Adaptive backstepping sliding mode controller with PID sliding surface for a co-ordinated links (COOL) robotic arm

2015 ◽  
Author(s):  
Nabanita Adhikary ◽  
Chitralekha Mahanta
Keyword(s):  
Sliding Mode ◽  
Robotic Arm ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Backstepping ◽  
Pid Sliding Surface

The Effects of Pressure Variation in Sliding Mode Controller with Optimized PID Sliding Surface

2017 ◽  
pp. 104-115 ◽  
Author(s):  
Chong Chee Soon ◽  
Rozaimi Ghazali ◽  
Hazriq Izzuan Zaafar ◽  
Sahazati Md. Rozali ◽  
Yahaya Md. Sam ◽  
...  
Keyword(s):  
Sliding Mode ◽  
Pressure Variation ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Pid Sliding Surface

scholarly journals Adaptive robust control of quadrotor with a 2-degree-of-freedom robotic arm

2018 ◽  
Vol 10 (8) ◽  
pp. 168781401877863 ◽  
Author(s):  
Ran Jiao ◽  
Wusheng Chou ◽  
Rui Ding ◽  
Mingjie Dong
Keyword(s):  
Dynamic Models ◽  
Sliding Mode ◽  
Center Of Gravity ◽  
Adaptive Robust Control ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Sliding Mode Controller ◽  
Adaptive Backstepping ◽  
Terminal Sliding Mode ◽  
Variable Center

The control of quadrotor equipped with a robotic arm has received growing challenges. This article proposes a new adaptive control strategy of quadrotor equipped with a 2-degree-of-freedom robotic arm. To consider the positional variety of the center of gravity caused by the motion of the robotic arm, the kinematic and dynamic models are built. Based on the presented models, a backstepping and sliding mode controller with a terminal sliding mode manifold is first applied to cope with the condition in which the robotic arm is motionless relative to the quadrotor. As the evolvement of the backstepping and sliding mode controller, a novel adaptive backstepping and sliding mode controller is then designed for the vehicle with the robotic arm wavering. The robustness and effectiveness of the proposed control law are investigated through both simulations and flight tests. With the proposed control laws, several simulations are conducted in conditions of both a variable and a constant center of gravity, and the performance of hovering is tested with a variable center of gravity in an experiment. Overall results show that the proposed adaptive backstepping control could estimate and compensate the variable center of gravity which may seriously influence the stabilization of quadrotor flying in the air.

scholarly journals Sliding Mode Controller Design with Optimized PID Sliding Surface Using Particle Swarm Algorithm

2017 ◽  
Vol 105 ◽  
pp. 235-239 ◽  
Author(s):  
Chong Chee Soon ◽  
Rozaimi Ghazali ◽  
Hazriq Izzuan Jaafar ◽  
Sharifah Yuslinda Syed Hussien
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Particle Swarm ◽  
Particle Swarm Algorithm ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Swarm Algorithm ◽  
Pid Sliding Surface

PID-Sliding Surface Based Sliding Mode Controller for Anti-Lock Braking System of Electric Vehicle

2016 ◽  
Vol 22 (10) ◽  
pp. 2734-2737
Author(s):  
Batool Abdulsamad Alkharasani ◽  
Mohd Khair Hassan ◽  
Rini Akmeliawati ◽  
Ribhan Zafira ◽  
Siti Anom Ahmed
Keyword(s):  
Electric Vehicle ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Braking System ◽  
Pid Sliding Surface

Further enhancement on H∞ sliding mode control design for singular Markovian jump systems with partly known transition probabilities

2021 ◽  
pp. 107754632198920
Author(s):  
Zeinab Fallah ◽  
Mahdi Baradarannia ◽  
Hamed Kharrati ◽  
Farzad Hashemzadeh
Keyword(s):  
Transition Probabilities ◽  
Sliding Mode ◽  
Transition Probability ◽  
Transition Probability Matrix ◽  
Linear Matrix ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Markovian Jump ◽  
Markovian Jump System ◽  
Singular Markovian Jump Systems

This study considers the designing of the H ∞ sliding mode controller for a singular Markovian jump system described by discrete-time state-space realization. The system under investigation is subject to both matched and mismatched external disturbances, and the transition probability matrix of the underlying Markov chain is considered to be partly available. A new sufficient condition is developed in terms of linear matrix inequalities to determine the mode-dependent parameter of the proposed quasi-sliding surface such that the stochastic admissibility with a prescribed H ∞ performance of the sliding mode dynamics is guaranteed. Furthermore, the sliding mode controller is designed to assure that the state trajectories of the system will be driven onto the quasi-sliding surface and remain in there afterward. Finally, two numerical examples are given to illustrate the effectiveness of the proposed design algorithms.

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