Adaptive sliding mode tracking control of hydraulic servosystems with unknown non-linear friction and modelling error

2000 ◽  
Vol 214 (4) ◽  
pp. 247-257 ◽  
Author(s):  
S H Cho ◽  
K A Edge
Keyword(s):  
Boundary Layer ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Scheme ◽  
Non Linear ◽  
Linear Friction ◽  
Frictional Forces ◽  
Mode Tracking ◽  
Modelling Error

This paper deals with the use of adaptive discrete-time sliding mode tracking control in order to assure good tracking performance as well as to guarantee robustness against non-linear frictional forces and modelling error. The control scheme ensures that the absolute value of the sliding function decreases when it is outside the sliding boundary layer and the steady state value of the sliding function is bounded by the sliding boundary layer. Application of the scheme to a hydraulic servosystem has shown that adaptively estimated frictional forces compare favourably with those obtained from direct measurement. A significant reduction in tracking error is achieved through the use of non-linear friction compensation.

Sliding mode tracking control of a low-pressure water hydraulic cylinder under non-linear friction

2002 ◽  
Vol 216 (5) ◽  
pp. 383-392 ◽  
Author(s):  
S H Cho ◽  
M Linjama ◽  
H Sairiala ◽  
K T Koskinen ◽  
M Vilenius
Keyword(s):  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Hydraulic Cylinder ◽  
Low Pressure ◽  
Non Linear ◽  
Linear Friction ◽  
Pressure Water ◽  
Water Hydraulic ◽  
Mode Tracking

This paper deals with a robust motion control of a low-pressure water hydraulic cylinder under non-linear friction. In order to ensure good tracking performance as well as to guarantee robustness, the sliding mode tracking control is utilized in combination with a non-linear friction compensator. Application of the scheme to a low-pressure water hydraulic cylinder position control has led to a significant reduction in tracking error when compared with the perfect tracking control scheme.

scholarly journals Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Wei Sun
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Terminal Sliding Mode ◽  
Nonholonomic Mechanical Systems ◽  
Affine Constraints ◽  
Control Scheme ◽  
Mode Tracking

This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.

Robust neural network control of MEMS gyroscope using adaptive sliding mode compensator

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 497-512 ◽  
Author(s):  
Juntao Fei ◽  
Yuzheng Yang
Keyword(s):  
Neural Network ◽  
Upper Bound ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Modeling Error ◽  
External Disturbances ◽  
Mems Gyroscope ◽  
Control Scheme ◽  
The Impact

SUMMARYA new robust neural sliding mode (RNSM) tracking control scheme using radial basis function (RBF) neural network (NN) is presented for MEMS z-axis gyroscope to achieve robustness and asymptotic tracking error convergence. An adaptive RBF NN controller is developed to approximate and compensate the large uncertain system dynamics, and a robust compensator is designed to eliminate the impact of NN modeling error and external disturbances for guaranteeing the asymptotic stability property. Moreover, another RBF NN is employed to learn the upper bound of NN modeling error and external disturbances, so the prior knowledge of the upper bound of system uncertainties is not required. All the adaptive laws in the RNSM control system are derived in the same Lyapunov framework, which can guarantee the stability of the closed loop system. Comparative numerical simulations for an MEMS gyroscope are investigated to verify the effectiveness of the proposed RNSM tracking control scheme.

scholarly journals Adaptive Sliding Mode Tracking Control for Unmanned Autonomous Helicopters Based on Neural Networks

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Min Wan ◽  
Mou Chen ◽  
Kun Yan
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Adaptive Sliding Mode ◽  
Control Scheme ◽  
Model Control ◽  
Autonomous Helicopters ◽  
Unknown Disturbances ◽  
Autonomous Helicopter ◽  
Mode Tracking

In this paper, an adaptive sliding mode tracking control scheme is developed for the medium-scale unmanned autonomous helicopter with system uncertainties and external unknown disturbances. A simplified mathematical model is established, which is divided into position subsystem and attitude subsystem. The uncertainty term of the system is handled by the inherent approximation ability of the neural network. The sliding model control scheme under the backstepping frame is developed for tackling disturbances. The stability of the simplified system is proved by using the Lyapunov theory, and the tracking errors are guaranteed to be uniformly bounded. Numerical simulation results show that the proposed control strategy is effective.

Sliding mode switching control under arbitrary switchings in the presence of uncertain parameters

2017 ◽  
Vol 232 (4) ◽  
pp. 399-407 ◽  
Author(s):  
Lei Yu ◽  
Shumin Fei ◽  
Jun Huang ◽  
Zhiwei Hou
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Switching Control ◽  
Mode Switching ◽  
System Control ◽  
Uncertain Parameters ◽  
Control Performance ◽  
Error Performance ◽  
Control Scheme

In this article, we concerned with the tracking control problem for a class of single-input single-output discrete switched nonlinear systems in the presence of uncertain parameters. We address a discrete-time sliding mode switching control scheme via disturbance compensator technique using saturation function and arbitrary switching method which is an effective robust way to reduce the chattering phenomenon and improve system control performance. The resulting closed-loop switched system is proved to be robustly stable such that the sliding mode surface of the closed control system is well obtained and the accuracy of the tracking error performance can be reached. Simulation results of the of electro-hydraulic servo system show that the presented sliding mode switching control scheme gives better tracking control performance over traditional sliding mode control scheme without disturbance compensator.

Fixed-time sliding mode tracking control for autonomous underwater vehicles

2021 ◽  
Vol 117 ◽  
pp. 102928
Author(s):  
Jiaqi Zheng ◽  
Lei Song ◽  
Lingya Liu ◽  
Wenbin Yu ◽  
Yiyin Wang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Fixed Time ◽  
Underwater Vehicles ◽  
Mode Tracking
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