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.

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.

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.

Sliding Mode Control of Electronic Throttle Valve

2011 ◽  
Vol 58-60 ◽  
pp. 2505-2510 ◽  
Author(s):  
Rong Di Yuan ◽  
Quan Quan Du ◽  
Hui Zong Feng
Keyword(s):  
Control System ◽  
Lyapunov Function ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Good Control ◽  
Electronic Throttle ◽  
Mode Control ◽  
Control Robustness ◽  
Simulation And Experiment

Electronic throttle is a typical nonlinear device because of the nonlinear reset springs. Normal sliding mode control usually leads to chattering. To reduce chatters, a sliding mode control method based on compensation of nonlinearity is proposed, in which an observer is designed to observe and compensate the nonlinearity. A Lyapunov function was constructed to prove that control system is stable. Simulation and experiment results indicate that the proposed method can reduce chatters and achieve good control robustness.

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 Finite-Time Synchronization for Uncertain Master-Slave Chaotic System via Adaptive Super Twisting Algorithm

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
P. Siricharuanun ◽  
C. Pukdeboon
Keyword(s):  
Sliding Mode Control ◽  
Chaotic System ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Control Technique ◽  
Mode Control ◽  
Twisting Algorithm ◽  
Second Order Sliding Mode

A second-order sliding mode control for chaotic synchronization with bounded disturbance is studied. A robust finite-time controller is designed based on super twisting algorithm which is a popular second-order sliding mode control technique. The proposed controller is designed by combining an adaptive law with super twisting algorithm. New results based on adaptive super twisting control for the synchronization of identical Qi three-dimensional four-wing chaotic system are presented. The finite-time convergence of synchronization is ensured by using Lyapunov stability theory. The simulations results show the usefulness of the developed control method.

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