scholarly journals The Bidirectional Position control of the Prismatic joint for Motorized single link Robotic arm using Adaptive Super-Twisting Sliding Mode Control

2021 ◽  
Author(s):  
Then Mozhi G. ◽  
Banu Sundareswari M. ◽  
Dhanalakshmi K.
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Robotic Arm ◽  
Prismatic Joint ◽  
Mode Control ◽  
Single Link

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

Conditional integrator sliding mode control of an unmanned quadrotor helicopter

2021 ◽  
pp. 095965182110498
Author(s):  
Yohan Díaz-Méndez ◽  
Leandro Diniz de Jesus ◽  
Marcelo Santiago de Sousa ◽  
Sebastião Simões Cunha ◽  
Alexandre Brandão Ramos
Keyword(s):  
Sliding Mode Control ◽  
Transient Response ◽  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Control Problems ◽  
Control Activity ◽  
Mode Control

Sliding mode control (SMC) is a widely used control law for quadrotor regulation and tracking control problems. The purpose of this article is to solve the tracking problem of quadrotors using a relatively novel nonlinear control law based on SMC that makes use of a conditional integrator. It is demonstrated by a motivation example that the proposed control law can improve the transient response and chattering shortcomings of the previous approaches of similar SMC based controllers. The adopted Newton–Euler model of quadrotor dynamics and controller design is treated separately in two subsystems: attitude and position control loops. The stability of the control technique is demonstrated by Lyapunov’s analysis and the effectiveness and performance of the proposed method are compared with a similar integral law, also based on SMC, and validated by tracking control problems using numerical simulations. Simulations were developed in the presence of external disturbances in order to evaluate the controller robustness. The effectiveness of the proposed controller was verified by performance indexes, demonstrating less accumulated tracking errors and control activity and improvement in the transient response and disturbance rejection when compared to a conventional integrator sliding mode controller.

Sliding mode control of rigid-link anthropomorphic robotic arm

2016 ◽  
Author(s):  
Syed Ali Ajwad ◽  
Raza Ul Islam ◽  
Muhammad Rizwan Azam ◽  
Muhammad Imran Ullah ◽  
Jamshed Iqbal
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robotic Arm ◽  
Rigid Link ◽  
Mode Control

Electro-Hydraulic Servo System Controlled by Index Reaching Law Sliding Mode

2011 ◽  
Vol 317-319 ◽  
pp. 1490-1494 ◽  
Author(s):  
Bao Quan Jin ◽  
Yan Kun Wang ◽  
Ya Li Ma
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Servo System ◽  
Response Speed ◽  
Reaching Law ◽  
Mode Control ◽  
Hydraulic Servo

The parameters uncertainty and external disturbance play a negative role to improve electro-hydraulic position servo system performance. The valve controlled cylinder system model is established, using the traditional PID control strategy and reaching law control strategy for simulating the system, respectively, the two methods have similar control effects in the ideal model, but considering the external disturbances, the index approaches sliding mode control law has better response speed and stability. Research shown that sliding mode control algorithm has an important role for improving the performance of hydraulic servo position control system.

Neural network–based sliding-mode control of a tendon sheath–actuated compliant rescue manipulator

2019 ◽  
Vol 233 (8) ◽  
pp. 1055-1066 ◽  
Author(s):  
Qingcong Wu ◽  
Xingsong Wang ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Radial Basis Function Network ◽  
Tendon Sheath ◽  
Step Response ◽  
Mode Control ◽  
Control Scheme ◽  
Modeling Uncertainties

The novel contribution of this article is to propose a neural network–based sliding-mode control strategy for improving the position-control performance of a tendon sheath–actuated compliant rescue manipulator. Structural design of a rescue robot with slender and compliant mechanical structure is introduced. The developed robot is capable of drilling into the narrow space under debris and accommodating complicated configuration in ruins. Dynamics modeling and parameters identification of a compliant gripper with flexible tendon sheath transmission are researched and discussed. Moreover, the neural network–based sliding-mode control scheme developed based on radial basis function network is proposed to improve the position-control accuracy of the gripper with modeling uncertainties and external disturbances. The stability of the proposed control system is demonstrated using Lyapunov stability theory. Further experimental investigation including trajectory-tracking experiments and step-response experiments are conducted to confirm the effectiveness of the proposed neural network–based sliding-mode control scheme. Experimental results show that the proposed neural network–based sliding-mode control scheme is superior to cascaded proportional–integral–derivative controller and conventional sliding-mode controller in position-control application.

Payload pendulation and position control systems for an offshore container crane with adaptive‐gain sliding mode control

2019 ◽  
Vol 22 (5) ◽  
pp. 2119-2128 ◽  
Author(s):  
Quang Hieu Ngo ◽  
Ngo Phong Nguyen ◽  
Chi Ngon Nguyen ◽  
Thanh Hung Tran ◽  
Van Huu Bui
Keyword(s):  
Sliding Mode Control ◽  
Control Systems ◽  
Position Control ◽  
Sliding Mode ◽  
Container Crane ◽  
Mode Control

Nonlinear Position Control of Smart Actuators Using Model Predictive Sliding Mode Control

2008 ◽  
Author(s):  
Byeongil Kim ◽  
Gregory N. Washington
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Hysteresis Model ◽  
Positioning Control ◽  
Mode Control ◽  
Input Field ◽  
Control Methodology ◽  
Piezoelectric Devices

This paper investigates a novel nonlinear positioning control methodology for piezoelectric stack actuators. Piezoelectric devices become very common recently for precise positioning, primarily due to the fact that they are solid state and can be accurately controlled by a voltage or current input. However, hysteresis decreases positioning accuracy and could lead to instability. The ultimate goal is to reduce it so that the piezoelectric device has a nearly linear relationship between the input field and output strain. The main purpose of this research is the reduction of the hysteresis utilizing a hysteresis model and a nonlinear model-based controller. A novel control method called model predictive sliding mode control (MPSMC) will be utilized on an actuator using a nonlinear energy-based hysteresis model. The idea of MPSMC is to implement model predictive control techniques to improve sliding mode control by forcing the system to reach the sliding surface in an optimal manner. Simulations and experiments were conducted to verify the technique.

scholarly journals A Novel Sliding Mode Control Framework for Electrohydrostatic Position Actuation System

2018 ◽  
Vol 2018 ◽  
pp. 1-22 ◽  
Author(s):  
Rongrong Yang ◽  
Yongling Fu ◽  
Ling Zhang ◽  
Haitao Qi ◽  
Xu Han ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Reduced Order Model ◽  
Design Solution ◽  
Order Model ◽  
Reduced Order ◽  
Mode Control ◽  
Actuation System ◽  
Mismatched Disturbances

A novel sliding mode control (SMC) design framework is devoted to providing a favorable SMC design solution for the position tracking control of electrohydrostatic actuation system (EHSAS). This framework is composed of three submodules as follows: a reduced-order model of EHSAS, a disturbance sliding mode observer (DSMO), and a new adaptive reaching law (NARL). First, a reduced-order model is obtained by analyzing the flow rate continuation equation of EHSAS to avoid the use of a state observer. Second, DSMO is proposed to estimate and compensate mismatched disturbances existing in the reduced-order model. In addition, a NARL is developed to tackle the inherent chattering problem of SMC. Extensive simulations are conducted compared with the wide adoption of three-loop PID method on the cosimulation platform of EHSAS, which is built by combining AMESim with MATLAB/Simulink, to verify the feasibility and superiority of the proposed scheme. Results demonstrate that the chattering can be effectively attenuated, and the mismatched disturbance can be satisfyingly compensated. Moreover, the transient performance, steady-state accuracy, and robustness of position control are all improved.

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