Sliding Mode Control of Underactuated Biped Robots

2005 ◽  
Author(s):  
Mehdi Nikkhah ◽  
Hashem Ashrafiuon ◽  
Farbod Fahimi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Biped Robot ◽  
Control Law ◽  
Robust Tracking Control ◽  
Biped Robots ◽  
Control Approach ◽  
Double Support ◽  
Mode Control ◽  
The Impact

This paper presents a robust tracking control algorithm for underactuated biped robots. The biped considered in this work is modeled as a five-link planar robot with four actuators located at hip and knee joints to control the joint angles. The control law is defined based on the sliding mode control approach. The objective of the controller is to generate stable walking based on predefined desired trajectories. The planning of the trajectory in swing phase is discussed while the double support phase is considered to be instantaneous and the impact of the swing leg with the ground is modeled as rigid body contact. In order to formulate the sliding control law, we define four first-order sliding surfaces, based on the number of actuators, as a linear combination of tracking joint positions and velocities. The control approach is shown to guarantee that all trajectories will reach and stay on these surfaces. The surface parameters are then selected to ensure the stability of the surfaces leading to an asymptotically stable control law. Numerical simulation is presented for tracking a multi-step walk of a biped robot.

Higher Order Sliding Mode Control for the Tracking Trajectory - The Twisting Algorithm Applied to the Vehicle Model

2014 ◽  
Vol 875-877 ◽  
pp. 2014-2019
Author(s):  
Thierno Mamadou Pathe Diallo ◽  
Hong Sheng Li ◽  
Ning Hui He
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Higher Order ◽  
Control Law ◽  
Sliding Surface ◽  
Vehicle Model ◽  
Major Drawback ◽  
Mode Control ◽  
Twisting Algorithm ◽  
The Impact

In this paper a higher order sliding mode control based on the twisting algorithm is studied. The aim is to prove the impact of the choice of sliding surface in the design of the control law. The simulation results shows, a proper selection of the sliding surface in the design of the control law can eliminate or reduce the phenomenon of reluctance. The phenomenon of reluctance or chattering is a major drawback significant in sliding mode control because, although it is possible to filter the output of the process, it is likely to excite high frequency modes that have not been included in the model of the system. This can degrade performance and even lead to instability. For the design of the control law of vehicle model, two sliding surfaces are integrated; the first show a good tracking in the simulation result with disadvantage of the chattering presence in the control law while the second provide a good performance without chattering.

scholarly journals Modeling and Finite-Time Walking Control of a Biped Robot with Feet

2015 ◽  
Vol 2015 ◽  
pp. 1-17 ◽  
Author(s):  
Juan E. Machado ◽  
Héctor M. Becerra ◽  
Mónica Moreno Rocha
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Biped Robot ◽  
Robot Dynamics ◽  
Local Diffeomorphism ◽  
Double Support ◽  
Finite Time Convergence ◽  
Mode Control ◽  
Support Phase

This paper addresses the problem of modeling and controlling a planar biped robot with six degrees of freedom, which are generated by the interaction of seven links including feet. The biped is modeled as a hybrid dynamical system with a fully actuated single-support phase and an instantaneous double-support phase. The mathematical modeling is detailed in the first part of the paper. In the second part, we present the synthesis of a controller based on virtual constraints, which are codified in an output function that allows defining a local diffeomorphism to linearize the robot dynamics. Finite-time convergence of the output to the origin ensures a collision between the swing foot and the ground with an appropriate configuration for the robot to give a step forward. The components of the output track adequate references that encode a walking pattern. Finite-time convergence of the tracking errors is enforced by using second-order sliding mode control. The main contribution of the paper is an evaluation and comparison of discontinuous and continuous sliding mode control in the presence of parametric uncertainty and external disturbances. The robot model and the synthesized controller are evaluated through numerical simulations.

scholarly journals A continuous integral terminal sliding mode control approach for a class of uncertain nonlinear systems

2019 ◽  
Vol 52 (5-6) ◽  
pp. 720-728
Author(s):  
Huawei Niu ◽  
Qixun Lan ◽  
Yamei Liu ◽  
Huafeng Xu
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Control Law ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Time Control

In this article, the continuous integral terminal sliding mode control problem for a class of uncertain nonlinear systems is investigated. First of all, based on homogeneous system theory, a global finite-time control law with simple structure is proposed for a chain of integrators. Then, inspired by the proposed finite-time control law, a novel integral terminal sliding mode surface is designed, based on which an integral terminal sliding mode control law is constructed for a class of higher order nonlinear systems subject disturbances. Furthermore, a finite-time disturbance observer-based integral terminal sliding mode control law is proposed, and strict theoretical analysis shows that the composite integral terminal sliding mode control approach can eliminate chattering completely without losing disturbance attenuation ability and performance robustness of integral terminal sliding mode control. Simulation examples are given to illustrate the simplicity of the new design approach and effectiveness.

scholarly journals A new hybrid robust sliding mode control for an underwater vehicle in dive plane

2019 ◽  
Vol 52 (7-8) ◽  
pp. 832-843
Author(s):  
Majid Yarahmadi ◽  
Zahra Tavanaei Sereshki
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Underwater Vehicle ◽  
Control Signal ◽  
Robust Tracking Control ◽  
Control Approach ◽  
Mode Control ◽  
Low Pass ◽  
A Chain

In this paper, a new hybrid robust tracking control for an underwater vehicle in dive plane via [Formula: see text] method and time-variant sliding mode control is designed. The proposed controller is composed of two control signals. One control signal is designed via time-variant sliding function based on time-variant rejection parameter, and the other control signal is designed based on [Formula: see text] control approach. The underwater vehicle dynamics are nonlinear uncertain dynamical equation with unknown external disturbances. Therefore, in this paper, an observation of the external disturbance with a time-variant gain parameter is designed. The proposed method eliminates the effects of uncertainties and chattering phenomenon. Also, the time-variant sliding function filters all the unmodeled frequencies and external noises, such as a chain of [Formula: see text] first-order adaptive low-pass filters. A new theorem, for facilitating the presented method, is proved. Finally, two examples for demonstrating the advantages of the proposed method are simulated.

Dynamic sliding mode-based attitude stabilisation control of satellites with angular velocity and control constraints

2018 ◽  
Vol 41 (4) ◽  
pp. 934-941 ◽  
Author(s):  
Chunmei Yu ◽  
Xun Xie
Keyword(s):  
Angular Velocity ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Convergence Time ◽  
Small Radius ◽  
Control Law ◽  
Control Approach ◽  
Mode Control ◽  
Dynamic Sliding Mode

This work presents a novel control approach to the attitude stabilisation problem of rigid satellites with external disturbance, control constraint, and angular velocity constraint. The controller is developed in the framework of dynamic sliding mode control. A dynamic sliding mode surface is preliminarily chosen, and then a structure-simple sliding mode control law is synthesised. It is proved that the proposed control law can successfully accomplish the attitude stabilisation manoeuvre. The attitude is exponentially stabilised, and the angular velocity is stabilised with an exponential rate to a ball with a small radius. In comparison with the static sliding mode surface-based controllers, the proposed approach can provide a fast convergence rate. The system convergence time can be shortened by dynamically updating the control parameters in the sliding mode. Simulation results are presented to examine the feasibility of the presented solution.

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.

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