Research on a New Azimuth Control Method for Stratospheric Balloon-Borne Gondola System

2012 ◽  
Vol 190-191 ◽  
pp. 1033-1039
Author(s):  
Hong Hui Wang ◽  
Zhao Hui Yuan ◽  
Juan Wu
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
System Stability ◽  
Control Input ◽  
Tracking Accuracy ◽  
Cmac Neural Network ◽  
System A ◽  
Stratospheric Balloon ◽  
Robust Adaptive

For a class of non-matching uncertain nonlinear system such as stratospheric balloon-borne gondola azimuth control system, a new robust adaptive multiple sliding mode controller is proposed. In this control method, the virtual and the practical control variables are obtained by designing the multiple sliding modes step-by-step. For avoiding the chattering problem generated by discontinuous input, the traditional sign function is replaced by hyperbolic tangent function. Meanwhile, the CMAC neural network is used to approximate the system uncertainties and the derivative of virtual control input online, which can reduce the conservation of controller parameters design. The system stability analyses show that the control method can guarantee that the output tracking error and slide modes asymptotically convergent to boundary layer. The simulation results show that the controller has higher tracking accuracy, and stronger robust to nonlinear and uncertainty of system, and it also can be applied to other similar non-matching uncertain nonlinear systems.

Chaotic Gyros Synchronization

2011 ◽  
pp. 183-209
Author(s):  
M. Roopaei ◽  
M. J. Zolghadri ◽  
B. S. Ranjbar ◽  
S. H. Mousavi ◽  
H. Adloo ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Dead Zone ◽  
Control Input ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Robust Adaptive ◽  
Fuzzy Parameter

In this chapter, three methods for synchronizing of two chaotic gyros in the presence of uncertainties, external disturbances and dead-zone nonlinearity are studied. In the first method, there is dead-zone nonlinearity in the control input, which limits the performance of accurate control methods. The effects of this nonlinearity will be attenuated using a fuzzy parameter approximator integrated with sliding mode control method. In order to overcome the synchronization problem for a class of unknown nonlinear chaotic gyros a robust adaptive fuzzy sliding mode control scheme is proposed in the second method. In the last method, two different gyro systems have been considered and a fuzzy controller is proposed to eliminate chattering phenomena during the reaching phase of sliding mode control. Simulation results are also provided to illustrate the effectiveness of the proposed methods.

A Robust Adaptive Sliding Mode Control Method for Attitude Control of the Quad-Rotor

2014 ◽  
Vol 852 ◽  
pp. 391-395
Author(s):  
Yong Gao ◽  
Zhao Qing Song ◽  
Xiao Liu
Keyword(s):  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Unknown Disturbances ◽  
Robust Adaptive ◽  
Uncertainty Parameters

Quad-rotor is a multi-variable and strong coupling system which has nonlinear and uncertainties. According to the quad-rotor, a dynamic model of attitude which included uncertainty parameters and unknown disturbances was established. The tracking error state was used to design a slide mode surface, and a Lyapunov function which includes slide mode surface and unknown parameter was built. Further more, a robust adaptive control law was designed. At last, the designed control law was simulated, and the results justify the feasibility of the proposed control law.

Event-Triggered Adaptive Higher-Order Sliding Mode Tracking Control for Steer-by-Wire Systems

2021 ◽  
Vol 143 (7) ◽  
Author(s):  
Bingxin Ma ◽  
Zezheng Wang ◽  
Yongfu Wang
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Sliding Mode ◽  
A Priori ◽  
Higher Order ◽  
Control Input ◽  
Tracking Accuracy ◽  
Event Triggering ◽  
Steer By Wire ◽  
Event Triggered

Abstract The model uncertainty of the steer-by-wire (SbW) system and the limitation of communication bandwidth will have a negative effect on its control performance. For this reason, this paper proposes an event-triggered high-order sliding mode control for uncertain SbW systems. First, to save communication and computing resources, an event-triggering mechanism that depends on the system state is proposed for the SbW system, such that both communication and computing resources can be saved. Second, an event-triggered adaptive higher-order sliding mode (ET-AHOSM) control is proposed for the closed-loop SbW system. The assumptions about the global Lipschitz of nonlinearity and the a priori bounds of the disturbance are no longer required in the control design. Much importantly, the control input continuity can be guaranteed even there is the event-triggering communication in the controller-to-actuator channel. Theoretical analysis shows that the global practical finite-time stability of the closed-loop SbW system can be obtained while avoiding Zeno behavior of the event-triggered control system. Finally, numerical simulation and experiments show that the designed control method can reduce more than 1/2 of the calculation and communication resources while ensuring satisfactory tracking accuracy.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

The Simulation Analysis of Semi-Active Suspension System in Vehicle Based on Sliding Mode Control with Varying Structure

2011 ◽  
Vol 216 ◽  
pp. 96-100
Author(s):  
Jing Jun Zhang ◽  
Wei Sha Han ◽  
Li Ya Cao ◽  
Rui Zhen Gao
Keyword(s):  
Control Method ◽  
Simulation Analysis ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Active Suspension ◽  
Suspension System ◽  
Sliding Mode Controller ◽  
Error Dynamics ◽  
Dynamic Quality

A sliding mode controller for semi-active suspension system of a quarter car is designed with sliding model varying structure control method. This controller chooses Skyhook as a reference model, and to force the tracking error dynamics between the reference model and the plant in an asymptotically stable sliding mode. An equal near rate is used to improve the dynamic quality of sliding mode motion. Simulation result shows that the stability of performance of the sliding-mode controller can effectively improve the driving smoothness and safety.

A sky-hook sliding mode semiactive control for commercial truck seat suspension

2020 ◽  
pp. 107754632094097
Author(s):  
Qiang Chen ◽  
Yong Zhang ◽  
Chengwei Zhu ◽  
Jinbo Wu ◽  
Ye Zhuang
Keyword(s):  
Nonlinear System ◽  
Phase Portrait ◽  
Control Method ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Magnetorheological Damper ◽  
Nonlinear Controller ◽  
Parameter Uncertainties ◽  
Seat Suspension

A semiactive seat suspension control method is proposed in this study and applied to attenuate the vibration of the commercial truck seat for enhancing its ride comfort. The semiactive seat suspension system with a magnetorheological damper behaves with undesirable nonlinear properties. The proposed controller is a typical nonlinear controller, which takes the ideal sky-hook controller as the reference model and forces the tracking error vector. The controller has achieved great performance of attenuating vibration and is robust to parameter uncertainties and external disturbances. The relaxation oscillation phenomenon and convergence were also analyzed by the contribution of the phase portrait. As the phase portrait depicted, the sky-hook controller, a weakly nonlinear system, could be approximated by the equivalent linear approximate model. However, the proposed controller, the sky-hook sliding mode controller, is a strongly nonlinear system, which could not be linearized by the regular perturbation theory, and the criterion is given by the phase portrait. The experiment results showed good agreement with the simulation results, and some other matters encountered were also analyzed in the process of application.

Anti-windup reconfigurable control for dynamic positioning vessel with thruster faults

2020 ◽  
Vol 42 (16) ◽  
pp. 3216-3224
Author(s):  
Mingyang Li ◽  
Wenbo Xie ◽  
Jian Zhang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Control Process ◽  
Dynamic Positioning ◽  
Closed Loop System ◽  
Reconfigurable Control ◽  
Positioning Control ◽  
Dynamic Positioning System ◽  
System A

In this study, an anti-windup reconfigurable control method is developed for dynamic positioning vessel in the presence of thruster faults and input saturation. The designed reconfiguration block acting as a virtual thruster aims at hiding the faults from the nominal controller. Also, it is added into the closed-loop system between the nominal controller and the dynamic positioning system. A thruster saturation-failure fault matrix technique is proposed to regard the thruster saturation as thruster fault, meanwhile an auxiliary system is constructed to achieve extra compensation for the adverse effects induced by input saturation. Furthermore, an integral sliding mode control method is presented to accommodate the nonlinear items in the reconfiguration block. An adaptive technique is also employed to preserve robustness against the unknown uncertainties. Finally, a vessel dynamic positioning control process is adopted to evaluate the effectiveness of the proposed method.

scholarly journals Robust Adaptive Sliding Mode Fault Tolerant Control for Nonlinear System with Actuator Fault and External Disturbance

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liang Zheng ◽  
Xuelian Dong ◽  
Qian Luo ◽  
Menglan Zeng ◽  
Xinping Yang ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Estimation Errors ◽  
Adaptive Sliding Mode ◽  
Sliding Motion ◽  
Robust Adaptive

In this paper, an adaptive sliding mode fault tolerant control (ASMFTC) approach is proposed for a class of nonlinear systems with actuator fault, uncertainty, and external disturbance. Specifically, first, a novel observer is proposed to estimate the state, actuator fault, and external disturbance. Then, by utilising the observed information, a novel output sliding mode observer is constructed. In the control method, an adaptive law and two compensators are designed to attenuate the unknown estimation errors, actuator fault, and disturbance. Furthermore, the reaching ability of the sliding motion is analysed and the H-infinite performance is introduced to ensure the robustness of the system. Finally, a flexible single joint manipulator system and a two-cart system are used to verify the effectiveness of the proposed method.

scholarly journals Tracking control via sliding mode for heavy-haul trains with input saturation

2020 ◽  
pp. 002029402095245 ◽  
Author(s):  
Jing He ◽  
Xingxing Yang ◽  
Changfan Zhang ◽  
Jianhua Liu ◽  
Qian Zhang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Tracking Accuracy ◽  
Uncertain Disturbances ◽  
Heavy Haul ◽  
New Type ◽  
Heavy Haul Trains ◽  
Compensation Signal

To address the tracking control problem of heavy-haul trains (HHTs) with input saturation during operation, an anti-saturation sliding mode (SMES) control method based on dynamic auxiliary compensator (DAC) is presented. Firstly, an HHT model with nonlinear coupling and uncertain disturbances is built. Secondly, a new type of DAC is introduced to overcome the difficulty of traditional dynamic auxiliary compensator (TDAC) with a large upper bound on the compensation signal. Finally, an anti-saturation SMES control algorithm is designed to reduce the influence of input saturation on the tracking accuracy of each carriage. Simulation results verify the effectiveness of the algorithm in terms of tracking accuracy, anti-interference, and anti-saturation.

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