Discrete Sliding Mode Controller Design Based on the Suboptimal LQR Approach

2003 ◽  
Author(s):  
Wen-Chun Yu ◽  
Gou-Jen Wang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Performance Index ◽  
Control Algorithm ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Loop ◽  
External Loads

A systematic and simple discrete sliding mode controller design scheme based on the suboptimal approach is presented. The behaviors of the control system can be determined through a preferred performance index. The AC servomotor position control is obtained using only the q-axis voltage control loop. The proposed method is simulated and experimented to verify the capability of this new sliding mode control algorithm. Properties such as easy implementation, fast resonse, and robust to external loads are demonstrated.

scholarly journals Sliding mode control-based system for the two-link robot arm

2019 ◽  
Vol 9 (4) ◽  
pp. 2771
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Equations ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Very High

In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.

Modeling and position control of a therapeutic exoskeleton targeting upper extremity rehabilitation

2016 ◽  
Vol 231 (23) ◽  
pp. 4360-4373 ◽  
Author(s):  
Qingcong Wu ◽  
Xingsong Wang ◽  
Fengpo Du ◽  
Ruru Xi
Keyword(s):  
Sliding Mode Control ◽  
Upper Extremity ◽  
Control Algorithm ◽  
Position Control ◽  
Sliding Mode ◽  
Proportional Integral Derivative ◽  
Fuzzy Sliding Mode Control ◽  
Proportional Integral ◽  
Mode Control ◽  
Fuzzy Sliding Mode

The applications of robotics and automation technology to the therapies of neuromuscular and orthopedic impairments have received increasing attention due to their promising prospects. In this paper, we present an actuated upper extremity exoskeleton aimed to facilitate the rehabilitation training of the disable patients. A modified sliding mode control strategy incorporating a proportional-integral-derivative sliding surface and a fuzzy hitting control law is developed to ensure robust and optimal position control performance. Dynamic modeling of the exoskeleton as well as the human arm is presented and then applied to the development of the fuzzy sliding mode control algorithm. A theoretical proof of the stability and convergence of the closed-loop system is presented using the Lyapunov theorem. Three typical real-time position control experiments are conducted with the aim of evaluating the effectiveness of the proposed control scheme. The performances of the fuzzy sliding mode control algorithm are compared to those of conventional proportional-integral-derivative controller and conventional sliding mode control algorithm. The experimental results indicate that the position control with fuzzy sliding mode control algorithm has a bandwidth about 4 Hz during operation. Furthermore, this control approach can guarantee the best control performances in term of tracking accuracy, response speed, and robustness against external disturbances.

Position Sliding Mode Control of Manipulator Joint Based on Genetic Algorithm

2014 ◽  
Vol 912-914 ◽  
pp. 727-731
Author(s):  
Tao Zhou ◽  
Xi Feng Liang
Keyword(s):  
Genetic Algorithm ◽  
Control System ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Switching Function ◽  
Joint Control ◽  
Precise Position ◽  
Mode Control

In order to improve the control performance of position trajectory tracking of manipulator joint, a sliding mode control (SMC) method based on genetic algorithm(GA) is proposed in this paper. In this method, the performance of SMC algorithm is improved through adjusting the parameters of switching function and exponential approach law by genetic algorithm. The method was applied to accomplish the precise position control of manipulator joint. Simulation experiments show that the response time in manipulator joint control system by the SMC method based on GA is reduced 0.62s than the ordinary SMC algorithm. And the system restore stability time with a load change is also reduced 0.7s. External disturbance has no significant effect on the control system. The chattering of controller output is significantly reduced.

Backward-Euler Discretization of Second-Order Sliding Mode Control and Super-Twisting Observer for Accurate Position Control

2013 ◽  
Author(s):  
Xiaogang Xiong ◽  
Ryo Kikuuwe ◽  
Motoji Yamamoto
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Position Control ◽  
Sliding Mode ◽  
Second Order ◽  
Mode Control ◽  
Backward Euler ◽  
Euler Discretization ◽  
Accurate Position ◽  
Second Order Sliding Mode

This paper introduces an accurate position control algorithm based on Backward-Euler discretization of a second-order sliding mode control (SOSMC) and the super-twisting observer (STO). This position control algorithm does not produce numerical chattering, which has been known to be a major drawback of explicit implementation of SOSMC and STO. It is more accurate than the conventional PID control that is also free of chattering. In contrast to conventional Backward-Euler discretization schemes of SOSMC and STO, the presented discretization method does not require any special solvers for computation. The accuracy and implementation of this algorithm are illustrated by simulations.

scholarly journals A Combined H2/Sliding Mode Controller Design for a TORA System

2018 ◽  
Vol 21 (4) ◽  
pp. 501-507
Author(s):  
Hazem I. Ali ◽  
Mustafa J. Kadhim
Keyword(s):  
Sliding Mode Control ◽  
Mechanical System ◽  
Controller Design ◽  
Sliding Mode ◽  
Translational Motion ◽  
Sliding Mode Controller ◽  
Nonlinear Coupling ◽  
Underactuated Mechanical System ◽  
System Parameters ◽  
Rotational Actuator

In this work, the control of Translational Oscillations with a Rotational Actuator (TORA) system is presented in this paper. The optimal sliding mode controller is proposed to control the two DOF underactuated mechanical system. The nonlinear coupling from the rotational to the translational motion is the main problem that faces the controller design. The H2 sliding mode controller is designed to give a better performance if only sliding mode control is used. The results illustrate that the proposed H2 sliding mode controller can achieve the stabilization of the system with the variation in system parameters and disturbance.

Sliding-Mode Control System Design for an Experimental Model With Resonance-Free SWATH

2015 ◽  
Author(s):  
Hiroyuki Kajiwara ◽  
Masamitsu Kanda ◽  
Motoki Yoshida
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Experimental Model ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Control System Design ◽  
Regular Wave ◽  
Control Loop ◽  
Pitch Control ◽  
Mode Control

Given an experimental model with a resonance-free SWATH, the paper represents successful experimental results of sliding-mode control applied to the pitch control loop, which indicate its effectiveness in regular-wave disturbance rejection compared with the case of using PD control only.

scholarly journals Uncertain Unified Chaotic Systems Control with Input Nonlinearity via Sliding Mode Control

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Zhi-ping Shen ◽  
Jian-dong Xiong ◽  
Yi-lin Wu
Keyword(s):  
Sliding Mode Control ◽  
Chaotic Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Stabilization Problem ◽  
Input Nonlinearity ◽  
Mode Control ◽  
Unified Chaotic Systems

This paper studies the stabilization problem for a class of unified chaotic systems subject to uncertainties and input nonlinearity. Based on the sliding mode control theory, we present a new method for the sliding mode controller design and the control law algorithm for such systems. In order to achieve the goal of stabilization unified chaotic systems, the presented controller can make the movement starting from any point in the state space reach the sliding mode in limited time and asymptotically reach the origin along the switching surface. Compared with the existing literature, the controller designed in this paper has many advantages, such as small chattering, good stability, and less conservative. The analysis of the motion equation and the simulation results all demonstrate that the method is effective.

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