The Leveling Position Control of a Four-Axial Active Pneumatic Isolation System Using PWM-Driving Parallel Dual-On/Off Valves

2011 ◽  
Vol 110-116 ◽  
pp. 3176-3183 ◽  
Author(s):  
Mao Hsiung Chiang ◽  
Hao Ting Lin
Keyword(s):  
Trajectory Tracking ◽  
Vibration Isolation ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Trajectory Tracking Control ◽  
Isolation System ◽  
Adaptive Sliding Mode Controller ◽  
Novel Concept

This study aims to develop a leveling position control of an active PWM-controlled pneumatic isolation table system. A novel concept using parallel dual-on/off valves with PWM control signals is implemented to realize active control and to improve the conventional pneumatic isolation table that supported by four pneumatic cushion isolators. In this study, the cushion isolators are not only passive vibration isolation devices, but also pneumatic actuators in active position control. Four independent closed-loop position feedback control system are designed and implemented for the four axial isolators. In this study, on/off valves are used, and PWM is realized by software. Therefore, additional hardware circuit is not required to implement PWM and not only cost down but also reach control precision of demand. In the controller design, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to deal with the uncertainty and time-varying problems of pneumatic system. Finally, the experiments on the pneumatic isolation table system for synchronous position and trajectory tracking control, including no-load and loading conditions, and synchronous position control with master-slave method, are implemented in order to verify that the controller for each cushion isolator can realize good position and trajectory tracking performance.

A comparative study of two model-based control techniques for the industrial manipulator

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 2036-2055 ◽  
Author(s):  
Ahmet Dumlu ◽  
Köksal Erentürk ◽  
Alirıza Kaleli ◽  
Kağan Koray Ayten
Keyword(s):  
Real Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Trajectory Tracking Control ◽  
Spherical Type ◽  
Control Techniques

SUMMARYIn this paper, design, analysis and real-time trajectory tracking control of a 6-degree of freedom revolute spherical-spherical type parallel manipulator, actuated by six hybrid stepper motors, has been studied. Two different control approaches have been used to improve the trajectory tracking performance of the designed manipulator. The first approach considered a single input-single output (SISO) linear quadratic regulator (LQR) for trajectory tracking control of the manipulator. Another controller type based on a nonlinear sliding mode controller method has been utilized to take decoupled dynamic approximation model of the manipulator into account and to improve tracking performance of the manipulator. Real-time experimental results for the two different control techniques have been verified. Finally, according to the results, the nonlinear sliding mode controller method has improved the tracking performance of the designed manipulator.

Trajectory tracking of under-actuated quadcopter using Lyapunov-based optimum adaptive controller

2021 ◽  
pp. 095441002110108
Author(s):  
M Navabi ◽  
Ali Davoodi ◽  
Hamidreza Mirzaei
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Pso Algorithm ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Adaptive Sliding Mode Controller ◽  
Backstepping Controller ◽  
Flying Robot

In this article, optimum adaptive sliding mode controller (ASMC) optimized by particle swarm optimization (PSO) algorithm is designed to solve the trajectory tracking control problems of a quadcopter with model parameter uncertainties. Quadcopters have nonlinear, multi-input multi-output, coupled and under-actuated dynamics. For comparison with the designed controller, an adaptive integral backstepping controller approach is applied to compensate mass and inertia uncertainties of the flying robot. These methods guarantee stability of closed-loop system and force the states to track desired reference signals. The performance of both controllers is evaluated by numerical simulations. The obtained results demonstrate the better effectiveness of the designed PSO ASMC in stabilization of tracking particularly with parameter uncertainties.

scholarly journals Trajectory-Tracking Controller Design of Rotorcraft Using an Adaptive Incremental-Backstepping Approach

Aerospace ◽  
2021 ◽  
Vol 8 (9) ◽  
pp. 248
Author(s):  
Useok Jung ◽  
Moon-Gyeang Cho ◽  
Ji-Won Woo ◽  
Chang-Joo Kim
Keyword(s):  
Least Squares ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Flight Simulation ◽  
Tracking Performance ◽  
Trajectory Tracking Control ◽  
Control Effectiveness ◽  
Backstepping Approach ◽  
Robust Adaptive ◽  
Comparative Results

This paper treats a robust adaptive trajectory-tracking control design for a rotorcraft using a high-fidelity math model subject to model uncertainties. In order to control the nonlinear rotorcraft model which shows strong inter-axis coupling and high nonlinearity, incremental backstepping approach with state-dependent control effectiveness matrix is utilized. Since the incremental backstepping control suffers from performance degradation in the presence of control matrix uncertainties due to change of flight conditions, control system robustness is improved by combining the least squares parameter estimator to estimate time varying uncertainties contained in the control effectiveness matrix. Also, by selecting a suitable gain set by investigating the error dynamics, a uniform trajectory-tracking performance over operational flight envelope of the rotorcraft is ensured without resorting to the conventional gain scheduling method. To evaluate the proposed controller, comparative results between IBSC and Adaptive IBSC are provided in this paper with sequential maneuvers from the ADS-33E-PRF. The proposed method shows improved tracking performance under variations in control effective matrix in the flight simulation. Robust and stable parameter estimation is also guaranteed due to the implementation of the DF-RLS algorithm for the least squares estimator.

scholarly journals Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Chengshun Yang ◽  
Zhong Yang ◽  
Xiaoning Huang ◽  
Shaobin Li ◽  
Qiang Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Sliding Mode Disturbance Observer ◽  
Aerial Vehicle ◽  
Differential Expansion ◽  
Derivatives Of

Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV) is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO) is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND) is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

scholarly journals Adaptive Robust Trajectory Tracking Control of Multiple Quad-Rotor UAVs with Parametric Uncertainties and Disturbances

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2401
Author(s):  
Yasir Mehmood ◽  
Jawad Aslam ◽  
Nasim Ullah ◽  
Md. Shahariar Chowdhury ◽  
Kuaanan Techato ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Parametric Uncertainties ◽  
Trajectory Tracking Control ◽  
Multiple Uavs ◽  
Control Schemes ◽  
Robust Adaptive ◽  
The Stability

Recently, formation flying of multiple unmanned aerial vehicles (UAVs) found numerous applications in various areas such as surveillance, industrial automation and disaster management. The accuracy and reliability for performing group tasks by multiple UAVs is highly dependent on the applied control strategy. The formation and trajectories of multiple UAVs are governed by two separate controllers, namely formation and trajectory tracking controllers respectively. In presence of environmental effects, disturbances due to wind and parametric uncertainties, the controller design process is a challenging task. This article proposes a robust adaptive formation and trajectory tacking control of multiple quad-rotor UAVs using super twisting sliding mode control method. In the proposed design, Lyapunov function-based adaptive disturbance estimators are used to compensate for the effects of external disturbances and parametric uncertainties. The stability of the proposed controllers is guaranteed using Lyapunov theorems. Two variants of the control schemes, namely fixed gain super twisting SMC (STSMC) and adaptive super twisting SMC (ASTSMC) are tested using numerical simulations performed in MATLAB/Simulink. From the results presented, it is verified that in presence of disturbances, the proposed ASTSMC controller exhibits enhanced robustness as compared to the fixed gain STSMC.

scholarly journals A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle

2020 ◽  
Vol 26 (4) ◽  
pp. 4-10
Author(s):  
Abdullah Basci ◽  
Adnan Derdiyok ◽  
Kaan Can ◽  
Kamil Orman
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Trajectory Tracking Control ◽  
Parameter Variations ◽  
Aerial Vehicle

In this paper, a fractional-order sliding mode controller (FOSMC) is designed and applied to a four rotor unmanned aerial vehicle (Quadrotor) to perform trajectory tracking for different time-varying references. Because quadrotor’s nonlinear system dynamics are effected by external disturbances and parameter variations easily, the FOSMC is used as a nonlinear controller and utilized its disturbance rejection characteristics to keep quadrotor on desired trajectory as well as overcome parameter variations. In order to indicate the priority of the FOSMC, an integer-order SMC (IOSMC) is also applied to quadrotor for the same references. The experimental results show that FOSMC is better than IOSMC in terms of error elimination and is good at dealing with parameter variations occurred while tracking the desired trajectory

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