helicopter ◽  
Control Scheme ◽  
Control Schemes ◽  
The Stability

This paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminating the effect of external disturbances. Moreover, the proposed fault-tolerant control scheme is capable to eliminate the adverse effect of external disturbances as well by designing a disturbance observer to effectively estimate the unknown external disturbances and integrating with the designed integral sliding-mode controller. In this case, the continuous operation of the quadrotor helicopter is ensured while avoiding the unexpected control chattering. In addition, the stability of the closed-loop system is theoretically proved. Finally, the effectiveness and advantages of the proposed scheme are validated and demonstrated through comparative numerical simulations of the quadrotor helicopter under different faulty and uncertain scenarios.

A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

2021 ◽  
pp. 095441002110136
Author(s):  
Nasim Ullah ◽  
Irfan Sami ◽  
Wang Shaoping ◽  
Hamid Mukhtar ◽  
Xingjian Wang ◽  
...  
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Adaptive Robust Control ◽  
Computationally Efficient ◽  
Control Scheme ◽  
Control Schemes ◽  
Adaptive Laws ◽  
Unknown Disturbances ◽  
The Stability

This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

scholarly journals Vision-Based Target Detection and Tracking for a Miniature Pan-Tilt Inertially Stabilized Platform

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2243
Author(s):  
Jianchuan Guo ◽  
Chenhu Yuan ◽  
Xu Zhang ◽  
Fan Chen
Keyword(s):  
Target Detection ◽  
Feedback Linearization ◽  
Visual Servoing ◽  
Control Method ◽  
Sliding Mode ◽  
Optical Axis ◽  
Detection And Tracking ◽  
The Stability ◽  
Stabilized Platform ◽  
The Mathematical Model

This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.

scholarly journals Finite-Time Path Following Control of an Underactuated Marine Surface Vessel with Input and Output Constraints

2020 ◽  
Vol 10 (18) ◽  
pp. 6447
Author(s):  
Mingyu Fu ◽  
Lulu Wang
Keyword(s):  
Finite Time ◽  
Input Saturation ◽  
Path Following ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Time Path ◽  
Path Following Control ◽  
Control Scheme ◽  
Marine Surface ◽  
Surface Vessel

This paper develops a finite-time path following control scheme for an underactuated marine surface vessel (MSV) with external disturbances, model parametric uncertainties, position constraint and input saturation. Initially, based on the time-varying barrier Lyapunov function (BLF), the finite-time line-of-sight (FT-LOS) guidance law is proposed to obtain the desired yaw angle and simultaneously constrain the position error of the underactuated MSV. Furthermore, the finite-time path following constraint controllers are designed to achieve tracking control in finite time. Additionally, considering the model parametric uncertainties and external disturbances, the finite-time disturbance observers are proposed to estimate the compound disturbance. For the sake of avoiding the input saturation and satisfying the requirements of finite-time convergence, the finite-time input saturation compensators were designed. The stability analysis shows that the proposed finite-time path following control scheme can strictly guarantee the constraint requirements of the position, and all error signals of the whole control system can converge into a small neighborhood around zero in finite time. Finally, comparative simulation results show the effectiveness and superiority of the proposed finite-time path following control scheme.

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