An integral sliding mode controller based disturbances rejection compound scheme for inertially stabilized platform in aerial remote sensing

2017 ◽  
Vol 232 (5) ◽  
pp. 932-943
Author(s):  
Xiangyang Zhou ◽  
Yuan Jia ◽  
Yong Li
Keyword(s):  
Remote Sensing ◽  
Sliding Mode ◽  
Measurement Unit ◽  
Sliding Mode Controller ◽  
Parameter Uncertainties ◽  
Integral Sliding Mode ◽  
Nonlinear Disturbances ◽  
Aerial Remote Sensing ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

An integral sliding mode controller based disturbance rejection compound scheme is proposed to attenuate the influences of nonlinear disturbances and parameter uncertainties on stability accuracy of the three-axis inertially stabilized platform for the aerial remote sensing applications. The compound scheme is composed of an integral sliding mode controller and a disturbance measurement unit. The integral sliding mode controller is used to ensure robust stability against exterior nonlinear disturbances and parameter uncertainties, in which the saturation function is employed to reduce the chattering. The disturbance measurement unit is served as the disturbance measurement components of the rate loop and current loop of three closed-loop structure in the inertially stabilized platform control system, by which the interior high-frequency disturbances are compensated in real time. To verify the method, simulations and experiments are conducted. In simulations, the LuGre friction model is introduced to analyze the effects of disturbances. Further, a series of experiments are carried out. The results show that the compound scheme has excellent ability in both of disturbances rejection and robust stabilization, by which the stability accuracy of the inertially stabilized platform is improved significantly.

Dynamic Modeling and Nonlinear Decoupling Control of Inertial Stabilized Platform for Aerial Remote Sensing System

2014 ◽  
Vol 898 ◽  
pp. 807-813 ◽  
Author(s):  
Rui Yin ◽  
Rui Wang ◽  
Xiang Yang Zhou ◽  
Xiang Yang Peng ◽  
Ke Wang
Keyword(s):  
Remote Sensing ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Decoupling Control ◽  
Analytical Mechanics ◽  
Sensing System ◽  
Mode Control ◽  
Aerial Remote Sensing ◽  
Stabilized Platform

The mutual coupling between the motion of three frames exists when inertial stabilized platform (ISP) for aerial remote sensing system is working, due to the mechanical character of the stabilized platform. Based on Lagrange mechanics and starting from analytical mechanics, a kinetics model of inertial stabilized platform is developed for analyzing the complex coupling relation. On the basis of the model, a nonlinear decoupling control method using sliding mode control (SMC) is designed for rolling and pitching frames after coupling moment being taken for external disturbance. While, for azimuth frame, which can not directly adopt sliding mode control method, a novel method of introducing a judgment factor and combining SMC and PID is provided. Compared with PID method, the simulation results show that the overshoot of the system is reduced obviously and the decoupling effect is better. Results obtained will be a theoretical foundation for the further study of inertial stabilized platform, and guarantee high precision to stabilized platform system.

scholarly journals A Modified Double-Integral-Sliding-Mode-Controller for a Microgrid System With Uncertainty

2020 ◽  
Author(s):  
Swati Sucharita Pradhan ◽  
Raseswari Pradhan
Keyword(s):  
Large Scale ◽  
Sliding Mode ◽  
State Observer ◽  
Sliding Mode Controller ◽  
Double Integral ◽  
Parameter Uncertainties ◽  
Integral Sliding Mode ◽  
Output Waveform ◽  
Highly Nonlinear ◽  
Unknown Control

Recently infiltration of large scale of microgrid systems into the power grid is recorded. Among these systems, photovoltaic (PV) based microgrid systems are more in demand due to its renewable, pollution free properties and abundantly available fuel. Grid integration of this microgrid system again enhanced its energy efficiency. But, dynamics of this PV based microgrid system is highly nonlinear and uncertain in nature. It suffers from parametric uncertainties. This kind of system can’t be controlled properly by conventional linear controllers. Sliding mode controller (SMC) is capable of controlling this kind of system with ease. However, SMC suffers from its inherent chattering introduction in the system output waveform. To reduce the chattering from the output waveform, there is requirement of some modification in the existing SMC structure dynamics. This paper presents an extended state observer based double integral sliding mode controller (DISMC) for this studied system. By using DISMC, the chattering magnitude is diminished greatly. Parameter uncertainties of the system lead to some unknown control states. These unknown states are identified by the state observer. Therefore, the proposed controller is more efficient in reference tracking, disturbance rejection and robust stability. To test the efficacies of the proposed controller, results of the studied system with this controller are compared with that of H∞ controller.

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

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