scholarly journals Performance of 2- Link Robot by utilizing Adaptive Sliding Mode Controller

2020 ◽  
Vol 26 (12) ◽  
pp. 44-65
Author(s):  
Dena Hameed Tu'ma ◽  
Ahmed Khalaf Hamoudi
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Equations Of Motion ◽  
Systems Design ◽  
Sliding Mode Controller ◽  
Robot System ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Robot Performance ◽  
Better Than

The Sliding Mode Control (SMC) has been among powerful control techniques increasingly. Much attention is paid to both theoretical and practical aspects of disciplines due to their distinctive characteristics such as insensitivity to bounded matched uncertainties, reduction of the order of sliding equations of motion, decoupling mechanical systems design. In the current study, two-link robot performance in the Classical SMC is enhanced via Adaptive Sliding Mode Controller (ASMC) despite uncertainty, external disturbance, and coulomb friction. The key idea is abstracted as follows: switching gains are depressed to the low allowable values, resulting in decreased chattering motion and control's efforts of the two-link robot system. Un-known uncertainty bounded and reducing switching gains can be considered major advantages of ASMC leading to outperform ASMC upon CSMC. Simulink MATLAB 2019a was used to obtain the simulation outcomes. The outcomes have shown that both methodologies had good tracking performance to the desired position and made the system asymptotically stable through the steady-state errors investigate approaching zero. ASMC is better than CSMC illustrated by minimizing gains values, control efforts, and chattering for each link.

scholarly journals Design of Adaptive Sliding Mode Controller for Uncertain Pendulum System

2021 ◽  
Vol 39 (3A) ◽  
pp. 355-369
Author(s):  
Dina H. Tohma ◽  
Ahmed K. Hamoudi
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Control Effort ◽  
Pendulum System ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Parameters Uncertainty ◽  
Better Than

This work aims to study and apply the adaptive sliding mode controller (ASMC) for the pendulum system with the existence of the parameters uncertainty, external disturbances, and coulomb friction. The adaptive sliding mode controller has several features over the conventional sliding mode control method. Firstly, the magnitude of the control signal is reduced to the minimally acceptable level defined by special conditions concerned with ASMC algorithm. Secondly, the upper bounds of uncertainties are not necessary to be defined before starting the work. For this reason, the ASMC can be used successfully to control the pendulum system with minimum control effort. These properties of the ASMC are confirming graphically by the simulation results using MATLAB 2019. The ASMC achieves an asymptotically stable system better than the Classical Sliding Mode Controller (CSMC). The unwanted phenomenon is called “chattering", which is appearing in the control action signal. These drawback properties are suppressed by employing a saturation function. Finally, the comparison between the results of the ASMC and CSMC showed that ASMC is the better one.

Sliding mode control of a shape memory alloy actuated active flexible needle

Robotica ◽  
2018 ◽  
Vol 36 (8) ◽  
pp. 1188-1205 ◽  
Author(s):  
Felix Orlando Maria Joseph ◽  
Tarun Podder
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Sliding Mode ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Precise Control ◽  
Adaptive Sliding Mode ◽  
Tissue Phantom ◽  
Adaptive Sliding Mode Controller ◽  
Actual Movement

SUMMARYIn medical interventional procedures such as brachytherapy, biopsy and radio-frequency ablation, precise tracking through the preplanned desired trajectory is very essential. This important requirement is critical due to two major reasons: anatomical obstacle avoidance and accurate targeting for avoiding undesired radioactive dose exposure or damage to neighboring tissue and critical organs. Therefore, a precise control of the needling device in the unstructured environment in the presence of external disturbance is required to achieve accurate target reaching in clinical applications. In this paper, a shape memory alloy actuated active flexible needle controlled by an adaptive sliding mode controller is presented. The trajectory tracking performance of the needle is tested while having its actual movement in an artificial tissue phantom by giving various input reference trajectories such as multi-step and sinusoidal. Performance of the adaptive sliding mode controller is compared with that of the proportional, integral and derivative controller and is proved to be the effective method in the presence of the external disturbances.

scholarly journals Friction Compensation Control of Electromechanical Actuator Based on Neural Network Adaptive Sliding Mode

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1508
Author(s):  
Wei Ruan ◽  
Quanlin Dong ◽  
Xiaoyue Zhang ◽  
Zhibing Li
Keyword(s):  
Neural Network ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Electromechanical Actuator ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Radial Basis ◽  
Actuator System

In this paper, a radial basis neural network adaptive sliding mode controller (RBF−NN ASMC) for nonlinear electromechanical actuator systems is proposed. The radial basis function neural network (RBF−NN) control algorithm is used to compensate for the friction disturbance torque in the electromechanical actuator system. An adaptive law was used to adjust the weights of the neural network to achieve real−time compensation of friction. The sliding mode controller is designed to suppress the model uncertainty and external disturbance effects of the electromechanical actuator system. The stability of the RBF−NN ASMC is analyzed by Lyapunov’s stability theory, and the effectiveness of this method is verified by simulation. The results show that the control strategy not only has a better compensation effect on friction but also has better anti−interference ability, which makes the electromechanical actuator system have better steady−state and dynamic performance.

scholarly journals Adaptive Sliding Mode Controller Design For Attitude Small UAV

2015 ◽  
Vol 4 (3) ◽  
pp. 219
Author(s):  
Samaneh Amini
Keyword(s):  
Attitude Control ◽  
Controller Design ◽  
Sliding Mode ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Attitude Control System ◽  
Strongly Coupled ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Aerial Vehicle

The dynamic of Unmanned Aerial Vehicle (UAV) is nonlinear, strongly coupled, multi-input multi-output (MIMO), and subject to uncertainties and external disturbances.  In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV. In the proposed scheme, sliding mode control law parameters due to uncertainty are assumed to be unknown and are estimated via adaptation laws. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Navigation outer loop parameters are regulated via PID controllers. Simulation results indicate that the proposed controller design can stabilize the nonlinear system, and it is robust to parametric model uncertainties and external disturbance.

scholarly journals Design of RBF Adaptive Sliding Mode Controller for A Supercavitating Vehicle

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 39873-39883
Author(s):  
Wang Jinghua ◽  
Liu Yang ◽  
Cao Guohua ◽  
Zhao Yongyong ◽  
Zhang Jiafeng
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Supercavitating Vehicle

Impact analysis and adaptive sliding mode control for cislunar payload transportation using spinning tether system

2018 ◽  
Vol 90 (8) ◽  
pp. 1168-1179 ◽  
Author(s):  
Hongshi Lu ◽  
Li Aijun ◽  
Wang Changqing ◽  
Zabolotnov Michaelovitch Yuriy
Keyword(s):  
Impact Analysis ◽  
Sliding Mode ◽  
Mass Parameter ◽  
Sliding Mode Controller ◽  
Content Type ◽  
Loop Control ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Payload Mass ◽  
Spinning Tether

Purpose This paper aims to present the impact analysis of payload rendezvous with tethered satellite system and the design of an adaptive sliding mode controller which can deal with mass parameter uncertainty of targeted payload, so that the proposed cislunar transportation scheme with spinning tether system could be extended to a wider and more practical range. Design/methodology/approach In this work, dynamical model is first derived based on Langrangian equations to describe the motion of a spinning tether system in an arbitrary Keplerian orbit, which takes the mass of spacecraft, tether and payload into account. Orbital design and optimal open-loop control for the payload tossed by the spinning tether system are then presented. The real payload rendezvous impact around docking point is also analyzed. Based on reference acceleration trajectory given by optimal theories, a sliding mode controller with saturation functions is designed in the close-loop control of payload tossing stage under initial disturbance caused by actual rendezvous error. To alleviate the influence of inaccurate/unknown payload mass parameters, the adaptive law is designed and integrated into sliding mode controller. Finally, the performance of the proposed controller is evaluated using simulations. Simulation results validate that proposed controller is found effective in driving the spinning tether system to carry payload into desired cislunar transfer orbit and in dealing with payload mass parameter uncertainty in a relatively large range. Findings The results show that unideal rendezvous manoeuvres have significant impact on in-plane motion of spinning tether system, and the proposed adaptive sliding mode controller with saturation functions not only guarantees the stability but also provides good performance and robustness against the parameter and unstructured uncertainties. Originality/value This work addresses the analysis of actual impact on spinning tether system motion when payload is docking with system within tolerated docking window, rather than at the particular ideal docking point, and the robust tracking control of deep-space payload tossing missions with the spinning tether system using the adaptive sliding mode controller dealing with parameter uncertainties. This combination has not been proposed before for tracking control of multivariable spinning tether systems.

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