scholarly journals Sliding mode control-based system for the two-link robot arm

2019 ◽  
Vol 9 (4) ◽  
pp. 2771
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Equations ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Very High

In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.

scholarly journals Fractional-order sliding mode controller for the two-link robot arm

2020 ◽  
Vol 10 (6) ◽  
pp. 5579
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Fractional Order ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Angular Coordinates ◽  
Very High

In this paper, the author proposes a sliding mode controller with the fractional-order for the two-link robot arm. Firstly, the model and dynamic equations of the two-link robot arm are presented. Based on these equations, the author builds the controller for each joint of the robot. The controller is a sliding mode controller with its order is not an integer value. The task of the controller is to adjust the torques acted on the joints in order for the angular coordinates of each link to coincide with the desired values. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built to investigate the system quality. The results show that the quality of the control system is very high: there is not the chattering phenomenon of torques, the response angles of each link quickly reach the desired values, and the static error equal to zero.

scholarly journals The optimal control system of the ship based on the linear quadratic regular algorithm

2020 ◽  
Vol 10 (5) ◽  
pp. 4562
Author(s):  
Manh-Cuong Nguyen ◽  
Duc-Phuc Vuong
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Ship Motion ◽  
Dynamic Equations ◽  
Optimal Controller ◽  
System Quality ◽  
Linear Quadratic ◽  
Ship Model ◽  
Very High

In this paper, the authors propose an optimal controller for the ship motion. Firstly, the model and dynamic equations of the ship motion are presented. Based on the model of the ship motion, the authors build the linear quadratic regular algorithm-based control system of ship motion to minimize the error between the desired trajectory and the response trajectory. The task of the controller is to control the trajectory of the ship to coincide with the desired trajectory. The ship model and controller are built to investigate the system quality through Matlab-Simulink software. The results show that the quality of the hold control system is very high. The trajectory of a ship always follows the desired trajectory with very small errors.

Discrete Sliding Mode Controller Design Based on the Suboptimal LQR Approach

2003 ◽  
Author(s):  
Wen-Chun Yu ◽  
Gou-Jen Wang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Performance Index ◽  
Control Algorithm ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Loop ◽  
External Loads

A systematic and simple discrete sliding mode controller design scheme based on the suboptimal approach is presented. The behaviors of the control system can be determined through a preferred performance index. The AC servomotor position control is obtained using only the q-axis voltage control loop. The proposed method is simulated and experimented to verify the capability of this new sliding mode control algorithm. Properties such as easy implementation, fast resonse, and robust to external loads are demonstrated.

Fast Terminal Sliding-Mode Control with an Integral Filter Applied to a Longitudinal Axis of Flying Vehicles

2019 ◽  
Vol 16 (8) ◽  
pp. 3141-3153 ◽  
Author(s):  
Elham Ramezani ◽  
Seyyed Mohammad Hosseini Rostami
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Flight Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

The automatic pilot flight control system is undoubtedly one of the most important parts of the flying vehicle that provide stability and to operate appropriately in the guidance section. Considering to nonlinear, dynamic and time-varying system, structural and parametric uncertainties of the flying vehicles, in flight control, varietal control approach have to achieve stability, proper operation as well as decreasing effect of uncertainties and modeling errors. In this paper, designing of the longitudinal flying vehicles autopilot a Fast Terminal Sliding Mode Control (FTSMC). Variable structure systems because of the robustness effect on uncertainty and the effects on disturbances which a contributor to widespread efficiency. One of the methods for controlling the variable structure is a sliding mode, which is one of the nonlinear controllers that can control the system in the structured uncertainties and unstructured uncertainties. Additionally, in the method of classic sliding Mode Control is got convergence of states equilibrium point by an asymptotic curve. While proportional Integral Sliding Mode Control has the convergence of states to the equilibrium point in finite time. One of the issues is that finite time cannot determine the time of convergence when the state turn initial position to a final position. The proposed method is based on the Lyapunov stability theory and has guaranteed stability of the control system. The controller is robust to external disturbances and unmodified dynamics. Three types of controllers which are multi-input-multi-output (MIMO) system with random uncertainty are designed. Furthermore, the classic sliding mode controller, the proportional-integral sliding mode controller as well as the integral terminal sliding mode controller are reviewed. A glance at the results simulates shows an improved in the proposed method. Simulations are done using MATLAB software.

Adaptive Feedforward Vibration Control of Flexible Structure With Discrete Sliding Mode Controller

2006 ◽  
Author(s):  
J. Fei
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Flexible Beam ◽  
Sliding Mode Controller ◽  
Control Scheme ◽  
Feedforward Controller ◽  
Adaptive Lms ◽  
Adaptive Feedforward

This paper presents an adaptive feedforward control scheme using the least mean square (LMS) algorithm combined with sliding mode control for a flexible beam using piezoceramic actuator. A finite element model of the dynamic response of flexible beam system with PZT patches is derived and analyzed. Implementation of an adaptive LMS feedforward controller has the advantages of inherent stability and simplicity in design. The proposed adaptive LMS feedforward control system maintains the basic structure of the adaptive feedforward controller, but incorporates reference model in the system. Discrete sliding mode controller is added in the feedback loop to enhance the robustness of control system subjected to the variation of system parameters and external disturbances. Simulation results from flexible beam model verify the effectiveness of the proposed adaptive LMS feedforward with sliding mode control scheme and good disturbance rejection properties.

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.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

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.

Sign in / Sign up

Export Citation Format

Share Document