Backstepping sliding mode control strategy of non-contact 6-DOF Lorentz force platform

2022 ◽  
pp. 107754632110567
Author(s):  
Quan Zhang ◽  
Yang Xian ◽  
Qing Xiao ◽  
Liang Xu ◽  
Zhuo Li ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Vibration Isolation ◽  
Sliding Mode ◽  
Virtual Prototype ◽  
Microgravity Environment ◽  
Prototype Model ◽  
Sliding Mode Controller ◽  
Spatial Error ◽  
Mode Control

With the development of aerospace technology, more and more scientific activities are carried out in the universe. Due to the microgravity environment of space, the control of the 6-DOF platform is different from those on the earth. First, a virtual prototype model of the 6-DOF non-contact platform was built in ADAMS. The dynamics model was developed based on the Newton–Euler method. Then, the 6-DOF backstepping sliding mode controller and disturbance observer were designed in MATLAB/Simulink. Finally, by combining the virtual prototype model in ADAMS and the control system in MATLAB, the co-simulation model was proposed. According to the simulation results, the 6-DOF backstepping sliding mode controller can well complete the positioning, 3D trajectory tracking, and vibration isolation tasks of non-contact 6-DOF platform. Quantitatively, the spatial error of backstepping sliding mode controller’s 3D trajectory tracking is only 50% of the ordinary sliding mode control and it is 20% of the nonlinear propotional-derivative-integral.

scholarly journals Double-Loop Sliding Mode Controller with An Ocean Current Observer for the Trajectory Tracking of ROV

2021 ◽  
Vol 9 (9) ◽  
pp. 1000
Author(s):  
Weilei Mu ◽  
Yuxue Wang ◽  
Hailiang Sun ◽  
Guijie Liu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Ocean Current ◽  
Sliding Mode Controller ◽  
Double Loop ◽  
Mode Control ◽  
Reference Velocity ◽  
Attitude Tracking

To solve the trajectory tracking problem of insufficient response and the large tracking error of remotely operated vehicles (ROVs) under the interference of large ocean currents, this paper proposes a double-loop sliding mode controller with an ocean current observer. The designed controller consisted of an outer-loop controller (the position controller) and an inner-loop controller (the velocity controller): the outer controller was designed by the position error, and a reference velocity was created for the inner loop to achieve accurate positioning and attitude tracking. The reference control input was treated as a new target to design the inner-loop controller, enabling the ROV to achieve accurate reference velocity tracking. Based on the theoretical idea of active disturbance rejection control, a kinematic equation-based ocean current observer was designed to estimate and compensate for large unknown currents to ensure accurate trajectory tracking performance under large currents. The simulation results proved that the double-loop sliding-mode control scheme with an ocean current observer always showed good tracking performance, demonstrating the excellent control performance and high robustness of the scheme. Compared with the high-complexity control schemes such as neural network-based PID control or fuzzy sliding mode control, it effectively improves the robustness to ocean current disturbances without increasing the computational effort excessively, and is more practical in ROV systems with limited computational power.

scholarly journals Ship Trajectory Tracking Control System Design Based on Sliding Mode Control Algorithm

2018 ◽  
Vol 25 (3) ◽  
pp. 26-34 ◽  
Author(s):  
Yong Liu ◽  
Renxiang Bu ◽  
Xiaori Gao
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Guidance System ◽  
Motion Path ◽  
Sliding Mode Controller ◽  
Trajectory Tracking Control ◽  
Mode Control

Abstract The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.

Control of quadrotor trajectory tracking with sliding mode control optimized by neural networks

2020 ◽  
Vol 234 (10) ◽  
pp. 1101-1119
Author(s):  
Somayeh Raiesdana
Keyword(s):  
Neural Networks ◽  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Simultaneous Localization And Mapping ◽  
Indoor Navigation ◽  
Mapping Technique ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Localization And Mapping

Quadrotor or unmanned helicopter is a mobile robot which often flies in unknown environment to perform special missions. In navigational tasks, the robot is intended to fly autonomously toward a target position by following an optimum trajectory. For a successful navigation, controlled attitude, minimum position and velocity error and obstacles collision avoidance are often considered during trajectory tracking procedure. By considering environmental variabilities and due to the existence of noises, uncertainties and unpredictable factors, it is indispensable to steer and control moving robots using sophisticated autonomous algorithms. In this work, a nonlinear model of four-rotor helicopter is simulated. An optimized terminal sliding mode control is then designed to control trajectory tracking. In order to improve the time indices for sliding mode controller, this controller is modified with neural networks. The idea is to optimize the controller parameters through a network learning process which is based on the control process error. The proposed method is evaluated with simulated and real-world indoor navigation tasks. Trajectories that are tracked by quadrotor are generated by a simultaneous localization and mapping algorithm and refined with an optimization technique. A well-known simultaneous localization and mapping technique (a camera-based extended Kalman filter-simultaneous localization and mapping) is employed to generate maps, and a path planning algorithm (particle swarm optimization) is utilized to optimize a collision-free flight path using the probability-based maps generated by simultaneous localization and mapping. Simulations and experiment are done in unknown but structured indoor environments containing a number of obstacles. The steady state error, the reaching and settle time and the chattering effect are all quantified and assessed. The controlled experimental flight robustness and sensitivity are further verified for noises occurred on vision and data acquisition system. Results indicate suitable performance for the proposed neural network-sliding mode controller. Less error and more stability were achieved comparative to the conventional sliding mode controllers.

Design of Sliding Mode Control Based on Nonlinear Observer for Nonlinear System

2011 ◽  
Vol 109 ◽  
pp. 541-546 ◽  
Author(s):  
Hui Da Duan ◽  
Yan Tao Tian ◽  
De Jun Liu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Uncertain System ◽  
Nonlinear Observer ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Nonlinear Uncertain System ◽  
Plate System

A new sliding mode controller for trajectory tracking of ball and plate system is proposed. In the controller, a nonlinear observer which is independent on plant model is used to observer the uncertainties and disturbance of the system. This paper proved that the nonlinear observer is convergence by properly selecting the parameters of observer. Sliding mode controller based on nonlinear observer is designed for the ball and plate system and it can guarantee stabilization of closed-loop system. The results of simulation and experiments indicate that the proposed nonlinear observer can observer uncertainties and disturbance of system, the proposed sliding mode control method is effectively to solve the problems of trajectory tracking in the nonlinear ,uncertain system.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

Study on Sliding Mode Control in Bidirectional DC/DC Converter Based on State Space Averaging Method

2014 ◽  
Vol 678 ◽  
pp. 399-405
Author(s):  
Yan Mei
Keyword(s):  
Sliding Mode Control ◽  
State Space ◽  
Averaging Method ◽  
Sliding Mode ◽  
Good Stability ◽  
Sliding Mode Controller ◽  
Battery Charging ◽  
Mode Control ◽  
Logic Diagram

Bidirectional DC/DC converter is used for the battery charging and discharging. The sliding mode controller based on state space averaging algorithm is used for controlling bidirectional DC/DC converter. Two kinds of working modes, buck mode and boost mode, have been analyzed and three kinds of working states which are consisted by two working modes have been deeply discussed, and the automatic switch logic diagram when battery charging and discharging through the bidirectional DC/DC converter has been presented. Situation of system based on S1, S2 conducting alternately has been studied, and the simulations were also presented. According to the results, the characteristics of good stability and transient can be confirmed.

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