Trajectory Control for Cartesian Pneumatic Manipulator Using the Terminal Sliding Mode Control Method

2013 ◽  
Vol 444-445 ◽  
pp. 1354-1359
Author(s):  
Shi Ying Qiu ◽  
Peng Yi ◽  
Rui Bo Yuan ◽  
Huan Yang ◽  
Sen Hui ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Trajectory Control ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Straight Line ◽  
Convergence Point

This paper applies the terminal sliding mode control method to control the trajectory of a three axises Cartesian Pneumatic Manipulator. A mathematical model of the pneumatic servo control system was established at first, then the terminal sliding mode control method was used for trajectory control. The simulation results shows that the tracking error of the terminal sliding mode control method become large only in the time period of not fully reaching the convergence point in time when the manipulator tracks the space straight line, whereas it can fully track the target trajectory after reaching the convergence point.

scholarly journals Position Tracking Control for Permanent Magnet Linear Motor via Continuous-Time Fast Terminal Sliding Mode Control

2018 ◽  
Vol 2018 ◽  
pp. 1-6 ◽  
Author(s):  
Wei Gao ◽  
Xiuping Chen ◽  
Haibo Du ◽  
Song Bai
Keyword(s):  
Sliding Mode Control ◽  
Continuous Time ◽  
Control Method ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Permanent Magnet Linear Motor

For the position tracking control problem of permanent magnet linear motor, an improved fast continuous-time nonsingular terminal sliding mode control algorithm based on terminal sliding mode control method is proposed. Specifically, first, for the second-order model of position error dynamic system, a new continuous-time fast terminal sliding surface is introduced and an improved continuous-time fast terminal sliding mode control law is proposed. Then rigorous theoretical analysis is provided to demonstrate the finite-time stability of the closed-loop system by using the Lyapunov function. Finally, numerical simulations are given to verify the effectiveness and advantages of the proposed fast nonsingular terminal sliding mode control method.

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