scholarly journals MODELING AND SLIDING MODE CONTROL FOR A SINGLE FLEXIBLE MANIPULATOR

2019 ◽  
Vol 57 (5) ◽  
pp. 645
Author(s):  
Nguyen Quang Hoang ◽  
Ha Anh Son
Keyword(s):  
Jacobian Matrix ◽  
Sliding Mode ◽  
Mass Matrix ◽  
Flexible Manipulator ◽  
Sliding Mode Controller ◽  
The Finite Element Method ◽  
Modeling And Control ◽  
Lagrangian Equations ◽  
The Stability ◽  
And Control

This paper concerns with modeling and control of a single flexible manipulator (SFM). The finite element method (FEM) and Lagrangian equations are exploited to establish the dynamic modeling of SFM. Firstly, the Jacobian matrix is built based on kinematic analysis. Then it is used in construction of a mass matrix for each element. The position and vibration of SFM are controlled by sliding mode controller (SMC). Its parameters are chosen by linearized equations to guarantee the stability of the system. The numerical simulation is carried out to show the efficiency of the proposed approach.

BIOMECHANICAL STABILITY ANALYSIS OF THE λ-MODEL CONTROLLING ONE JOINT

2007 ◽  
Vol 17 (03) ◽  
pp. 193-206 ◽  
Author(s):  
L. LAN ◽  
K. Y. ZHU
Keyword(s):  
Equilibrium Point ◽  
Motor System ◽  
Jacobian Matrix ◽  
System Modeling ◽  
Neuromuscular Disorders ◽  
Biomechanical Stability ◽  
Modeling And Control ◽  
Human Motor ◽  
The Stability ◽  
And Control

Computer modeling and control of the human motor system might be helpful for understanding the mechanism of human motor system and for the diagnosis and treatment of neuromuscular disorders. In this paper, a brief view of the equilibrium point hypothesis for human motor system modeling is given, and the λ-model derived from this hypothesis is studied. The stability of the λ-model based on equilibrium and Jacobian matrix is investigated. The results obtained in this paper suggest that the λ-model is stable and has a unique equilibrium point under certain conditions.

scholarly journals Design, analysis, and control of a cable-driven parallel platform with a pneumatic muscle active support

Robotica ◽  
2015 ◽  
Vol 35 (4) ◽  
pp. 744-765 ◽  
Author(s):  
Xingwei Zhao ◽  
Bin Zi ◽  
Lu Qian
Keyword(s):  
Screw Theory ◽  
Sliding Mode ◽  
The Body ◽  
Sliding Mode Controller ◽  
Pd Controller ◽  
Pneumatic Muscle ◽  
Parallel Platform ◽  
Stiffness Characteristics ◽  
The Stability ◽  
And Control

SUMMARYThe neck is an important part of the body that connects the head to the torso, supporting the weight and generating the movement of the head. In this paper, a cable-driven parallel platform with a pneumatic muscle active support (CPPPMS) is presented for imitating human necks, where cable actuators imitate neck muscles and a pneumatic muscle actuator imitates spinal muscles, respectively. Analyzing the stiffness of the mechanism is carried out based on screw theory, and this mechanism is optimized according to the stiffness characteristics. While taking the dynamics of the pneumatic muscle active support into consideration as well as the cable dynamics and the dynamics of the Up-platform, a dynamic modeling approach to the CPPPMS is established. In order to overcome the flexibility and uncertainties amid the dynamic model, a sliding mode controller is investigated for trajectory tracking, and the stability of the control system is verified by a Lyapunov function. Moreover, a PD controller is proposed for a comparative study. The results of the simulation indicate that the sliding mode controller is more effective than the PD controller for the CPPPMS, and the CPPPMS provides feasible performances for operations under the sliding mode control.

Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Amin Khakpour Komarsofla ◽  
Ehsan Azadi Yazdi ◽  
Mohammad Eghtesad
Keyword(s):  
Sliding Mode ◽  
Main Body ◽  
Lagrange Equations ◽  
Flat Foot ◽  
Modeling And Control ◽  
System A ◽  
Hopping Robot ◽  
Hopping Robots ◽  
The Stability ◽  
And Control

SUMMARY In this article, a novel mechanism for planar one-legged hopping robots is proposed. The robot consists of a flat foot which is pinned to the leg and a reciprocating mass which is connected to the leg via a prismatic joint. The proposed mechanism performs the hopping by transferring linear momentum between the reciprocating mass and its main body. The nonlinear equations of the motion of the robot are derived using the Euler–Lagrange equations. To accomplish a stable jump, appropriate trajectories have been planned. To guarantee a stable response for this nonlinear system, a sliding-mode controller is implemented. The performance of the hopping robot is investigated through numerical simulations. The results confirm the stability of the hopping robot through the jump cycle on a flat surface and in climbing up and down ramp and stairs.

Modeling and control of an electronic wedge brake

2012 ◽  
Vol 226 (10) ◽  
pp. 2440-2455 ◽  
Author(s):  
Kwangjin Han ◽  
Myoungjune Kim ◽  
Kunsoo Huh
Keyword(s):  
Sliding Mode ◽  
Contact Point ◽  
Detection Algorithm ◽  
The Self ◽  
Sliding Mode Controller ◽  
Clamping Force ◽  
Modeling And Control ◽  
Braking Torque ◽  
Point Detection ◽  
And Control

The electronic wedge brake is one of the brake-by-wire systems with a self-energizing effect. It is attractive because it can produce enough braking torque with the 12-voltage system. However, the electronic wedge brake cannot be implemented unless the self-energizing effect is effectively controlled. In this study, the electronic wedge brake is modeled into dynamic equations, and a sliding mode controller is designed based on the model. The clamping force is estimated based on the simplified electronic wedge brake model and the contact point detection algorithm is also provided. The performance of the proposed controller is verified in simulations and experiments using a prototype electronic wedge brake.

scholarly journals Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Hamed Navabi ◽  
Soroush Sadeghnejad ◽  
Sepehr Ramezani ◽  
Jacky Baltes
Keyword(s):  
Mobile Robot ◽  
Mobile Robotics ◽  
Position Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Modeling And Control ◽  
Spherical Ball ◽  
Fuzzy Sliding Mode ◽  
Real Hardware ◽  
And Control

A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a) regulation with one signal, (b) regulation and position control with one signal, (c) regulation and position control with two signals, and (d) FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

Three-dimensional adaptive fixed-time guidance law against maneuvering targets with impact angle constraints and control input saturation

2021 ◽  
pp. 014233122110598
Author(s):  
Fei Ma ◽  
Yunjie Wu ◽  
Siqi Wang ◽  
Xiaofei Yang ◽  
Yueyang Hua
Keyword(s):  
Sliding Mode ◽  
Input Saturation ◽  
Three Dimensional ◽  
Fixed Time ◽  
Impact Angle ◽  
Guidance System ◽  
Control Input ◽  
Guidance Law ◽  
The Stability ◽  
And Control

This paper presents an adaptive fixed-time guidance law for the three-dimensional interception guidance problem with impact angle constraints and control input saturation against a maneuvering target. First, a coupled guidance model formulated by the relative motion equation is established. On this basis, a fixed-time disturbance observer is employed to estimate the lumped disturbances. With the help of this estimation technique, the adaptive fixed-time sliding mode guidance law is designed to accomplish accurate interception. The stability of the closed-loop guidance system is proven by the Lyapunov method. Simulation results of different scenarios are executed to validate the effectiveness and superiority of the proposed guidance law.

An adaptive sliding mode controller for the lateral control of articulated long vehicles

2018 ◽  
Vol 233 (3) ◽  
pp. 487-515 ◽  
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi ◽  
S Hamed Tabatabaei Oreh
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Lane Change ◽  
Lateral Velocity ◽  
Low Speed ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Articulated Vehicle ◽  
The Stability

Today, use of articulated long vehicles is surging. The advantages of using large articulated vehicles are that fewer drivers are used and fuel consumption decreases significantly. The major problem of these vehicles is inappropriate lateral performance at high speed. The articulated long vehicle discussed in this article consists of tractor and two semi-trailer units that widely used to carry goods. The main purpose of this article is to design an adaptive sliding mode controller that is resistant to changing the load of trailers and measuring the noise of the sensors. Control variables are considered as yaw rate and lateral velocity of tractor and also first and second articulation angles. These four variables are regulated by steering the axles of the articulated vehicle. In this article after developing and verifying the dynamic model, a new adaptive sliding mode controller is designed on the basis of a nonlinear model. This new adaptive sliding mode controller steers the axles of the tractor and trailers through estimation of mass and moment of inertia of the trailers to maintain the stability of the vehicle. An articulated vehicle has been exposed to a lane change maneuver based on the trailer load in three different modes (low, medium and high load) and on a dry and wet road. Simulation results demonstrate the efficiency of this controller to maintain the stability of this articulated vehicle in a low-speed steep steer and high-speed lane change maneuvers. Finally, the robustness of this controller has been shown in the presence of measurement noise of the sensors. In fact, the main innovation of this article is in the designing of an adaptive sliding mode controller, which by changing the load of the trailers, in high-speed and low-speed maneuvers and in dry and wet roads, has the best performance compared to conventional sliding mode and linear controllers.

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