Partial state feedback sliding mode control for double-pendulum overhead cranes with unknown disturbances

2022 ◽  
pp. 095440622110520
Author(s):  
Qingrong Chen ◽  
Wenming Cheng ◽  
Jiahui Liu ◽  
Run Du
Keyword(s):  
Nonlinear Dynamics ◽  
State Feedback ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Sliding Mode Controller ◽  
Double Pendulum ◽  
The Novel ◽  
Overhead Cranes ◽  
Unknown Disturbances ◽  
Partial State

In this paper, a novel sliding mode controller which requires partial state feedback is proposed for double-pendulum overhead cranes subject to unknown payload parameters and unknown external disturbances. Firstly, it is theoretically proved that the hook and payload tend to their respective equilibrium points concurrently. Secondly, a decoupling transformation is performed on the original nonlinear dynamics of double-pendulum overhead cranes. The novel sliding mode controller that does not require the prior information and motion signals of the payload is designed based on the decoupled nonlinear dynamics. Then, the asymptotic stability of the equilibrium point of double-pendulum overhead cranes is proved by rigorous analysis. Finally, several simulations are conducted to validate the effectiveness and robustness of the proposed controller.

CONTROLLING THE UNCERTAIN MULTI-SCROLL CRITICAL CHAOTIC SYSTEM WITH INPUT NONLINEAR USING SLIDING MODE CONTROL

2009 ◽  
Vol 23 (16) ◽  
pp. 2021-2034 ◽  
Author(s):  
XINGYUAN WANG ◽  
DA LIN ◽  
ZHANJIE WANG
Keyword(s):  
Chaotic System ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Dead Zone ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Global Stabilization ◽  
Structure Control ◽  
Control Scheme ◽  
Simulation Results

In this paper, control of the uncertain multi-scroll critical chaotic system is studied. According to variable structure control theory, we design the sliding mode controller of the uncertain multi-scroll critical chaotic system, which contains sector nonlinearity and dead zone inputs. For an arbitrarily given equilibrium point of the uncertain multi-scroll chaotic system, we achieve global stabilization for the equilibrium points. Particularly, a class of proportional integral (PI) switching surface is introduced for determining the convergence rate. Furthermore, the proposed control scheme can be extended to complex multi-scroll networks. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

scholarly journals State Feedback Sliding Mode Controller Design for Human Swing Leg System

2018 ◽  
Vol 21 (1) ◽  
pp. 51 ◽  
Author(s):  
Hazem I. Ali ◽  
Azhar J. Abdulridha
Keyword(s):  
State Feedback ◽  
Humanoid Robot ◽  
Controller Design ◽  
Sliding Mode ◽  
Knee Joints ◽  
Upper Body ◽  
Double Pendulum ◽  
Robot Leg ◽  
Dynamic Output Feedback Controller ◽  
The Mathematical Model

In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.

Comparison of Sliding Mode Control With State Feedback and PID Control Applied to a Proportional Solenoid Valve

1996 ◽  
Vol 118 (3) ◽  
pp. 434-438 ◽  
Author(s):  
J. B. Gamble ◽  
N. D. Vaughan
Keyword(s):  
Pid Control ◽  
State Feedback ◽  
Sliding Mode ◽  
Control Strategies ◽  
Step Response ◽  
Sliding Mode Controller ◽  
Experimental Step ◽  
Reaction Forces ◽  
Valve Dynamics ◽  
Direct Acting

A novel nonlinear sliding mode controller has recently been developed for direct acting proportional solenoid valves. This paper presents a comparison between the valve performance using this controller, and that obtained using two alternative control strategies; state feedback and PID control. Each controller is described in turn, and experimental step response results are presented to demonstrate the validity of each strategy. These results are compared on the basis of response time, overshoot, and steady-state error. The time taken to design each controller, and the required level of knowledge of the valve dynamics, are also assessed. The ability of each controller to reject flow reaction forces is evaluated by observing the changes in the step response when oil is passed through the valve. The results demonstrate that the sliding mode controller results in a faster, more robust closed-loop response. In addition, only minimal knowledge of the valve dynamics is required in order to design the controller.

Design and Analysis of Non-linear Controller for a Standalone PV System using Lyapunov Stability Theory

2021 ◽  
pp. 1-22
Author(s):  
Narendra Kumar ◽  
Aman Sharma
Keyword(s):  
Lyapunov Stability ◽  
Stability Theory ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Lyapunov Stability Theory ◽  
Maximum Power ◽  
Hill Climbing ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Pv System

Abstract This paper presents Lyapunov Stability Theory based Nonlinear Controller Design for a Standalone PV System. The comparative analysis of different nonlinear controllers is also carried out . Due to the nonlinear characteristics of photovoltaic systems, conventional Hill-Climbing methods like Perturbate and Observe and Incremental Conductance do not show reliable tracking of Maximum Power under various uncertainties. Therefore, these methods require nonlinear tools to meet the control objectives and design specifications. Out of various nonlinear controlling techniques, the one presented in this paper is the Sliding Mode Approach for Maximum Power Point Tracking (MPPT). In context of Lyapunov Stability Theory, sliding mode approach uses a switching manifold. In this approach, the system trajectories are made to follow the sliding surface and to remain there forever to ensure the stability of equilibrium points. Two types of Sliding Mode controllers have been simulated namely Conventional - Sliding Mode Controller (CSMC) and Terminal - Sliding Mode Controller (TSMC). The results are analyzed and compared scientifically on various performance parameters including, duty cycle ratio, ideal and PV output power and time taken for error convergence, under varying dynamic conditions. All the control algorithms are developed in MATLAB/Simulink.

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