scholarly journals Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Hamed Navabi ◽  
Soroush Sadeghnejad ◽  
Sepehr Ramezani ◽  
Jacky Baltes
Keyword(s):  
Mobile Robot ◽  
Mobile Robotics ◽  
Position Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Modeling And Control ◽  
Spherical Ball ◽  
Fuzzy Sliding Mode ◽  
Real Hardware ◽  
And Control

A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a) regulation with one signal, (b) regulation and position control with one signal, (c) regulation and position control with two signals, and (d) FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

Modeling and Control of a Novel Electro-Hydrostatic Actuator With a Three-Ports Hydraulic Pump

2020 ◽  
Author(s):  
Fengqi Zhou ◽  
Wenjian Xiao ◽  
Xiaoping Ouyang ◽  
Pengfei Zhang ◽  
Lilin Xu ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Flight Control ◽  
Position Control ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Electrical Power ◽  
Current Control ◽  
Modeling And Control ◽  
Mode Control ◽  
And Control

Abstract The electro-hydrostatic actuator (EHA) is a kind of power-by-wire (PBW) actuator that converts the electrical power into localized hydraulic power for flight control. In order to solve the problem of flow mismatching in the asymmetric cylinder, this paper presents a novel EHA which applies a three-ports fixed displacement pump to work with the asymmetric cylinder. The working principle of the novel EHA is introduced, and its nonlinear mathematical model is built. The sliding-mode control is proposed to control the position loop of the EHA. The controller structure of EHA is built including the position control using sliding-mode control, the speed control using PI, and the current control using PI. The model of mechanical parts including the permanent magnet synchronous motor (PMSM), controller and hydraulic parts are built in the SIMULINK. Simulation results show that the sliding-mode control improves the dynamic response and control accuracy compared with the traditional classic PID.

scholarly journals MODELING AND SLIDING MODE CONTROL FOR A SINGLE FLEXIBLE MANIPULATOR

2019 ◽  
Vol 57 (5) ◽  
pp. 645
Author(s):  
Nguyen Quang Hoang ◽  
Ha Anh Son
Keyword(s):  
Jacobian Matrix ◽  
Sliding Mode ◽  
Mass Matrix ◽  
Flexible Manipulator ◽  
Sliding Mode Controller ◽  
The Finite Element Method ◽  
Modeling And Control ◽  
Lagrangian Equations ◽  
The Stability ◽  
And Control

This paper concerns with modeling and control of a single flexible manipulator (SFM). The finite element method (FEM) and Lagrangian equations are exploited to establish the dynamic modeling of SFM. Firstly, the Jacobian matrix is built based on kinematic analysis. Then it is used in construction of a mass matrix for each element. The position and vibration of SFM are controlled by sliding mode controller (SMC). Its parameters are chosen by linearized equations to guarantee the stability of the system. The numerical simulation is carried out to show the efficiency of the proposed approach.

Sign in / Sign up

Export Citation Format

Share Document