General model and improved global sliding mode control of the four-rotor aircraft

2017 ◽  
Vol 232 (4) ◽  
pp. 383-389 ◽  
Author(s):  
Chunbo Xiu ◽  
Fengnan Liu ◽  
Guowei Xu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Response Speed ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Special Cases ◽  
Global Robustness ◽  
General Mathematical Model ◽  
Dynamic Sliding Mode

In order to improve the versatility of the control method of the four-rotor aircraft, a general mathematical model, the rectangular four-rotor aircraft, is modeled, and two special cases, square cross structure and square X structure, are deduced. Based on the conventional global sliding mode control, an improved global sliding mode control is proposed to control the position and the attitude of the four-rotor aircraft. The dynamic sliding mode surface of the improved global sliding mode control can evolve into the linear sliding mode surface in a limited time by changing the decay function of the dynamic sliding mode surface. In this way, the controlled system has not only the strong global robustness but also the quick response rate. Simulation results show that the position and the attitude of the four-rotor aircraft can be controlled by the improved global sliding mode control, and the control performances, for instance the response speed, can be improved.

Fractional Dynamic Sliding Mode Control for uncertain chaotic systems Applied to a Chaotic Robot arm under dynamic load.

2020 ◽  
Vol 10 ◽  
Author(s):  
Sara Gholipour P ◽  
Sara Minagar ◽  
Javad Kazemitabar ◽  
Mobin Alizadeh
Keyword(s):  
Sliding Mode Control ◽  
Chaotic Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Qualitative And Quantitative ◽  
Mode Control ◽  
Quantitative Characteristics ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode ◽  
Qualitative And Quantitative Characteristics

Background: A novel type of control strategy is presented for control of chaotic systems particularly a chaotic robot in joint and workspace which is the result of applying fractional calculus to dynamic sliding mode control. Objectives: To guarantee the sliding mode condition, control law is introduced based on the Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Conclusion: Also, all of chaotic robot's qualitative and quantitative characteristics have been investigated. Numerical simulations indicate viability of our control method. Results: Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.

Global sliding mode control for the underactuated translational oscillator with rotational actuator system

2020 ◽  
pp. 095965182094613
Author(s):  
Xianqing Wu ◽  
Kexin Xu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Actuator System ◽  
Nonlinear Disturbance ◽  
Rotational Actuator

This article is motivated by the control issues of the translational oscillator with rotational actuator system in the existence of uncertain disturbances. A nonlinear disturbance observer and a global sliding mode control method are proposed for the disturbance estimation and stabilization of the translational oscillator with rotational actuator system. Compared with the existing control methods, uncertain disturbances are estimated by the proposed nonlinear disturbance observer. In addition, the sliding mode control method is continuous and global robustness with respect to disturbances. Specifically, to facilitate the controller design, the dynamics of the translational oscillator with rotational actuator system are rearranged as the cascade form first. Then, a virtual signal is constructed and corresponding error dynamics are derived. Subsequently, a nonlinear disturbance observer and a continuous global sliding mode control method are proposed for the disturbance rejection and stabilization of the translational oscillator with rotational actuator system. Finally, simulation results are provided to verify the effectiveness and robustness of the proposed controller.

scholarly journals Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot

2020 ◽  
Vol 10 (3) ◽  
pp. 413-420 ◽  
Author(s):  
Sara Gholipour ◽  
Heydar Toosian Shandiz ◽  
Mobin Alizadeh ◽  
Sara Minagar ◽  
Javad Kazemitabar
Keyword(s):  
Fractional Calculus ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Lyapunov Stability Theory ◽  
Mode Control ◽  
Control Scheme ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

Background & Objective: This paper considers the chattering problem of sliding mode control in the presence of delay in robot manipulator causing chaos in such electromechanical systems. Fractional calculus was used in order to produce a novel sliding mode to eliminate chatter. To realize the control of a class of chaotic systems in master-slave configuration, a novel fractional dynamic sliding mode control scheme is presented and examined on the delay based chaotic robot. Also, the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Results: Moreover, delayed robot motions are sorted out for qualitative and quantitative study. Finally, numerical simulations illustrate feasibility of the proposed control method. Conclusion: The control scheme is viable.

scholarly journals Adaptive Fuzzy Backstepping Control of MEMS Gyroscope Using Dynamic Sliding Mode Approach

2015 ◽  
Vol 44 (4) ◽  
pp. 380-386
Author(s):  
Yunmei Fang ◽  
Zhuli Yuan ◽  
Juntao Fei
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Control Input ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Dynamic Sliding Mode Control ◽  
Micro Electromechanical System ◽  
Dynamic Sliding Mode

In this paper, a dynamic sliding mode control using adaptive fuzzy backstepping (DSMCAFB) approach for a micro-electromechanical system (MEMS) vibratory z-axis gyroscope is presented. Based on an adaptive fuzzy backstepping control method, a dynamic sliding mode control is proposed to compensate and adjust the external disturbances and model uncertainties. The fuzzy control method with adaptive backstepping control design can avoid depending on the system model and approximate the system nonlinearities well. What’s more ,it can make the controller have the ability to learn and adjust the fuzzy parameters in real time. In addition, dynamic sliding mode control can transfer discontinuous terms to the first-order derivative of the control input in order to effectively reduce the chattering. The simulation studies are investigated to demonstrate the satisfactory performance of the proposed method.DOI: http://dx.doi.org/10.5755/j01.itc.44.4.9110

Backstepping Sliding Mode Control for Rocket Launcher Alternating Current Servo System

2012 ◽  
Vol 490-495 ◽  
pp. 1387-1391 ◽  
Author(s):  
Fu Hong Chen ◽  
Da Wei Ma ◽  
Fan Yang
Keyword(s):  
Sliding Mode Control ◽  
Gas Flow ◽  
Control Method ◽  
Sliding Mode ◽  
Servo System ◽  
Response Speed ◽  
Moment Of Inertia ◽  
Mode Control ◽  
Backstepping Sliding Mode Control ◽  
The Moment

Aiming at wide variations in loads and moment of inertia, large disturbed moment of a rocket launcher position servo system, a backstepping sliding mode control method was present. The proposed method combines the backstepping control with the classical sliding mode control in order to limit the matched disturbances and the unmatched disturbances , which are caused by the gas flow impact and the moment of inertia disturbance respectively. The simulation results show that the proposed approach can guarantee accuracy and increase the response speed and possesses a strong robustness to the matched disturbances and the unmatched disturbances.

scholarly journals Global robust super-twisting algorithm with adaptive switching gains for a hybrid robot

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142092642
Author(s):  
Guoqin Gao ◽  
Songyun Zhang ◽  
Mengyang Ye
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Prototype System ◽  
Mode Control ◽  
Global Robustness ◽  
Dynamic Sliding Mode Control ◽  
The Stability ◽  
Twisting Algorithm

To improve the robustness performance of dynamic sliding mode control to the time-varying uncertainties without the upper bound information in a hybrid robot system, a global robust super-twisting algorithm with adaptive switching gains is proposed. The main contributions are as follows: (1) for the problem that the robustness of the sliding mode control system is not guaranteed in the reaching phase, a global robust sliding surface is designed to eliminate the reaching phase of the sliding mode control; (2) for the chattering problem existing in the sliding phase of the sliding mode control system due to the conservative selection of switching gains, based on a reconstructive super-twisting sliding mode control and the equivalent principle, a fast-adaptive law is designed to effectively reduce the chattering while the global robustness is ensured. The stability of the proposed algorithm is proved by Lyapunov stability theorem. The simulation and experiment on the hybrid robot prototype system are implemented to verify the effectiveness of the proposed control method.

scholarly journals Improved fast global sliding mode control based on the exponential reaching law

2017 ◽  
Vol 9 (2) ◽  
pp. 168781401668796 ◽  
Author(s):  
Chunbo Xiu ◽  
Jianguo Hou ◽  
Guowei Xu ◽  
Yakun Zang
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Decay Function ◽  
Reaching Law ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
The Stability ◽  
Exponential Reaching Law

In order to improve the control performance of the global sliding mode control method, a fast global sliding mode control method is proposed to accelerate the response of the system by changing the exponential decay function in the sliding surface as an exponential bilateral decay function which can make the dynamic sliding mode surface evolve into the linear sliding mode surface in the finite time. The exponential reaching law is used to design the control law, and Lyapunov stability theory is used to prove the stability of the system. The control method proposed in this article can be applied to control the uncertain nonlinear system. Simulation results show that the method has faster response rate than the conventional global sliding mode control method. The method can be used to control the quad-rotor unmanned helicopter, and its good practicability can be verified.

Dynamic Sliding-Mode Control with Backstepping for Underactuated AUV in Diving Plane

2012 ◽  
Vol 220-223 ◽  
pp. 1148-1152 ◽  
Author(s):  
Li Dong Guo ◽  
Li Xin Yang ◽  
He Ming Jia
Keyword(s):  
Sliding Mode Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Sliding Mode ◽  
Equivalent Model ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Dynamic Sliding Mode Control ◽  
Simulation Results ◽  
Dynamic Sliding Mode

A dynamic sliding-mode control (DSMC) with backstepping is proposed for diving control of autonomous underwater vehicle (AUV), where surge force and stern plane are only available for vehicle's 3DOF diving motion. First, an equivalent model of AUV is developed. Then, the DSMC with an asymptotical sliding surface is proposed for the trajectory tracking control of AUV. Moreover, the analysis of stability can be completed by Lyapunov stability theory. Finally, To demonstrate the effectiveness of the proposed method, the simulation results are illustrated in this paper. simulation results show that, the tracking precision and the robustness of the system are improved under the proposed control method.

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