State Feedback Sliding Mode Controller Design for Human Swing Leg System

In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.

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H-infinity Sliding Mode Controller Design for a Human Swing Leg System

Al-Nahrain Journal for Engineering Sciences ◽

10.29194/njes.23020117 ◽

2020 ◽

Vol 23 (2) ◽

pp. 117-126

Author(s):

Hazem I. Ali ◽

Azhar Jabbar Abdulridha

Keyword(s):

Knee Joint ◽

Hip Joint ◽

Controller Design ◽

Sliding Mode ◽

Knee Joints ◽

Upper Body ◽

Double Pendulum ◽

H Infinity ◽

Dynamic Output Feedback Controller ◽

Better Than

In this paper, the H-infinity Sliding Mode Control (HSMC) is designed to produce a new dynamic output feedback controller for trajectory tracking of the nonlinear human swing leg system. The human swing leg system represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg is represented by two pendulum links and the hip joint will connect the upper body to the thigh and the knee joint will connect the thigh to the shank. The external torques (servo motors) are applied at the hip and knee joints to move the muscles of thigh and shank. The results show that the HSMC can robustly stabilize the system and achieve a desirable time response specification better than if only H-infinity or SMC is used. This controller achieves the following specifications: sec, for hip joint and sec, for knee joint.

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Partial state feedback sliding mode control for double-pendulum overhead cranes with unknown disturbances

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/09544062211052018 ◽

2022 ◽

pp. 095440622110520

Author(s):

Qingrong Chen ◽

Wenming Cheng ◽

Jiahui Liu ◽

Run Du

Keyword(s):

Nonlinear Dynamics ◽

State Feedback ◽

Sliding Mode ◽

Equilibrium Points ◽

Sliding Mode Controller ◽

Double Pendulum ◽

The Novel ◽

Overhead Cranes ◽

Unknown Disturbances ◽

Partial State

In this paper, a novel sliding mode controller which requires partial state feedback is proposed for double-pendulum overhead cranes subject to unknown payload parameters and unknown external disturbances. Firstly, it is theoretically proved that the hook and payload tend to their respective equilibrium points concurrently. Secondly, a decoupling transformation is performed on the original nonlinear dynamics of double-pendulum overhead cranes. The novel sliding mode controller that does not require the prior information and motion signals of the payload is designed based on the decoupled nonlinear dynamics. Then, the asymptotic stability of the equilibrium point of double-pendulum overhead cranes is proved by rigorous analysis. Finally, several simulations are conducted to validate the effectiveness and robustness of the proposed controller.

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H2 Sliding Mode Controller Design for Mobile Inverted Pendulum System

Iraqi Journal of Computer Communication Control and System Engineering ◽

10.33103/uot.ijccce.18.2.2 ◽

2018 ◽

pp. 17-29

Keyword(s):

Mathematical Model ◽

Inverted Pendulum ◽

Controller Design ◽

Sliding Mode ◽

Upright Position ◽

Sliding Mode Controller ◽

Pendulum System ◽

System Parameters ◽

Inverted Pendulum System ◽

The Mathematical Model

The design of an H2 sliding mode controller for a mobile inverted pendulum system is proposed in this paper. This controller is conducted to stabilize the mobile inverted pendulum in the upright position and drive the system to a desired position. Lagrangian approach is used to develop the mathematical model of the system. The H2 controller is combined with the sliding mode control to give a better performance compared to the case of using each of the above controllers alone. The results show that the proposed controller can stabilize the system and drive the output to a given desired input. Furthermore, variations in system parameters and disturbance are considered to illustrate the robustness of the proposed controller.

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