scholarly journals Antidisturbance Vibration Suppression of the Aerial Refueling Hose during the Coupling Process

2017 ◽  
Vol 2017 ◽  
pp. 1-20
Author(s):  
Zikang Su ◽  
Honglun Wang
Keyword(s):  
Vibration Suppression ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Tracking Error ◽  
Measurement Noise ◽  
Aerial Refueling ◽  
Terminal Sliding Mode ◽  
Multiple Disturbances ◽  
Noise Simulation ◽  
Control Scheme

In autonomous aerial refueling (AAR), the vibration of the flexible refueling hose caused by the receiver aircraft’s excessive closure speed should be suppressed once it appears. This paper proposed an active control strategy based on the permanent magnet synchronous motor (PMSM) angular control for the timely and accurate vibration suppression of the flexible refueling hose. A nonsingular fast terminal sliding-mode (NFTSM) control scheme with adaptive extended state observer (AESO) is proposed for PMSM take-up system under multiple disturbances. The states and the “total disturbance” of the PMSM system are firstly reconstituted using the AESO under the uncertainties and measurement noise. Then, a faster sliding variable with tracking error exponential term is proposed together with a special designed reaching law to enhance the global convergence speed and precision of the controller. The proposed control scheme provides a more comprehensive solution to rapidly suppress the flexible refueling hose vibration in AAR. Compared to other methods, the scheme can suppress the flexible hose vibration more fleetly and accurately even when the system is exposed to multiple disturbances and measurement noise. Simulation results show that the proposed scheme is competitive in accuracy, global rapidity, and robustness.

A novel nonsingular integral terminal sliding mode control scheme in epilepsy treatment

2021 ◽  
pp. 014233122110507
Author(s):  
Moshu Qian ◽  
Zhen Zhang ◽  
Guanghua Zhong ◽  
Cuimei Bo
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Loop Control ◽  
Control Approach ◽  
Control Scheme ◽  
Loop Control System

In this paper, a closed-loop brain stimulation control problem is investigated using the nonsingular integral terminal sliding mode (NITSM) control approach. First, the thalamocortical model of epilepsy seizure is given, which is composed of the cortical PY-IN subnetwork and the subcortical RE-TC subsystem. Then, a nonsingular integral terminal sliding mode surface is designed utilizing the derived output tracking error, and the stability of the sliding mode dynamics is proved by Lyapunov approach. Furthermore, a disturbance observer (DOB) based NITSM controller design approach is proposed for the established thalamocortical model, and the reachability of the closed-loop control system under the designed controller is analyzed using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness and superiority of the designed control scheme.

Multi-Agent Tracking of Non-Holonomic Mobile Robots via Non-Singular Terminal Sliding Mode Control

Robotica ◽  
2019 ◽  
Vol 38 (11) ◽  
pp. 1984-2000 ◽  
Author(s):  
Bilal M. Yousuf ◽  
Abdul Saboor Khan ◽  
Aqib Noor
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Kinematic Model ◽  
Tracking Problem ◽  
Terminal Sliding Mode ◽  
Control Scheme ◽  
Multi Agent

SUMMARYThis paper deals with the problem of the formation control of nonholonomic mobile robots in the leader–follower scenario without considering the leader information, as a result of its velocity and position. The kinematic model is reformulated as a formation model by incorporating the model uncertainties and external disturbance. The controller is presented in the two-step process. Firstly, the tracking problem is taken into consideration, which can be used as a platform to design a controller for the multi-agents. The proposed controller is designed based on a non-singular fast terminal sliding mode controller (FTSMC), which drives the tracking error to zero in finite time. It not only ensures the tracking but also handles the problem related to non-singularities. Moreover, the design control scheme is modified using high-gain observer to resolve the undefined fluctuations due to man-made errors in sensors. Secondly, the multi-agent tracking problem is considered; hence, a novel formation control is designed using FTSMC, which ensures the formation pattern as well as tracking. Furthermore, the obstacle avoidance algorithm is incorporated to avoid the collision, inside the region of interest. With the Lyapunov analysis, the stability of the proposed algorithm is verified. As a result, simulated graphs are shown to prove the efficacy of the proposed control scheme.

scholarly journals Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Wei Sun
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Terminal Sliding Mode ◽  
Nonholonomic Mechanical Systems ◽  
Affine Constraints ◽  
Control Scheme ◽  
Mode Tracking

This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.

scholarly journals Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 33
Author(s):  
Romina Zarrabi Ekbatani ◽  
Ke Shao ◽  
Jasim Khawwaf ◽  
Hai Wang ◽  
Jinchuan Zheng ◽  
...  
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Working Environment ◽  
Parametric Uncertainties ◽  
Metal Composite ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Positioning Accuracy ◽  
Soft Actuator

The ionic polymer metal composite (IPMC) actuator is a kind of soft actuator that can work for underwater applications. However, IPMC actuator control suffers from high nonlinearity due to the existence of inherent creep and hysteresis phenomena. Furthermore, for underwater applications, they are highly exposed to parametric uncertainties and external disturbances due to the inherent characteristics and working environment. Those factors significantly affect the positioning accuracy and reliability of IPMC actuators. Hence, feedback control techniques are vital in the control of IPMC actuators for suppressing the system uncertainty and external disturbance. In this paper, for the first time an adaptive full-order recursive terminal sliding-mode (AFORTSM) controller is proposed for the IPMC actuator to enhance the positioning accuracy and robustness against parametric uncertainties and external disturbances. The proposed controller incorporates an adaptive algorithm with terminal sliding mode method to release the need for any prerequisite bound of the disturbance. In addition, stability analysis proves that it can guarantee the tracking error to converge to zero in finite time in the presence of uncertainty and disturbance. Experiments are carried out on the IPMC actuator to verify the practical effectiveness of the AFORTSM controller in comparison with a conventional nonsingular terminal sliding mode (NTSM) controller in terms of smaller tracking error and faster disturbance rejection.

Terminal sliding mode control of permanent magnet synchronous motor based on the reaching law

2019 ◽  
Vol 234 (7) ◽  
pp. 849-859
Author(s):  
Peikun Zhu ◽  
Yong Chen ◽  
Meng Li
Keyword(s):  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Parameter Uncertainty ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Terminal Sliding Mode ◽  
Reaching Law ◽  
Mode Control

Aiming at the parameter uncertainty and load torque disturbance of permanent magnet synchronous motor system, a terminal sliding mode control algorithm for permanent magnet synchronous motor based on the reaching law is proposed. First, a sliding mode control algorithm for sliding mode reaching law is proposed, which can dynamically adapt to the changes in system state. Second, a sliding mode disturbance observer is designed to estimate the lumped disturbance in real time and to compensate the controller for disturbance. On this basis, an online identification method based on disturbance observer for viscous friction coefficient and moment of inertia is used to reduce the influence of parameter uncertainty on the control system. Simulation and experimental results show the effectiveness of the method.

Fast Terminal Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2013 ◽  
Vol 427-429 ◽  
pp. 1179-1182
Author(s):  
Sheng Bin Hu ◽  
Jin Yuan Xu ◽  
Xuan Wu ◽  
Chi Zhang ◽  
Yi Hao He
Keyword(s):  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

A fast terminal fuzzy sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a fast terminal sliding mode controller is designed. To diminish the chattering in the control input, a fuzzy controller is designed to adjust the generalized gain of fast terminal fuzzy sliding mode controller according to fast terminal sliding mode surface. The stability of the control algorithm is verified by using Lyapunov theory. Simulation results show that the proposed control scheme is effective.

Sign in / Sign up

Export Citation Format

Share Document