Moving sliding mode controller for overhead cranes suffering from matched and unmatched disturbances

2020 ◽  
pp. 014233122092210
Author(s):  
Xiutao Gu ◽  
Weimin Xu
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Time Varying ◽  
Initial State ◽  
Overhead Cranes ◽  
State Variable ◽  
Chattering Free ◽  
The Stability ◽  
Variable Errors

In this paper, a novel time-varying gain extended state observer (ESO)-based moving sliding mode control method is proposed for anti-sway and positioning control of two-dimensional underactuated overhead cranes. The designed moving sliding mode surface can adjust its slope in real time according to the state variable errors; in addition, a dynamic exponential term is added into the moving sliding mode surface so as to drive any initial state variable errors into the sliding surface rapidly, and thereby the robustness of crane systems is improved. Then, a chattering-free reaching law is designed to realize fast convergence of the system state errors, and the input is modelled as a saturated one due to the fact the motor torque is bounded and the control law and adaptive updating law of switching gain are derived in the sense of Lyapunov function, so the stability can be guaranteed even under the input saturation. Moreover, to suppress the matched and unmatched disturbance occurring in crane dynamic systems, a time-varying gain ESO is constructed to estimate the lumped disturbance, then the estimated value is used for feedforward compensation to establish the controller. Finally, the simulation results confirm the effectiveness of the proposed controller.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

A novel robust finite-time tracking control of uncertain robotic manipulators with disturbances

2020 ◽  
pp. 107754632098244
Author(s):  
Hamid Razmjooei ◽  
Mohammad Hossein Shafiei ◽  
Elahe Abdi ◽  
Chenguang Yang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
State Variables ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Finite Time Boundedness

In this article, an innovative technique to design a robust finite-time state feedback controller for a class of uncertain robotic manipulators is proposed. This controller aims to converge the state variables of the system to a small bound around the origin in a finite time. The main innovation of this article is transforming the model of an uncertain robotic manipulator into a new time-varying form to achieve the finite-time boundedness criteria using asymptotic stability methods. First, based on prior knowledge about the upper bound of uncertainties and disturbances, an innovative finite-time sliding mode controller is designed. Then, the innovative finite-time sliding mode controller is developed for finite-time tracking of time-varying reference signals by the outputs of the system. Finally, the efficiency of the proposed control laws is illustrated for serial robotic manipulators with any number of links through numerical simulations, and it is compared with the nonsingular terminal sliding mode control method as one of the most powerful finite-time techniques.

Three-dimensional adaptive fixed-time guidance law against maneuvering targets with impact angle constraints and control input saturation

2021 ◽  
pp. 014233122110598
Author(s):  
Fei Ma ◽  
Yunjie Wu ◽  
Siqi Wang ◽  
Xiaofei Yang ◽  
Yueyang Hua
Keyword(s):  
Sliding Mode ◽  
Input Saturation ◽  
Three Dimensional ◽  
Fixed Time ◽  
Impact Angle ◽  
Guidance System ◽  
Control Input ◽  
Guidance Law ◽  
The Stability ◽  
And Control

This paper presents an adaptive fixed-time guidance law for the three-dimensional interception guidance problem with impact angle constraints and control input saturation against a maneuvering target. First, a coupled guidance model formulated by the relative motion equation is established. On this basis, a fixed-time disturbance observer is employed to estimate the lumped disturbances. With the help of this estimation technique, the adaptive fixed-time sliding mode guidance law is designed to accomplish accurate interception. The stability of the closed-loop guidance system is proven by the Lyapunov method. Simulation results of different scenarios are executed to validate the effectiveness and superiority of the proposed guidance law.

scholarly journals Vision-Based Target Detection and Tracking for a Miniature Pan-Tilt Inertially Stabilized Platform

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2243
Author(s):  
Jianchuan Guo ◽  
Chenhu Yuan ◽  
Xu Zhang ◽  
Fan Chen
Keyword(s):  
Target Detection ◽  
Feedback Linearization ◽  
Visual Servoing ◽  
Control Method ◽  
Sliding Mode ◽  
Optical Axis ◽  
Detection And Tracking ◽  
The Stability ◽  
Stabilized Platform ◽  
The Mathematical Model

This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.

Disturbance Adaptive Discrete-Time Sliding Control With Application to Engine Speed Control

1998 ◽  
Vol 123 (1) ◽  
pp. 1-9 ◽  
Author(s):  
Mooncheol Won ◽  
J. K. Hedrick
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Sliding Surface ◽  
Sliding Control ◽  
Error Dynamics

This paper presents a discrete-time adaptive sliding control method for SISO nonlinear systems with a bounded disturbance or unmodeled dynamics. Control and adaptation laws considering input saturation are obtained from approximately discretized nonlinear systems. The developed disturbance adaptation or estimation law is in a discrete-time form, and differs from that of conventional adaptive sliding mode control. The closed-loop poles of the feedback linearized sliding surface and the adaptation error dynamics can easily be placed. It can be shown that the adaptation error dynamics can be decoupled from sliding surface dynamics using the proposed scheme. The proposed control law is applied to speed tracking control of an automatic engine subject to unknown external loads. Simulation and experimental results verify the advantages of the proposed control law.

scholarly journals Variable Structure Compensation PID Control of Asymmetrical Hydraulic Cylinder Trajectory Tracking

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Difei Liu ◽  
Zhiyong Tang ◽  
Zhongcai Pei
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Hydraulic Cylinder ◽  
Control Value ◽  
Equivalent Control ◽  
Asymmetrical Hydraulic Cylinder ◽  
The Stability

A novel variable structure compensation PID control, VSCPID in short, is proposed for trajectory tracking of asymmetrical hydraulic cylinder systems. This new control method improves the system robustness by adding a variable structure compensation term to the conventional PID control. The variable structure term is designed according to sliding mode control method and therefore could compensate the disturbance and uncertainty. Meanwhile, the proposed control method avoids the requirements for exact knowledge of the systems associated with equivalent control value in SMC that means the controller is simple and easy to design. The stability analysis of this approach is conducted with Lyapunov function, and the global stability condition applied to choose control parameters is provided. Simulation results show the VSCPID control can achieve good tracking performances and high robustness compared with the other control methods under the uncertainties and varying load conditions.

scholarly journals Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

2012 ◽  
Vol 22 (3) ◽  
pp. 315-342 ◽  
Author(s):  
Samir Zeghlache ◽  
Djamel Saigaa ◽  
Kamel Kara ◽  
Abdelghani Harrag ◽  
Abderrahmen Bouguerra
Keyword(s):  
Fuzzy Logic ◽  
Control Method ◽  
Sliding Mode ◽  
Design Method ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
Quadrotor Helicopter ◽  
Nonlinear Control Method ◽  
The Stability ◽  
Yaw Angle

Abstract In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.

scholarly journals Chattering-Free Single-Phase Robustness Sliding Mode Controller for Mismatched Uncertain Interconnected Systems with Unknown Time-Varying Delays

Energies ◽  
2020 ◽  
Vol 13 (1) ◽  
pp. 282 ◽  
Author(s):  
Cong-Trang Nguyen ◽  
Thanh Long Duong ◽  
Minh Quan Duong ◽  
Duc Tung Le
Keyword(s):  
Single Phase ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Structure Control ◽  
Time Varying Delay ◽  
Chattering Free ◽  
Varying Delay

Variable structure control with sliding mode can provide good control performance and excellent robustness. Unfortunately, the chattering phenomenon investigated due to discontinuous switching gain restricting their applications. In this paper, a chattering free improved variable structure control (IVSC) for a class of mismatched uncertain interconnected systems with an unknown time-varying delay is proposed. A sliding function is first established to eliminate the reaching phase in traditional variable structure control (TVSC). Next, a new reduced-order sliding mode estimator (ROSME) without time-varying delay is constructed to estimate all unmeasurable state variables of plants. Then, based on the Moore-Penrose inverse approach, a decentralized single-phase robustness sliding mode controller (DSPRSMC) is synthesized, which is independent of time delays. A DSPRSMC solves a complex interconnection problem with an unknown time-varying delay term and drives the system’s trajectories onto a switching surface from the initial time instance. Particularly, by applying the well-known Barbalat’s lemma, the chattering phenomenon in control input is alleviated. Moreover, a sufficient condition is established by using an appropriate Lyapunov theory and linear matrix inequality (LMI) method such that a sliding mode dynamics is asymptotically stable from the beginning time. Finally, a developed method is validated by numerical example with computer simulations.

Anti-windup reconfigurable control for dynamic positioning vessel with thruster faults

2020 ◽  
Vol 42 (16) ◽  
pp. 3216-3224
Author(s):  
Mingyang Li ◽  
Wenbo Xie ◽  
Jian Zhang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Control Process ◽  
Dynamic Positioning ◽  
Closed Loop System ◽  
Reconfigurable Control ◽  
Positioning Control ◽  
Dynamic Positioning System ◽  
System A

In this study, an anti-windup reconfigurable control method is developed for dynamic positioning vessel in the presence of thruster faults and input saturation. The designed reconfiguration block acting as a virtual thruster aims at hiding the faults from the nominal controller. Also, it is added into the closed-loop system between the nominal controller and the dynamic positioning system. A thruster saturation-failure fault matrix technique is proposed to regard the thruster saturation as thruster fault, meanwhile an auxiliary system is constructed to achieve extra compensation for the adverse effects induced by input saturation. Furthermore, an integral sliding mode control method is presented to accommodate the nonlinear items in the reconfiguration block. An adaptive technique is also employed to preserve robustness against the unknown uncertainties. Finally, a vessel dynamic positioning control process is adopted to evaluate the effectiveness of the proposed method.

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