Model-Based Sliding Mode Control for a Robot With SMA Actuators

2005 ◽  
Author(s):  
Hashem Ashrafiuon ◽  
Jala Vijay Reddy
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Constitutive Law ◽  
Control Law ◽  
Robot Arm ◽  
Control Laws ◽  
Sma Actuators ◽  
Model Based ◽  
Mode Control

This paper presents a model-based sliding mode control law for a planar three-degree-of-freedom robot arm actuated by two rotary Shape Memory Alloy (SMA) actuators and a servomotor. The SMA actuators use a combination of SMA wires and pulleys to produce rotational motion. A model of the robot is developed which combines robot equations of motion with the SMA wire heat convection, constitutive law, and phase transformation equations. Two second-order sliding surfaces are defined leading to derivation of asymptotically stable control laws within the actuation region of the SMA wires. Outside the actuation region, constant inputs are used based on the one-way nature of the SMA actuators. The control law is shown to be effective in several simulations for both set point and trajectory tracking of the robot.

Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy

2008 ◽  
Vol 131 (1) ◽  
Author(s):  
Hashem Ashrafiuon ◽  
Vijay Reddy Jala
Keyword(s):  
Sliding Mode Control ◽  
Shape Memory ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Constitutive Law ◽  
System Model ◽  
Control Law ◽  
Mode Control ◽  
Modeling Uncertainties

This paper presents a model-based sliding mode control law for mechanical systems, which use shape memory alloys (SMAs) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed by combining the equations of motion with SMA heat convection, constitutive law, and phase transformation equations, which account for hysteresis. The control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through the inclusion of modeling uncertainties in the controller development. The control law is developed assuming only positions are available for measurement. The unmeasured states, which include velocities and SMA temperatures and stresses, are estimated using an extended Kalman filter based on the nonlinear system model. The control law is applied to a three-link planar robot for position control problem. Simulation and experimental results show good agreement and verify the robustness of the control law despite significant modeling uncertainty.

Integration of Multibody System Dynamics With Sliding Mode Control Using FPGA Technique for Trajectory Tracking Problems

2018 ◽  
Author(s):  
Ayman A. Nada ◽  
Abdullateef H. Bashiri
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Control Systems ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Integrated Control ◽  
Equations Of Motion ◽  
Multiple Input Multiple Output ◽  
Control Law ◽  
Mode Control

Trajectory tracking robotic systems require complex control procedures that occupy less space and need less energy. For these reasons, the development of computerized and integrated control systems is crucial. Recently, developing reconfigurable Field Programmable Gate Arrays (FPGAs) give a prominence of the complete robotic control systems. Furthermore, it has been found in the literature that the model-based control methods are most efficient and cost-effective. This model must interpret how multiple moving parts interact with each other and with their environment. On the other hand, MultiBody Dynamic (MBD) approach is considered to solve these difficulties to attain the models accurately. However, the obtained equations of motion do not match the well-developed forms of control theory. In this paper, the MBD model of a mobile robot is established; and the equations of motion are reshaped into their control canonical form. Additionally, the Sliding Mode Control (SMC) theory is used to design the control law. The constraints’ manifold, which is available in the equations of the MBD system, are imposed systematically as the switching surface. SMC is applied because of its ability to address multiple-input/multiple-output nonlinear systems without resorting any approximations. Eventually, the experimental verification of the proposed algorithm is carried out using DaNI mobile robot in which, a Reconfigurable Input/Output (RIO) board is used to reorient the control design, so that can fit the required trajectory. The control law is implemented using LabVIEW software and NI-sbRIO-9631 with acceptable performance. It is obvious that the integration of MBD/SMC/FPGA can be used successfully to develop embedded systems for the applications of trajectory tracking robotics.

scholarly journals Nonsingular Fast Terminal Adaptive Neuro-sliding Mode Control for Spacecraft Formation Flying Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15 ◽  
Author(s):  
Xiaohan Lin ◽  
Xiaoping Shi ◽  
Shilun Li ◽  
Sing Kiong Nguang ◽  
Liruo Zhang
Keyword(s):  
Sliding Mode Control ◽  
Formation Flying ◽  
Sliding Mode ◽  
Control Law ◽  
Tracking Errors ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Spacecraft Formation ◽  
Mode Control ◽  
Spacecraft Formation Flying

In this paper, a nonsingular fast terminal adaptive neurosliding mode control for spacecraft formation flying systems is investigated. First, a supertwisting disturbance observer is employed to estimate external disturbances in the system. Second, a fast nonsingular terminal sliding mode control law is proposed to guarantee the tracking errors of the spacecraft formation converge to zero in finite time. Third, for the unknown parts in the spacecraft formation flying dynamics, we proposed an adaptive neurosliding mode control law to compensate them. The proposed sliding mode control laws not only achieve the formation but also alleviate the effect of the chattering. Finally, simulations are used to demonstrate the effectiveness of the proposed control laws.

A Continuous First-Order Sliding Mode Control Law

2017 ◽  
Author(s):  
Keyvan Mohammadi ◽  
Andrea L’Afflitto
Keyword(s):  
Feedback Control ◽  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Nonlinear Differential Equations ◽  
Nonlinear Observer ◽  
Control Architecture ◽  
Control Law ◽  
Control Laws ◽  
Mode Control

Sliding mode control is a technique to design robust feedback control laws. In its classical formulation, this approach involves discontinuous controls that arise several theoretical and practical challenges, such as the existence of non-unique solutions of nonlinear differential equations and chattering. Numerous variations of the sliding mode control architecture, such as the higher-order sliding mode method, have been presented to overcome these issues. In this paper, we present an alternative sliding mode control architecture that involves Hölder continuous feedback control laws, is simpler to implement than other non-classical nonlinear robust control techniques, guarantees robustness and uniform asymptotic stability of the closed-loop system, and ensures both existence and uniqueness of the closed-loop system’s trajectory. Our results are applied to design a robust nonlinear observer in the same form as the Walcott and Żak observer. Moreover, a numerical example illustrates our theoretical results and compares the proposed control law to the classical sliding mode control, the second order sliding mode control, and the super-twisting control.

scholarly journals Glucose–insulin stabilization in type-1 diabetic patient: A uniform exact differentiator–based robust integral sliding mode control approach

2019 ◽  
Vol 15 (3) ◽  
pp. 155014771983357 ◽  
Author(s):  
Waqar Alam ◽  
Qudrat Khan ◽  
Raja Ali Riaz ◽  
Rini Akmeliawati
Keyword(s):  
Sliding Mode Control ◽  
Diabetic Patient ◽  
Sliding Mode ◽  
Control Law ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Control Approach ◽  
Model Based ◽  
Mode Control

Diabetes mellitus is a persistent metabolic syndrome caused by impaired capability of the body’s production and usage of insulin. This impaired capability results in chronic hyperglycaemia, the elevated glucose concentration in the bloodstream, which may lead to many incurable complications. To escape this dire situation, a proper model-based exogenous infusion of insulin bolus is required, which is usually established via different feedback control strategies. In this article, the authors present a mathematical model–based robust integral sliding mode control approach for stabilization of internal glucose–insulin regulatory system in type-1 diabetic patient. Since the state variables of the system are not directly available to the controller, a uniform exact differentiator observer is employed to accomplish the aforementioned task. In the proposed control law, the incorporation of integral term in the switching manifold eliminates the reaching phase, which causes the sliding mode to establish from the very initial point, thus enhances the robustness property of the proposed control scheme. Moreover, the chattering problem is also substantially suppressed to a considerable extent along a defined manifold. To verify the theoretical analysis, the proposed control law is verified via computer simulations which demonstrate the effectiveness of the proposed control law against the external perturbations, that is, unannounced meal intake and physical exercise.

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.

Conditional integrator sliding mode control of an unmanned quadrotor helicopter

2021 ◽  
pp. 095965182110498
Author(s):  
Yohan Díaz-Méndez ◽  
Leandro Diniz de Jesus ◽  
Marcelo Santiago de Sousa ◽  
Sebastião Simões Cunha ◽  
Alexandre Brandão Ramos
Keyword(s):  
Sliding Mode Control ◽  
Transient Response ◽  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Control Problems ◽  
Control Activity ◽  
Mode Control

Sliding mode control (SMC) is a widely used control law for quadrotor regulation and tracking control problems. The purpose of this article is to solve the tracking problem of quadrotors using a relatively novel nonlinear control law based on SMC that makes use of a conditional integrator. It is demonstrated by a motivation example that the proposed control law can improve the transient response and chattering shortcomings of the previous approaches of similar SMC based controllers. The adopted Newton–Euler model of quadrotor dynamics and controller design is treated separately in two subsystems: attitude and position control loops. The stability of the control technique is demonstrated by Lyapunov’s analysis and the effectiveness and performance of the proposed method are compared with a similar integral law, also based on SMC, and validated by tracking control problems using numerical simulations. Simulations were developed in the presence of external disturbances in order to evaluate the controller robustness. The effectiveness of the proposed controller was verified by performance indexes, demonstrating less accumulated tracking errors and control activity and improvement in the transient response and disturbance rejection when compared to a conventional integrator sliding mode controller.

Nonlinear observer based sliding mode control and oxygen fraction estimation for diesel engine

2017 ◽  
Vol 40 (7) ◽  
pp. 2227-2239 ◽  
Author(s):  
Haoping Wang ◽  
Qiankun Qu ◽  
Yang Tian
Keyword(s):  
Diesel Engine ◽  
Sliding Mode Control ◽  
Oxygen Concentration ◽  
Control Method ◽  
Sliding Mode ◽  
Observer Design ◽  
Nonlinear Observer ◽  
Linear Matrix ◽  
Model Based ◽  
Mode Control

In this paper, a nonlinear observer based sliding mode control (NOSMC) approach for air-path and a model-based observer for oxygen concentration in the diesel engine equipped with a variable geometry turbocharger and exhaust gas recirculation is introduced. We propose a less conservative observer design technique for Lipschitz nonlinear systems using Ricatti equations. The observer gains are obtained by solving the linear matrix inequality (LMI). Then a robust nonlinear control method, sliding mode control is applied for the states of intake and exhaust manifold pressure and compressor mass flow rate for the sake of the minimization of emissions. The proposed NOSMC controller is applied on a mean value model of turbocharged diesel engine. Besides this, a model-based observer is developed to estimate the oxygen concentration in the intake and exhaust manifolds owing to its significance in reducing emissions of diesel engines. The validation and efficiency of the proposed method are demonstrated by AMESim and Matlab/Simulink co-simulation results.

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