High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error

2011 ◽  
Vol 1 (4) ◽  
pp. 19-43 ◽  
Author(s):  
Dereje Shiferaw ◽  
Anamika Jain ◽  
R. Mitra
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Computation Time ◽  
Variable Structure ◽  
Joint Space ◽  
Stewart Platform ◽  
Task Space ◽  
Tracking Accuracy ◽  
Synchronization Errors ◽  
Equivalent Control

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task space and the discontinuous switching controller part is computed in joint space and hence it is a hybrid of the two approaches. The hybrid implementation helps to reduce computation time and to achieve high performance in task space without the need to measure or estimate 6DOF task space positions. Effect of actuator friction, backlash and parameter variation due to loading have been studied and simulation results confirmed that the controller is robust and achieves better tracking accuracy than other types of sliding mode controllers and simple PID controller.

High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error

2013 ◽  
pp. 225-248
Author(s):  
Dereje Shiferaw ◽  
Anamika Jain ◽  
R. Mitra
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Computation Time ◽  
Variable Structure ◽  
Joint Space ◽  
Stewart Platform ◽  
Task Space ◽  
Tracking Accuracy ◽  
Synchronization Errors ◽  
Equivalent Control

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task space and the discontinuous switching controller part is computed in joint space and hence it is a hybrid of the two approaches. The hybrid implementation helps to reduce computation time and to achieve high performance in task space without the need to measure or estimate 6DOF task space positions. Effect of actuator friction, backlash and parameter variation due to loading have been studied and simulation results confirmed that the controller is robust and achieves better tracking accuracy than other types of sliding mode controllers and simple PID controller.

scholarly journals Variable Structure Compensation PID Control of Asymmetrical Hydraulic Cylinder Trajectory Tracking

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Difei Liu ◽  
Zhiyong Tang ◽  
Zhongcai Pei
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Hydraulic Cylinder ◽  
Control Value ◽  
Equivalent Control ◽  
Asymmetrical Hydraulic Cylinder ◽  
The Stability

A novel variable structure compensation PID control, VSCPID in short, is proposed for trajectory tracking of asymmetrical hydraulic cylinder systems. This new control method improves the system robustness by adding a variable structure compensation term to the conventional PID control. The variable structure term is designed according to sliding mode control method and therefore could compensate the disturbance and uncertainty. Meanwhile, the proposed control method avoids the requirements for exact knowledge of the systems associated with equivalent control value in SMC that means the controller is simple and easy to design. The stability analysis of this approach is conducted with Lyapunov function, and the global stability condition applied to choose control parameters is provided. Simulation results show the VSCPID control can achieve good tracking performances and high robustness compared with the other control methods under the uncertainties and varying load conditions.

Sliding Mode Current Observer for Sensorless Vector Control of PMSM

2011 ◽  
Vol 304 ◽  
pp. 191-195
Author(s):  
Yong Hua Zhu ◽  
Wen Tong Ye ◽  
Yong Chen
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Permanent Magnet Synchronous Motor ◽  
Variable Structure ◽  
Control Law ◽  
Sign Function ◽  
Sensorless Vector Control ◽  
Equivalent Control ◽  
Static Performance ◽  
Mode A

The sensorless control system of permanent magnet synchronous motor is a system with an uncertainty and external disturbance. This paper uses the control law of equivalent control matched with switching control according to the theory of variable structure with sliding mode control, and achieves a robust control of the uncertainty and external disturbance. In order to eliminate the adverse effect caused by the chattering of the sliding mode, a saturation function of the quasi-sliding mode is used instead of the traditional sign function. Simulations and experiments prove that this control technology has a nicer dynamic and static performance.

Research of Sliding Mode Control with Integral Compensator for Permanent Magnet Linear Synchronous Machine

2013 ◽  
Vol 416-417 ◽  
pp. 646-651
Author(s):  
Ying Quan Liu ◽  
Dong Ru Sun ◽  
Yun Yue Ye
Keyword(s):  
Permanent Magnet ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Object ◽  
Variable Structure ◽  
Synchronous Machine ◽  
Equivalent Model ◽  
Model Parameters ◽  
State Equations ◽  
Equivalent Control

In order to solve the high-frequency chattering and low anti-disturbance in conventional variable structure control (VSC) method with sliding mode, a compensator scheme of introducing integral structure before control object is proposed. Firstly, the position loop VSC state equations and equivalent control model are established based on the analyses of the mathematical model of permanent magnet linear synchronous machine (PMLSM). Then it presents a more accurate and comprehensive method to determine the control parameters and the equivalent model parameters. Computer simulation with the motor parameters of a flat type PMLSM verifies the feasibility and effectiveness of the compensator structure. Compared with the conventional VSC, the proposed structure can solve the vibration caused by external disturbance and load variations, and attenuate the chattering effectively. It is concluded through further analyses that the proposed structure can overcome the system oscillations generated by mover mass and permanent magnet flux linkage, and improve the robustness and control precision of the system.

A Method for Nonlinearity Compensation of the Stabilized Tracking System

2013 ◽  
Vol 427-429 ◽  
pp. 1705-1709
Author(s):  
Hong Jie Hu ◽  
Chao Zhang ◽  
Ye Wu ◽  
Xiong Jun Wu
Keyword(s):  
Optimal Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking System ◽  
Variable Structure ◽  
Tracking Accuracy ◽  
Fast Tracking ◽  
Motion Simulator ◽  
Sliding Mode Variable Structure

The rapidity and tracking accuracy of the stabilized tracking system are mainly influenced by nonlinearity Currently, various methods has concentrated on nonlinear compensation such as optimal control and sliding mode variable structure. However, the optimal control method needs precise mathematical model, and sliding mode variable structure method leads to fluctuations of the output. Thus, this paper firstly builds a physical model of the tracking system, and then designs a differential ahead and disturbance observer (DOB) controller for stabilization loop, and a disturbance observer is used to compensate nonlinearity. A case study of a single-axis motion simulator is presented to validate the proposed method. The experiment result shows that the proposed method can obviously improve the stabilized tracking platforms performance in terms of accuracy and fast tracking ability.

Modelling and Control of a Manipulator With Hydraulic Actuators

2003 ◽  
Author(s):  
Y. Liu ◽  
H. Handroos
Keyword(s):  
Large Scale ◽  
Sliding Mode ◽  
Joint Space ◽  
Full Potential ◽  
Task Space ◽  
Hydraulic Actuators ◽  
Space Coordinate ◽  
Set Up ◽  
Control Application ◽  
And Control

Modelling and control for a large-scale manipulator, the structure of which is a three-link manipulator with hydraulic actuators is studied in the presented paper. Firstly, a numerically efficient simulation model is set up for the purpose of real time and control application. Secondly, a control using sliding mode is developed to exploit the full potential of the hydraulic manipulator. In order to design sliding mode control to track a trajectory of the end effector in task space directly, it is necessary to build a mapping between the joint space coordinate to the task space. To demonstrate the control performance, Proportional control is used for simulation to compare with SMC, and the experimental results are also given.

Adaptive Fuzzy PI-Sliding Mode Controller for Induction Motor Speed Control

2005 ◽  
Vol 4 (1) ◽  
Author(s):  
Abdeldjebar Hazzab ◽  
Bousserhane Ismail Khalil ◽  
Mokhtar Kamli ◽  
Mostefa Rahli
Keyword(s):  
Induction Motor ◽  
High Performance ◽  
Sliding Mode ◽  
Speed Control ◽  
Control Action ◽  
Sliding Mode Controller ◽  
Motor Speed ◽  
Adaptive Fuzzy ◽  
Adaptive Sliding Mode Controller ◽  
Equivalent Control

In this paper, an adaptive fuzzy PI-sliding mode control (AFPISMC) is proposed for induction motor (IM) speed control. First, an adaptive sliding-mode controller (APISMC) with a proportional plus integral equivalent control action is investigated, in which a simple adaptive algorithm is utilized for generalised soft-switching parameters. The proposed control design uses the fuzzy logic techniques to dynamically control parameter settings of the SMC equivalent control action. The theoretical analyses for the proposed fuzzy PI-sliding-mode controller are described in detail. Simulated results show that the proposed controller provides high-performance dynamic characteristics and is robust with regard to plant parameter variations and external load disturbance.

A Modified Direct Torque Control Based Fuzzy Variable Structure of Permanent Magnet Synchronous Motor

2013 ◽  
Vol 313-314 ◽  
pp. 15-19
Author(s):  
Guo Lin Che ◽  
Hua Lai
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Fuzzy Variable ◽  
Direct Torque Control ◽  
Variable Structure ◽  
Torque Ripple ◽  
Torque Control ◽  
Torque Control Strategy ◽  
Sliding Mode Variable Structure

For getting the High-performance electric vehicle control which has good dynamic, static characteristics and robustness, a direct torque control strategy of fuzzy sliding mode variable structure was designed to IPM motor. The method changes torque ripple, speed overshoot, poor anti-disturbance ability of the conventional DTC, and weakened the serious chatting which existed in sliding mode variable structure control. The simulation results show the feasibility and effectiveness.

Sliding Mode Controller Based on Fuzzy Neural Network Optimization for FSPM

2012 ◽  
Vol 229-231 ◽  
pp. 2170-2173
Author(s):  
Zhi Feng Zhang ◽  
Bao Dong Bai ◽  
Guo Xin Zhao
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Direct Torque Control ◽  
Variable Structure ◽  
Torque Ripple ◽  
Torque Control ◽  
Sliding Mode Controller ◽  
Control Gain ◽  
Fuzzy Neural ◽  
Low Torque

A sliding mode controller for flux-switching permanent magnet (FSPM) motor is investigated in this paper, in which direct torque control (DTC) concept, variable structure control are integrated to achieve high performance. Then, an FNN is investigated to optimize the control gain matrix of sliding mode controller. The theoretical analyses for the proposed FNN sliding-mode controller are described in detail. Simulation results show that the proposed FNN sliding-mode controller provides low torque ripple and the chattering phenomenon is much reduced.

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