Quadrotor Stabilization and Tracking Using Nonlinear Surface Sliding Mode Control and Observer

We propose a control method wherein the estimated angles converge to the desired value for quadrotor attitude stabilization and position tracking. To improve the performance of a quadrotor system, the unmeasured states of the quadrotor are estimated using a sliding mode observer (SMO). We set up a quadrotor dynamic model and augment the quadrotor dynamics by an SMO. We also derive the control inputs by sliding mode control (SMC) and calculate the desired angle of the quadrotor to reach the target position with the control inputs. For fast convergence speed and increased robustness of tracking performance, a nonlinear sliding surface is applied to SMC. The angle of the quadrotor converges to the desired value through the operation of SMC with a nonlinear sliding surface. The target tracking performance is improved by adaptively switching the deceleration curve of the sliding mode surface with a nonlinear curve. Using a tracking system based on a nonlinear surface sliding mode control (NSMC) and SMO, the quadrotor reaches the target position with a decreased settling time. The performance and effectiveness of the proposed system are proved through simulation results.

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Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1243/09596518jsce734 ◽

2009 ◽

Vol 223 (6) ◽

pp. 785-795 ◽

Cited By ~ 16

Author(s):

D W Qian ◽

X J Liu ◽

J Q Yi

Keyword(s):

Robust Control ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Underactuated Systems ◽

Sliding Surface ◽

Nominal System ◽

Sliding Surfaces ◽

Mode Control ◽

Mismatched Uncertainties

Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.

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Fuzzy Sliding Modes with Moving Surface for the Robust Control of a Planar Robot

Journal of Vibration and Control ◽

10.1177/1077546305055008 ◽

2005 ◽

Vol 11 (7) ◽

pp. 903-922 ◽

Cited By ~ 19

Author(s):

Nurkan Yagiz ◽

Yuksel Hacioglu

Keyword(s):

Fuzzy Logic ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Equations Of Motion ◽

Sliding Mode Controller ◽

Sliding Surface ◽

Fuzzy Logic Algorithm ◽

Mode Control ◽

Planar Robot

In this paper, we develop a new control method that brings together the advantages of fuzzy logic and sliding mode control. First, we introduce a non-chattering robust sliding mode control. Then, in order to improve the performance of the controller a fuzzy logic algorithm is integrated with the sliding mode controller. This algorithm decides the slope of the sliding surface of the sliding mode controller dynamically. Thus, the system is caught on the sliding surface rapidly and remains over it, more successfully improving the performance of the controller. Afterwards, to test the success of the controller introduced, it is applied to a planar robot, which is to follow a certain trajectory only using the control inputs produced. The results are compared with those of a conventional PID controlled system and a sliding mode controller with constant surface slope. In order to check the robust behavior of the controller designed, an unexpected change in the mass of the second link is introduced and to make the conditions tougher it is assumed that this change is not sensed by the controllers. Noise resistance of the proposed controller is also checked by introducing normally distributed noise components into the equations of motion of the robot model.

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Sliding Mode Control for Multiagent System with Time-Delay and Uncertainties: An LMI Approach

Mathematical Problems in Engineering ◽

10.1155/2013/805492 ◽

2013 ◽

Vol 2013 ◽

pp. 1-12 ◽

Cited By ~ 3

Author(s):

Pengfei Guo ◽

Jie Zhang ◽

Ming Lyu ◽

Yuming Bo

Keyword(s):

Time Delay ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Linear Matrix ◽

Sliding Surface ◽

Simple Method ◽

Mode Control ◽

Feedback Control Method ◽

System With Time Delay

This paper considers the sliding mode control of multiagent systems (MAS) with time-delay and uncertainties in terms of linear matrix inequality (LMI). By constructing virtual feedback control method, the design of control system is simplified for time-delay independent system without uncertainties. For a class of uncertain systems with single time-delay, the essence of SMC design is analyzed in order to acquire a simple method for designing sliding surface. In terms of multiple timedelay system with uncertainties, a sufficient condition for sliding surface with independent time-delay is acquired, while control law is also designed to ensure the robust stability of closed-loop system. Finally, the effectiveness of conclusion is demonstrated by simulation results.

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A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control

Complexity ◽

10.1155/2020/8874813 ◽

2020 ◽

Vol 2020 ◽

pp. 1-11

Author(s):

Feng Xu ◽

Na An ◽

Jianlin Mao ◽

Shubo Yang

Keyword(s):

Control System ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Terminal Sliding Mode Control ◽

Sliding Surface ◽

Terminal Sliding Mode ◽

Reaching Law ◽

Mode Control ◽

Exponential Power

In this article, a new nonlinear algorithm based on the sliding mode control is developed for the ball and plate control system to improve dynamic response and steady-state tracking accuracy of the control system. First, a new sliding mode reaching law is proposed, variable exponential power reaching law (VEPRL), which is expressed in two different forms including a nonlinear combination function term and a variable exponential power term, so that it can be adjusted adaptively according to the state of the system by the variable exponential power reaching term during the reaching process. The computation results show that it can not only effectively weaken the chattering phenomenon but also increase the rate of the system state reaching to the sliding mode surface. Moreover, it has the characteristic of global finite-time convergence. Besides, a complementary terminal sliding mode control (CTSMC) method is designed by combining the integral terminal sliding surface with the complementary sliding surface to improve the convergence rate. Based on the proposed VEPRL and CTSMC, a new sliding mode control method for the ball and plate system is presented. Finally, simulation results show the superiority and effectiveness of the proposed control method.

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Swing control for a three-link brachiation robot based on sliding-mode control on irregularly distributed bars

Mechanical Sciences ◽

10.5194/ms-12-1073-2021 ◽

2021 ◽

Vol 12 (2) ◽

pp. 1073-1081

Author(s):

Zhiguo Lu ◽

Guoshuai Liu ◽

Haibin Zhao ◽

Ruchao Wang ◽

Chong Liu

Keyword(s):

Sliding Mode Control ◽

Control Strategy ◽

Control Method ◽

Sliding Mode ◽

Target Position ◽

Control Model ◽

Important Research ◽

Link Structure ◽

Mode Control ◽

Simulation Results

Abstract. The bionic-gibbon robot is a popular bionic robot. The bionic-gibbon robot can imitate a gibbon in completing brachiation motion between branches. With nonlinear and underactuated properties, the robot has important research value. This paper designs a type of bionic-gibbon robot with three links and two grippers. To simplify the controller, a plane control model is proposed, and its dynamic model is established. The control strategy in this paper divides the brachiation motion into several processes: adjust posture, open the gripper, the swing process and close the gripper. Based on sliding-mode control (SMC), the control method for the swing process is designed. The target position of the brachiation motion is set as the origin of the sliding-mode surface. In a finite time, the robot will reach the target position along the approach rate we adopt. In this way, the robot can complete the desired brachiation motion only by setting the position parameters of the target bar. We perform some simulations in ROS-Gazebo. The simulation results show that the bionic-gibbon robot can complete continuous brachiation motion on irregularly distributed bars. The sliding-mode control and the three-link structure significantly improve the robustness and swing efficiency of the bionic-gibbon robot.

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Quantum sliding mode control via error sliding surface

Journal of Vibration and Control ◽

10.1177/1077546317752848 ◽

2018 ◽

Vol 24 (22) ◽

pp. 5345-5352

Author(s):

Somayeh Chegini ◽

Majid Yarahmadi

Keyword(s):

Sliding Mode Control ◽

Control Systems ◽

Control Method ◽

Sliding Mode ◽

System State ◽

Sliding Surface ◽

Mode Control ◽

Control Objective ◽

Bounded Uncertainties ◽

Projective Measurements

In this paper, a new quantum sliding mode control, for improving the performance of the two-level quantum sliding mode control systems with bounded uncertainties, is introduced. The presented quantum sliding surface is based on the error which occurs between the predetermined sliding mode and the system state. The control objective is to derive the system state to reach the sliding mode domain and then maintain its motion on it. For this purpose, we use the sliding mode control method and periodic projective measurements. A theorem for facilitating the presented method is proved. The simulated example shows that both the reaching time to the sliding mode and the control amplitude are significantly decreased, which demonstrate the effectiveness and validity of the presented method.

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Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

Mathematical Problems in Engineering ◽

10.1155/2014/965215 ◽

2014 ◽

Vol 2014 ◽

pp. 1-10 ◽

Cited By ~ 1

Author(s):

Taochang Li ◽

Jingtao Hu

Keyword(s):

Sliding Mode Control ◽

Transient Process ◽

Control Method ◽

Sliding Mode ◽

Adaptive Sliding Mode Control ◽

Sliding Surface ◽

Steering Control ◽

Mode Control ◽

Navigation Control ◽

Integral Sliding Surface

Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

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Robust Speed Control of PMSM Using Sliding Mode Control (SMC)—A Review

Energies ◽

10.3390/en12091669 ◽

2019 ◽

Vol 12 (9) ◽

pp. 1669 ◽

Cited By ~ 14

Author(s):

Fardila Mohd Zaihidee ◽

Saad Mekhilef ◽

Marizan Mubin

Keyword(s):

Sliding Mode Control ◽

High Performance ◽

Control Method ◽

Complex Dynamics ◽

Sliding Mode ◽

Speed Control ◽

Fast Response ◽

Current Status ◽

Sliding Surface ◽

Mode Control

Permanent magnet synchronous motors (PMSMs) are known as highly efficient motors and are slowly replacing induction motors in diverse industries. PMSM systems are nonlinear and consist of time-varying parameters with high-order complex dynamics. High performance applications of PMSMs require their speed controllers to provide a fast response, precise tracking, small overshoot and strong disturbance rejection ability. Sliding mode control (SMC) is well known as a robust control method for systems with parameter variations and external disturbances. This paper investigates the current status of implementation of sliding mode control speed control of PMSMs. Our aim is to highlight various designs of sliding surface and composite controller designs with SMC implementation, which purpose is to improve controller’s robustness and/or to reduce SMC chattering. SMC enhancement using fractional order sliding surface design is elaborated and verified by simulation results presented. Remarkable features as well as disadvantages of previous works are summarized. Ideas on possible future works are also discussed, which emphasize on current gaps in this area of research.

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