Robust vibration control of a flexible arm subjected to torque disturbance

2006 ◽  
Vol 220 (2) ◽  
pp. 149-158 ◽  
Author(s):  
S-B Choi
Keyword(s):  
Vibration Control ◽  
Sliding Mode ◽  
Sampling Period ◽  
Sampling Time ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Experimental Realization ◽  
Average Value ◽  
Flexible Arm ◽  
Single Link

This paper presents a perturbation estimator in sliding mode control system and applies it to vibration control of a flexible arm subjected to torque disturbance. The proposed estimator is featured by an integrated average value of the imposed perturbation over a certain sampling period. By implementing this type of estimator, undesirable chattering phenomenon can be effectively alleviated in the estimation process. In addition, the proposed method offers a flexibility for tuning the ratio of the estimation sampling time to the control input sampling time. In order to demonstrate the effectiveness of the proposed methodology, a single-link flexible arm is constructed. After formulating the governing equation of motion, a sliding mode controller which is integrated with the proposed estimator is designed. Vibration control performances of the flexible arm subjected to sinusoidal torque disturbances are evaluated through both computer simulation and experimental realization.

New Sliding Mode Controller for Robotic Manipulator Subjected to Disturbance and Uncertainty

2006 ◽  
Vol 220 (6) ◽  
pp. 807-815 ◽  
Author(s):  
J H Ham ◽  
S B Choi
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Estimation Error ◽  
Sampling Period ◽  
Robotic Manipulator ◽  
Sliding Mode Controller ◽  
Control Performance ◽  
Parameter Uncertainties ◽  
Average Value ◽  
Predicted Values

This article presents a new sliding mode controller (SMC) for the position control of a robotic manipulator subjected to perturbations, such as parameter uncertainties and extraneous disturbances. The SMC is designed so that the sliding mode condition is satisfied and integrated with the perturbation estimator. The estimator is formulated by adopting a concept of the integrated average value of the imposed perturbation over a certain sampling period and realized using the Taylor series. In the formulation of the estimator, the relationship between control performance and sensor performance is established by adjusting the sampling ratio. Subsequently, in order to improve control performance, the actuating condition for the estimator is introduced: on-off switching condition (OSC). This condition is decided on the basis of the estimation error between actual and predicted values. By imposing the OSC, control accuracy can be enhanced when high frequency perturbations exist in the system. The benefits of the proposed methodology are demonstrated on a two-link planar manipulator. The position control performances of the manipulator are evaluated and compared between the proposed methodology and conventional control schemes.

Design of a novel adaptive fuzzy sliding mode controller and application for vibration control of magnetorheological mount

2014 ◽  
Vol 228 (13) ◽  
pp. 2285-2302 ◽  
Author(s):  
Do Xuan Phu ◽  
Nguyen Vien Quoc ◽  
Joon-Hee Park ◽  
Seung-Bok Choi
Keyword(s):  
Sliding Mode Control ◽  
Vibration Control ◽  
Sliding Mode ◽  
Shear Mode ◽  
Sliding Mode Controller ◽  
Experimental Realization ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Interval Type

This paper presents vibration control of a mixed-mode magnetorheological fluid-based mount system using a new robust fuzzy sliding mode controller. A novel model of controller is built based on adaptive hybrid control of interval type 2 fuzzy controller incorporating with a new modified sliding mode control. The interval type 2 fuzzy is optimized for computational cost by using enhanced iterative algorithm with stop condition, and a new modified switching surface of sliding mode control is designed for preventing the chattering of the system. The controller is then experimentally implemented under uncertain conditions in order to evaluate robust vibration control performance. In addition, in order to demonstrate the effectiveness of the proposed controller, two fuzzy sliding mode control algorithms proposed by Huang and Chan are adopted and modified. The principal control parameters of three controllers are updated online by adaptation laws to meet requirements of magnetorheological mount system which has two operation modes: flow mode and shear mode. It is shown from experimental realization of three controllers that the proposed control strategy performs the best under uncertain conditions compared with two other modified controllers. This merit is verified by presenting vibration control performances in both time and frequency domains.

Vibration Control of Smart Structures Using Piezofilm Actuators

2006 ◽  
Vol 306-308 ◽  
pp. 1205-1210
Author(s):  
Seung Bok Choi ◽  
Jung Woo Sohn
Keyword(s):  
Vibration Control ◽  
Time Domain ◽  
Sliding Mode ◽  
Flexible Structures ◽  
Space Representation ◽  
Sliding Mode Controller ◽  
Separation Principle ◽  
Beam Structure ◽  
Experimental Realization ◽  
Smart Beam

This paper presents vibration control of a flexible smart beam structure using a new discrete-time sliding mode controller. After formulating the dynamic model in the space representation, so called the separation principle for equivalent controller is established so that the sliding mode conditions are satisfied. By doing this, undesirable chattering of the flexible structures can be attenuated in the settled phase. In order to demonstrate some benefits of the proposed methodology, an experimental realization is undertaken. Both transient and forced vibration control responses are evaluated in time domain and compared between with and without the separation principle.

Precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller

2020 ◽  
Vol 26 (19-20) ◽  
pp. 1683-1696 ◽  
Author(s):  
Farzaneh Hamzeh Nejad ◽  
Ali Fayazi ◽  
Hossein Ghayoumi Zadeh ◽  
Hassan Fatehi Marj ◽  
S Hassan HosseinNia
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Positioning Control ◽  
Mode Control ◽  
Flexible Arm ◽  
Control Scheme ◽  
Single Link ◽  
Tip Position

This article presents an efficient scheme based on fractional order sliding mode control approach for precision tip position control of a single link flexible robot arm. The proposed control strategy is robust against the system parameters variations such as payload and viscous friction variations in the presence of the sinusoidal disturbance and the unknown Coulomb friction disturbances. The aim of controller design is reduction of the deviation caused by the link flexibility and then the precision tip positioning control of the single-link flexible arm. In this regard, sliding mode control strategy is performed in two stages. In the first stage, the difference between the motor angle (load angle) and the tip angle of the flexible link is reduced by applying the proposed fractional order sliding mode controller and then, in the second step, the precision tracking of the tip position of the link is done by adding another sliding mode control scheme. The feasibility and effectiveness of the proposed control scheme is demonstrated via numerical simulation results.

scholarly journals Vibration Control of Blade Section Based on Sliding Mode PI Tracking Method and OPC Technology

2019 ◽  
Vol 2019 ◽  
pp. 1-12 ◽  
Author(s):  
Tingrui Liu
Keyword(s):  
Vibration Control ◽  
Sliding Mode ◽  
Engineering Application ◽  
Control Input ◽  
Pi Method ◽  
Opc Technology ◽  
Practical Engineering ◽  
Blade Section ◽  
The Stability ◽  
And Control

Vibration control of the blade section of a wind turbine is investigated based on the sliding mode proportional-integral (SM-PI) method, i.e., sliding mode control (SMC) based on a PI controller. The structure is modeled as a 2D pretwisted blade section integrated with calculation of structural damping, which is subjected to flap/lead-lag vibrations of instability. To facilitate the hardware implementation of the control algorithm, the SM-PI method is applied to realize tracking for limited displacements and velocities. The SM-PI algorithm is a novel SMC algorithm based on the nominal model. It combines the effectiveness of the sliding mode algorithm for disturbance control and the stability of PID control for practical engineering application. The SM-PI design and stability analysis are discussed, with superiority and robustness and convergency control demonstrated. An experimental platform based on human-computer interaction using OPC technology is implemented, with position tracking for displacement and control input signal illustrated. The platform verifies the feasibility and effectiveness of the SM-PI algorithm in solving practical engineering problems, with online tuning of PI parameters realized by applying OPC technology.

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