Sliding Mode Control of the Human Vestibular System

2012 ◽  
Author(s):  
Rachael McCarty ◽  
S. Nima Mahmoodi ◽  
Keith Williams
Keyword(s):  
Mathematical Model ◽  
Sliding Mode Control ◽  
Vestibular System ◽  
Head Movement ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Parameters ◽  
Mode Control ◽  
The Mathematical Model ◽  
The Brain

An original sliding mode controller is designed, based on an existing mathematical model for response control of the human vestibular system. The human vestibular system is located in the inner ear and significantly contributes to the functions of detecting head motion, maintaining balance and posture, and realizing gaze stabilization. The vestibular system sends signals to the brain to tell it how the head and body are moving, and the brain reacts by changing eye position accordingly. The nonlinearities of the vestibular system are not completely understood. The biggest nonlinearity is the nystagmus, a bouncing of the eyes to compensate for quick head movement. Another nonlinearity is that the quick phase does not start until head movement reaches a certain frequency. Considering these nonlinearities as well as the uncertainties of the system, sliding mode control a good choice for controlling the system. Several mathematical models of the human vestibular system are considered for use in the control design. The best model of those considered is chosen based on the models’ consideration of nonlinearities and their levels of complexity. The mathematical model used in this paper is a nonlinear transfer function. The output is controlled with a robust sliding mode controller. Results demonstrate the need to increase control parameters as frequency of the sinusoidal input increases to minimize overshoot error. However, since the human head cannot tolerate an infinitely large frequency input, control parameters also will necessarily be limited. Therefore, results show that the designed sliding mode robust controller is an effective mechanism for controlling the mathematical model of the human vestibular system.

Design of adaptive sliding mode controller applied to ultrasonic motor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Gangfeng Yan
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Control Parameters ◽  
Content Type ◽  
Adaptive Sliding Mode ◽  
Mode Control

Purpose The purpose of this paper is to achieve high-precision sliding mode control without chattering; the control parameters are easy to adjust, and the entire controller is easy to use in engineering practice. Design/methodology/approach Using double sliding mode surfaces, the gain of the control signal can be adjusted adaptively according to the error signal. A kind of sliding mode controller without chattering is designed and applied to the control of ultrasonic motors. Findings The results show that for a position signal with a tracking amplitude of 35 mm, the traditional sliding mode control method has a maximum tracking error of 0.3326 mm under the premise of small chattering; the boundary layer sliding mode control method has a maximum tracking error of 0.3927 mm without chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.1589 mm, and there is no chattering. Under the same control parameters, after adding a load of 0.5 kg, the maximum tracking errors of the traditional sliding mode control method, the boundary layer sliding mode control method and the continuous switching adaptive sliding mode control are 0.4292 mm, 0.5111 mm and 0.1848 mm, respectively. Originality/value The proposed method not only switches continuously, but also the amplitude of the switching signal is adaptive, while maintaining the robustness of the conventional sliding mode control method, which has strong engineering application value.

scholarly journals Sliding mode control of a Five-Phase Series- Connected Two-Motor Drive

2021 ◽  
Vol 1 (1) ◽  
pp. 59-68
Author(s):  
Lazhari NEZLI ◽  
Omar Zouaid
Keyword(s):  
Mathematical Model ◽  
Sliding Mode Control ◽  
Vector Control ◽  
Sliding Mode ◽  
Induction Machine ◽  
Voltage Inverter ◽  
Mode Control ◽  
Asynchronous Machines ◽  
Park Transformation ◽  
The Mathematical Model

In this work, we study vector control and sliding mode control of series-connected five-phase two asynchronous machines supplied with a three levels inverter. After presentation of multiphase machines, we worked out the mathematical model of five phase asynchronous machine supplied with voltage inverter. Application of Park transformation reduces considerably the mathematical model of machine. After, we applied vector control and sliding mode control to the five-phase induction machine. After that, we study a multi-machine system which comport five-phase two asynchronous machines supplied with a single voltage inverter. In the last, we had the independent vector control and the sliding mode control of series-connected five-phase two asynchronous machines. We observe that an appropriate transposition of phase’s order permits an independent control of two machines.

scholarly journals Sliding Mode Control for a Gyroscope System

2017 ◽  
Vol 8 (4) ◽  
pp. 47-60
Author(s):  
Izabela KRZYSZTOFIK ◽  
Zbigniew KORUBA
Keyword(s):  
Mathematical Model ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Input ◽  
Mobile Platform ◽  
Control Algorithms ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Gyroscope System ◽  
Simulation Results

This paper presents a mathematical model of a gyroscope system with a sliding mode controller. A comparative analysis based on various control algorithms implemented in a controlled gyroscope system installed on a mobile platform (such as an UAV or a homing rocket missile) proved that sliding mode control can be highly effective, especially when external input interferences exist with the kinematic reactions of the mobile platform. A gyroscope system with a sliding mode controller can be used in the optical target seeker systems of precision weapons. The simulation results are provided in a graphical format.

scholarly journals Control with Sliding Mode of a Five-Phase Series-Connected Two-asynchronous Motor Drive

2018 ◽  
Vol 3 (1) ◽  
pp. 18
Author(s):  
Omar Zouaid ◽  
Lazhari Nezli
Keyword(s):  
Mathematical Model ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Asynchronous Motor ◽  
Induction Machine ◽  
Mode Control ◽  
Asynchronous Machines ◽  
Park Transformation ◽  
The Mathematical Model ◽  
Two Machines

In this paper, we study sliding mode control of series-connected five-phase two asynchronous machines supplied with a three levels inverter. After presentation of multiphase machines, we worked out the mathematical model of five phase asynchronous machine supplied with voltage inverter. Application of Park transformation reduces considerably the mathematical model of machine. After, we applied vector control and sliding mode control to the five-phase induction machine. After that, we study a multi-machine system, which comport five-phase two asynchronous machines supplied with a single voltage inverter.In the last, we had the sliding mode control of series-connected five-phase two asynchronous machines. Simulations are presented to show the effectiveness of the control strategy. We observe that an appropriate transposition of phase’s order permits an independent control of two machines.

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.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

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.

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.

Higher order sliding mode control for active suspension systems subject to actuator faults and disturbances

2018 ◽  
Vol 233 (2) ◽  
pp. 280-298 ◽  
Author(s):  
Jinwei Sun ◽  
JingYu Cong ◽  
Liang Gu ◽  
Mingming Dong
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
Second Order ◽  
Sliding Mode Controller ◽  
Actuator Faults ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Second Order Sliding Mode

As the possibility of faults in active suspension actuators are higher and more severe compared to other components, this study presents a fault-tolerant control approach based on the second-order sliding mode control method. The aim of the controller is to improve riding comfort, guarantee handling stability, and provide adequate suspension stroke in the presence of disturbances and actuator faults. A nonlinear full-vehicle suspension system and hydraulic actuator with nonlinear characteristics are adopted for accurate control. Firstly, a nonlinear sliding manifold based on a nonsingular fast terminal sliding mode controller is introduced to suppress the sprung mass heave, pitch, and roll motions arising from road disturbances. Secondly, a second-order sliding mode-based super twisting controller is utilized to track the desired forces generated by the nonsingular fast terminal sliding mode controller with actuator faults and uncertainties. The controllers are robust against disturbances, uncertainties, and faults. Moreover, the stability of the super twisting controller is proved by the strong Lyapunov functions. Finally, numerical simulations are performed to demonstrate the effectiveness of the controller. Four different conditions, random road profile, bump road excitation, single-wheel bump excitation, and partial faults are considered. The main contributions of this study are: (1) combination of the above algorithms to deal with actuator faults and improve active suspension performance; (2) the controller proposed in this study has a simple structure. Simulation results indicate that the nonsingular fast terminal sliding mode super twisting controller can guarantee the performance of the closed-loop system under both faulty and healthy conditions.

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