scholarly journals Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Sheng Liu ◽  
Changkui Xu ◽  
Lanyong Zhang
Keyword(s):  
Learning Strategy ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Lyapunov Stability Theory ◽  
Iterative Learning ◽  
Sampled Data ◽  
Lateral Dynamics ◽  
Control Scheme ◽  
System States ◽  
The Stability

This paper proposes a novel robust output feedback control methodology for the course keeping control of a fully submerged hydrofoil vessel. Based on a sampled-data iterative learning strategy, an iterative learning observer is established for the estimation of system states and the generalized disturbances. With the state observer, a feedback linearized iterative sliding mode controller is designed for the stabilization of the lateral dynamics of the fully submerged hydrofoil vessel. The stability of the overall closed-loop system is analyzed based on Lyapunov stability theory. Comparative simulation results verify the effectiveness of the proposed control scheme and show the dominance of the disturbance rejection performance.

A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

2021 ◽  
pp. 095441002110136
Author(s):  
Nasim Ullah ◽  
Irfan Sami ◽  
Wang Shaoping ◽  
Hamid Mukhtar ◽  
Xingjian Wang ◽  
...  
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Adaptive Robust Control ◽  
Computationally Efficient ◽  
Control Scheme ◽  
Control Schemes ◽  
Adaptive Laws ◽  
Unknown Disturbances ◽  
The Stability

This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

Robust Synchronization of Fractional-Order Arneodo Chaotic Systems Using a Fractional Sliding Mode Control Strategy

2018 ◽  
pp. 1-22
Author(s):  
Samir Ladaci ◽  
Karima Rabah ◽  
Mohamed Lashab
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Chaotic Behavior ◽  
Control Design ◽  
Lyapunov Stability Theory ◽  
Mode Control ◽  
Control Configuration ◽  
The Stability

This chapter investigates a new control design methodology for the synchronization of fractional-order Arneodo chaotic systems using a fractional-order sliding mode control configuration. This class of nonlinear fractional-order systems shows a chaotic behavior for a set of model parameters. The stability analysis of the proposed fractional-order sliding mode control law is performed by means of the Lyapunov stability theory. Simulation examples on fractional-order Arneodo chaotic systems synchronization are provided in presence of disturbances and noises. These results illustrate the effectiveness and robustness of this control design approach.

scholarly journals Nonlinear Integral Sliding Mode Control for a Second Order Nonlinear System

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Xie Zheng ◽  
Xie Jian ◽  
Du Wenzheng ◽  
Cheng Hongjie
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Second Order ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
Sliding Manifold

A nonlinear integral sliding-mode control (NISMC) scheme is proposed for second order nonlinear systems. The new control scheme is characterized by a nonlinear integral sliding manifold which inherits the desired properties of the integral sliding manifold, such as robustness to system external disturbance. In particular, compared with four kinds of sliding mode control (SMC), the proposed control scheme is able to provide better transient performances. Furthermore, the proposed scheme ensures the zero steady-state error in the presence of a constant disturbance or an asymptotically constant disturbance is proved by Lyapunov stability theory and LaSalle invariance principle. Finally, both the theoretical analysis and simulation examples demonstrate the validity of the proposed scheme.

Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

2016 ◽  
Vol 139 (4) ◽  
Author(s):  
Yi Min Zhao ◽  
Yu Lin ◽  
Fengfeng Xi ◽  
Shuai Guo ◽  
Puren Ouyang
Keyword(s):  
Visual Servoing ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Path Following ◽  
External Disturbances ◽  
Control Scheme ◽  
Riveting Process ◽  
The Stability ◽  
Time Required ◽  
Two Stages

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

scholarly journals An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty

10.5772/5801 ◽  
2005 ◽  
Vol 2 (1) ◽  
pp. 8 ◽  
Author(s):  
F. Mnif ◽  
F. Touati
Keyword(s):  
Mobile Robot ◽  
Parametric Uncertainty ◽  
Lyapunov Stability Theory ◽  
Original System ◽  
Stability And Convergence ◽  
Nonholonomic Mobile Robot ◽  
Control Scheme ◽  
The Stability ◽  
Invariant Control ◽  
Time Invariant

This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.

scholarly journals Optimal Spacing Policy for Vehicle Platoon Control with Road-Friction Coefficient

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Lei Zuo ◽  
Duo Meng ◽  
Jinqi Zhang
Keyword(s):  
Friction Coefficient ◽  
Sliding Mode ◽  
The Road ◽  
Optimization Framework ◽  
Control Scheme ◽  
Road Friction ◽  
Vehicle Platoon ◽  
Optimal Spacing ◽  
The Stability ◽  
Road Friction Coefficient

This paper investigates the vehicle platoon control problems, in which the road-friction coefficient is taken into consideration. In order to improve the vehicle platoon safety in various road-friction conditions, an optimal spacing policy is proposed for the vehicle platoon. In detail, an intervehicle space optimization framework is developed by using a safety cost function and the gradient decent method. In this way, the optimal intervehicle spacing headway is presented such that the vehicle can be safely driven to the desired platoon under various road-friction conditions. Then, based on the proposed optimal spacing policy, we transform this optimal spacing vehicle platoon control problem into a moving target tracking problem. An adaptive distributed integrated sliding mode (DISM)-based vehicle platoon control scheme is proposed such that the vehicles can effectively follow the presented optimal spacing platoon. Moreover, the stability of the proposed vehicle platoon system is strictly analyzed and numerical simulations are provided to verify the proposed approaches.

scholarly journals Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot

2020 ◽  
Vol 10 (3) ◽  
pp. 413-420 ◽  
Author(s):  
Sara Gholipour ◽  
Heydar Toosian Shandiz ◽  
Mobin Alizadeh ◽  
Sara Minagar ◽  
Javad Kazemitabar
Keyword(s):  
Fractional Calculus ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Lyapunov Stability Theory ◽  
Mode Control ◽  
Control Scheme ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

Background & Objective: This paper considers the chattering problem of sliding mode control in the presence of delay in robot manipulator causing chaos in such electromechanical systems. Fractional calculus was used in order to produce a novel sliding mode to eliminate chatter. To realize the control of a class of chaotic systems in master-slave configuration, a novel fractional dynamic sliding mode control scheme is presented and examined on the delay based chaotic robot. Also, the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Results: Moreover, delayed robot motions are sorted out for qualitative and quantitative study. Finally, numerical simulations illustrate feasibility of the proposed control method. Conclusion: The control scheme is viable.

Fault tolerant control using integral sliding modes with control allocation along the null-space

2020 ◽  
Vol 42 (11) ◽  
pp. 2011-2019
Author(s):  
Chengcheng Ma ◽  
Chunsheng Liu ◽  
Jiazhen Yao
Keyword(s):  
Actuator Saturation ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Null Space ◽  
Fault Tolerant Control ◽  
Control Allocation ◽  
Control Scheme ◽  
Small Gain ◽  
Actuator Constraints ◽  
The Stability

In this paper, a new fault tolerant control scheme with control allocation is presented. The pseudo-inverse along the null-space control allocation is applied to the fault tolerant control system to handle the actuator constraints. The stability of the overall closed-loop system is proved via the small gain theory. The null-space vector is viewed as uncertainty, and is disposed by an integral sliding mode controller and a robust controller. The simulation results show that the new method can solve both failure scenarios and actuator saturation problems well.

Sliding mode synchronous control for fixture clamps system driven by hydraulic servo systems

2007 ◽  
Vol 221 (9) ◽  
pp. 1039-1045 ◽  
Author(s):  
Z H U Dachang
Keyword(s):  
Sliding Mode ◽  
Dynamic Error ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Tracking Errors ◽  
Servo Systems ◽  
Driving Mechanisms ◽  
Hydraulic Servo ◽  
The Stability ◽  
External Forces

Although the two sides clips of a fixture clamps system have the same driving mechanisms, the synchronous error between the dual drivers of the two clips is generated by non-balanced forces. With position variation of clips and various uncertainty disturbances during the working process, the synchronous movement of the two clips is difficult. In the current paper, sliding mode synchronous controller is designed for fixture clamps system which is driven by hydraulic servo system. Setting the load dynamic error of one driver as external disturbance to the other driver, the departure from synchronization caused by the parameter variation and external forces between two clips is limited. The stability of the control system and the convergence of synchronous tracking errors are guaranteed by Lyapunov stability theory. Simulations illustrate the applicability of the proposed approach.

Position and attitude tracking of uncertain quadrotor unmanned aerial vehicles based on non-singular terminal super-twisting algorithm

2019 ◽  
Vol 234 (3) ◽  
pp. 396-408
Author(s):  
Walid Alqaisi ◽  
Yassine Kali ◽  
Jawhar Ghommam ◽  
Maarouf Saad ◽  
Vahé Nerguizian
Keyword(s):  
Sliding Mode ◽  
Design Procedure ◽  
Lyapunov Theory ◽  
Effective Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
The Stability ◽  
Terminal Sliding Surface ◽  
Twisting Algorithm ◽  
Twisting Control

This paper proposes an improved non-singular terminal super-twisting control for the problem of position and attitude tracking of quadrotor systems suffering from uncertainties and disturbances. The super-twisting algorithm is a second-order sliding mode known to be a very effective control used to provide high precision and less chattering for uncertain nonlinear electromechanical systems. The proposed method is based on a non-singular terminal sliding surface with new exponent that solves the problem of singularity. The design procedure and the stability analysis of the closed-loop system using Lyapunov theory are detailed for the considered system. Finally, the proposed control scheme is tested in simulations and by experiments on the parrot-rolling spider quadrotor. Moreover, a comparison is made with the standard super-twisting algorithm in the simulation part. The results obtained show adequate performance in trajectory tracking and chattering reduction.

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