Sliding Mode Control in Ziegler’s Pendulum With Tracking Force: Novel Modeling Considerations

2013 ◽  
Author(s):  
Ehsan Sarshari ◽  
Nastaran Vasegh ◽  
Mehran Khaghani ◽  
Saeid Dousti
Keyword(s):  
Stability Analysis ◽  
Sliding Mode Control ◽  
Dynamic System ◽  
Linear Stability Analysis ◽  
Sliding Mode ◽  
Chaotic Behavior ◽  
Equations Of Motion ◽  
Sliding Mode Controller ◽  
Gravity Effect ◽  
Tracking Force

Ziegler’s pendulum is an appropriate model of a non-conservative dynamic system. By considering gravity effect, new equations of motion are extracted from Newton’s motion laws. The instability of equilibriums is determined by linear stability analysis. Chaotic behavior of the model is shown by numerical simulations. Sliding mode controller is used for eliminating chaos and for stabilizing the equilibriums.

Fuzzy Sliding Modes with Moving Surface for the Robust Control of a Planar Robot

2005 ◽  
Vol 11 (7) ◽  
pp. 903-922 ◽  
Author(s):  
Nurkan Yagiz ◽  
Yuksel Hacioglu
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Fuzzy Logic Algorithm ◽  
Mode Control ◽  
Planar Robot

In this paper, we develop a new control method that brings together the advantages of fuzzy logic and sliding mode control. First, we introduce a non-chattering robust sliding mode control. Then, in order to improve the performance of the controller a fuzzy logic algorithm is integrated with the sliding mode controller. This algorithm decides the slope of the sliding surface of the sliding mode controller dynamically. Thus, the system is caught on the sliding surface rapidly and remains over it, more successfully improving the performance of the controller. Afterwards, to test the success of the controller introduced, it is applied to a planar robot, which is to follow a certain trajectory only using the control inputs produced. The results are compared with those of a conventional PID controlled system and a sliding mode controller with constant surface slope. In order to check the robust behavior of the controller designed, an unexpected change in the mass of the second link is introduced and to make the conditions tougher it is assumed that this change is not sensed by the controllers. Noise resistance of the proposed controller is also checked by introducing normally distributed noise components into the equations of motion of the robot model.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

Stability Analysis for Mamdani-Type Integral Fuzzy-based Sliding Mode Control of Systems under Persistent Disturbances

2021 ◽  
pp. 1-1
Author(s):  
Pablo Jose Prieto-Entenza ◽  
Luis T. Aguilar ◽  
Selene L. Cardenas-Maciel ◽  
Jorge Antonio Lopez-Renteria ◽  
Nohe Ramon Cazarezcastro
Keyword(s):  
Stability Analysis ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Type Integral ◽  
Persistent Disturbances

Study on Sliding Mode Control in Bidirectional DC/DC Converter Based on State Space Averaging Method

2014 ◽  
Vol 678 ◽  
pp. 399-405
Author(s):  
Yan Mei
Keyword(s):  
Sliding Mode Control ◽  
State Space ◽  
Averaging Method ◽  
Sliding Mode ◽  
Good Stability ◽  
Sliding Mode Controller ◽  
Battery Charging ◽  
Mode Control ◽  
Logic Diagram

Bidirectional DC/DC converter is used for the battery charging and discharging. The sliding mode controller based on state space averaging algorithm is used for controlling bidirectional DC/DC converter. Two kinds of working modes, buck mode and boost mode, have been analyzed and three kinds of working states which are consisted by two working modes have been deeply discussed, and the automatic switch logic diagram when battery charging and discharging through the bidirectional DC/DC converter has been presented. Situation of system based on S1, S2 conducting alternately has been studied, and the simulations were also presented. According to the results, the characteristics of good stability and transient can be confirmed.

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 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.

scholarly journals Sliding Mode Control of Uncertain Neutral Stochastic Systems with Multiple Delays

2008 ◽  
Vol 2008 ◽  
pp. 1-9 ◽  
Author(s):  
Dilan Chen ◽  
Weidong Zhang
Keyword(s):  
Sliding Mode Control ◽  
Stochastic Systems ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Multiple Delays ◽  
Sliding Mode Controller ◽  
Matrix Inequalities ◽  
Neutral Systems ◽  
Mode Control ◽  
Neutral Stochastic Systems

This paper is concerned with the sliding mode control for uncertain stochastic neutral systems with multiple delays. A switching surface is adopted first. Then, by means of linear matrix inequalities (LMIs), a sufficient condition is derived to ensure the global stochastic stability of the stochastic system in the sliding mode for all admissible uncertainties. The synthesized sliding mode controller guarantees the existence of the sliding mode.

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