Study on control strategies for an antenna servo system on a carrier under large disturbance

2018 ◽  
Vol 41 (9) ◽  
pp. 2545-2554
Author(s):  
Yongdong Cheng ◽  
Jun Jiang
Keyword(s):  
Attitude Control ◽  
Control Strategies ◽  
Servo System ◽  
Cable Vibration ◽  
Vibration Isolators ◽  
Reaching Law ◽  
Exponential Reaching Law ◽  
Multi Body ◽  
Control Accuracy ◽  
Large Disturbance

In this paper, control strategies and vibration isolation methods are investigated in order to enhance the attitude control accuracy of an antenna servo system on a carrier under large disturbance. First, the multi-body dynamical equations of the antenna servo system on a carrier incorporated with six wire-cable vibration isolators are derived. Then, an improved adaptive variable-rated exponential reaching law is proposed, and the non-singular terminal sliding mode control is designed based on the nonlinear multi-body model. Finally, simulations are carried out and results show that excellent control accuracies for both the azimuth and the pitch of the antenna can be achieved by the proposed control method, specifically with a shorten reaching time in the cases of holding a fixed angle and tracking a sinusoidal motion that is better than the existing adaptive variable-rated exponential reaching law. Furthermore, the six wire-cable vibration isolators with hysteretic characteristics of restoring forces are adopted that can effectively isolate the large disturbance transmitted from the carrier to the antenna servo system and are shown to be able to further improve the attitude control accuracy.

Application of the Sliding Mode Control Approach Based on Double Power Exponential Reaching Law for the Hydraulic Servo System

2015 ◽  
Vol 741 ◽  
pp. 655-658 ◽  
Author(s):  
Cai Yun Dong ◽  
Hai Jun Wang ◽  
Wen Yong Cui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Servo System ◽  
Mathematic Model ◽  
Control Approach ◽  
Reaching Law ◽  
Mode Control ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Exponential Reaching Law

The sliding mode control approach based on double power exponential reaching law is proposed for the hydraulic servo system. With the example of the hydraulic servo system in the lab, the mathematic model is established and the new controller is presented and simulated. Simulation results show that: the proposed approach has high track precision, fast response, small chattering and ensures dynamic quality of the system.

Robust steering control for trajectory following in road traffic environments

2021 ◽  
pp. 095965182110143
Author(s):  
Parth Deshpande ◽  
KB Devika ◽  
Shankar C Subramanian ◽  
Lelitha Devi Vanajakshi
Keyword(s):  
Sliding Mode Control ◽  
Road Traffic ◽  
Sliding Mode ◽  
Control Strategies ◽  
Steering Control ◽  
Reaching Law ◽  
Mode Control ◽  
Power Rate ◽  
Trajectory Following ◽  
Exponential Reaching Law

The process of modelling vehicle motion in a road traffic environment requires the integration of trajectory generation with vehicle control. The steps involved here are generating a feasible trajectory based on the existing traffic and tracking the trajectory to control it with a steering angle input. Since the parameters of a physical system vary with changes in operating conditions, it is important to consider robustness when designing controllers. This article aims at developing a trajectory-following model with robust steering control strategies to accurately follow a generated trajectory. In this study, performance-based proportional, robust proportional and sliding mode control strategies are designed for trajectory following. The robustness of the proportional controller is established using Kharitonov’s theorem, which is compared with a proportional controller tuned for performance. Sliding mode control is designed for robustness and chattering elimination using two kinds of reaching laws – a constant reaching law and a novel power rate exponential reaching law. The controllers are designed using a dynamic bicycle model considering the error with respect to the trajectory. The controllers are then evaluated in IPG CarMaker®. The resulting trajectories and control inputs are compared for the considered control methodologies using the ISO double lane change and the Slalom tests. Sliding mode control with power rate exponential reaching law is concluded to be more robust as compared to the other controllers, with lower response times, up to 84% lower heading angle deviations from the trajectory and an overshoot of only 3.2% in lane changing.

scholarly journals Design of Quad-rotor Controller Based on Fractional Order Sliding Mode Control

CONVERTER ◽  
2021 ◽  
pp. 65-72
Author(s):  
Liumin Luo Et al.
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Attitude Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Reaching Law ◽  
Mode Control ◽  
Mode Index ◽  
Sliding Mode Variable Structure ◽  
Exponential Reaching Law

According to the chattering problems of traditional sliding mode index exponential reaching law, this paper proposes a fractional order sliding mode index exponential reaching law control strategy, which is applied to the quad-rotor helicopter attitude control. Combined the theory of fractional order calculus and sliding mode variable structure control theory, the fractional order sliding mode controller is designed. The method of  lyapunov analysis proves that this controller can make the system asymptotically stable. Simulation and experiments show that the proposed fractional order sliding mode control system not only undermines the chattering of traditional sliding mode exponential reaching law but also reduces the adjusting time and control margin of the system.

scholarly journals Exponential Reaching Law and Sensorless DTC IM Control with Neural Network Online Parameters Estimation based on MRAS

2018 ◽  
Vol 7 (2) ◽  
pp. 77
Author(s):  
Legrioui Said ◽  
Rezgui Salah Eddine ◽  
Benalla Hocine
Keyword(s):  
Neural Network ◽  
Time Constant ◽  
Sliding Mode ◽  
Direct Torque Control ◽  
Parameters Estimation ◽  
Torque Control ◽  
System Control ◽  
Reaching Law ◽  
Exponential Reaching Law ◽  
Stator Resistance

The most important problem in the control of induction machine (IM) is the change of its parameters, especially the stator resistance and rotor-time constant. The objective of<em> </em>this paper is to implement a new strategy in sensorless direct torque control (DTC) of an IM drive. The rotor flux based model reference adaptive system (MRAS) is used<em> </em>to estimate conjointly<em> </em>the rotor<em> </em>speed, the stator resistance and the inverse rotor time constant, the process of the estimation is performed on-line by a new MRAS-based artificial neural network (ANN) technique. Furthermore, the drive is complemented with a new exponential reaching law (ERL), based on the sliding mode control (SMC) to significantly improve the performances of the system control compared to the conventional SMC which is known to be susceptible to the annoying chattering phenomenon. An experimental investigation was carried out via the Matlab/Simulink with real time interface (RTI) and dSPACE (DS1104) board where the behavior of the proposed method was tested at different points of IM operation.

Study on Active Suspension with Variable Structure Control Based on the Fractional Order Exponential Reaching Law

2017 ◽  
Vol 872 ◽  
pp. 337-345
Author(s):  
Yan Dong Chen
Keyword(s):  
Fractional Order ◽  
Reference Model ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Active Suspension ◽  
Mode Switching ◽  
Structure Control ◽  
Reaching Law ◽  
Exponential Reaching Law

Based on the dynamic model of 1/4 vehicle suspension, an active control system is designed using the fractional order exponential reaching law of model following variable structure control strategy. An active suspension with linear quadratic optimal control is used as the reference model. The sliding mode switching surface parameters is designed by pole placement method to ensure the stability of the system. At the same time, combined with the index reaching law proposed by Professor Gao Wei Bing and the definition and properties of fractional index, constructs a similar fractional order exponent reaching law to improve the dynamic quality of sliding mode motion. And in MATLAB, system modeling and controller design are implemented. By setting up experiments, the different suspensions are compared. The results show that compared with the passive suspension, the performance of the vehicle can be improved better, and the performance of the tracking reference model has good tracking performance. Moreover, compared with the integral exponential reaching law, the chattering can be more effectively weakened. Finally, before and after the change of vehicle parameters in the simulation, the results show that the system has good robustness.

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