Attitude Control of Rigid Body Using Sliding Mode Control

2011 ◽  
Vol 383-390 ◽  
pp. 7550-7555
Author(s):  
Hui Hui Bian ◽  
Zhong Hua Wang
Keyword(s):  
Numerical Simulation ◽  
Sliding Mode Control ◽  
Rigid Body ◽  
Attitude Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Modified Rodrigues Parameters ◽  
Simulation Results

In this paper, a sliding mode controller is developed based on the modified rodrigues parameters. Modified rodrigues parameters can avoid the singularity in kinematic equations and realize less parameters setting. Finally, the numerical simulation results show that the method is effective.

Sliding Mode Control with Adaptive Approaching Law for Bioreactor

2011 ◽  
Vol 378-379 ◽  
pp. 521-524
Author(s):  
Li Ping Fan ◽  
Ying Song ◽  
Jun Zhang
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Performance ◽  
Reaching Law ◽  
Mode Control ◽  
Good Movement ◽  
Bioreactor System ◽  
Simulation Results

Bioprocesses have high nonlinearity and parameter uncertainty. In view of these specific natures of the bioreactor, system identification method was firstly used to linearize the nonlinear system and simplify the model of the biological reactor; then a new sliding mode controller with adaptive reaching law is designed for the reactor. The control method can not only analysis the sliding mode movement near or along the switching surface, but also design the dynamic process in trending segments of the system effectively, thus ensure good movement quality in the entire state space. Simulation results prove that the sliding mode control with adaptive reaching law can improve the control performance with negligible chattering and enhanced robustness.

scholarly journals Sliding Mode Control for a Gyroscope System

2017 ◽  
Vol 8 (4) ◽  
pp. 47-60
Author(s):  
Izabela KRZYSZTOFIK ◽  
Zbigniew KORUBA
Keyword(s):  
Mathematical Model ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Input ◽  
Mobile Platform ◽  
Control Algorithms ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Gyroscope System ◽  
Simulation Results

This paper presents a mathematical model of a gyroscope system with a sliding mode controller. A comparative analysis based on various control algorithms implemented in a controlled gyroscope system installed on a mobile platform (such as an UAV or a homing rocket missile) proved that sliding mode control can be highly effective, especially when external input interferences exist with the kinematic reactions of the mobile platform. A gyroscope system with a sliding mode controller can be used in the optical target seeker systems of precision weapons. The simulation results are provided in a graphical format.

FUZZY SIMPLEX-TYPE SLIDING-MODE CONTROL

2013 ◽  
Vol 37 (3) ◽  
pp. 375-383
Author(s):  
Ta-Tau Chen ◽  
Sung-Chun Kuo
Keyword(s):  
Sliding Mode Control ◽  
Simplex Method ◽  
Fuzzy Logic Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Logic Control ◽  
Control Scheme ◽  
Simulation Results ◽  
System States

In this paper, a novel fuzzy simplex sliding-mode controller is proposed for controlling a multivariable nonlinear system. The fuzzy logic control (FLC) algorithm and simplex sliding-mode control (SSMC) theory are integrated to form the fuzzy simplex sliding mode control (FSSMC) scheme which improves the system states response and reduces system states chattering phenomenon. In this paper, at first, we introduce the principle of simplex method, and then develop fuzzy controls based on the simplex method. Finally, a numerical example is proposed to illustrate the advantages of the proposed controllers, the simulation results demonstrate that the fuzzy simplex type sliding mode control scheme is a good solution to the chattering problem in the simplex sliding mode control.

Dynamic Analysis and Quasi-Sliding Mode Control of Mobile Robot

2012 ◽  
Vol 433-440 ◽  
pp. 3168-3174
Author(s):  
Hong Mei Wang ◽  
Ming Lu Zhang ◽  
Guang Zhu Meng
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Torque ◽  
Nonholonomic Mobile Robot ◽  
Mode Control ◽  
Angular Velocities ◽  
Fine Control ◽  
Simulation Results

To avoid the chattering disadvantage of sliding-mode control (SMC), in this paper, a quasi-sliding mode controller is proposed for real-time fine control of a nonholonomic mobile robot. First, the dynamics of mobile robot is analyzed by Lagrangian formula. Then, the quasi-sliding mode controller is used to generate the control torque that drives the mobile robot, such that the linear and angular velocities of the mobile robot follow the desired velocities. At last, computer simulation results confirm the effectives of SMC.

Integral Sliding Mode Control Based on Exponential Approach Law for Brushless Double Fed Machines

2013 ◽  
Vol 454 ◽  
pp. 48-52
Author(s):  
Zhong Rong Duan ◽  
Guo Yong Huang ◽  
Zong Kai Shao ◽  
Jian De Wu ◽  
Xiao Dong Wang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Dynamic Performances ◽  
Simulation Results ◽  
Doubly Fed ◽  
Doubly Fed Machine

In this paper, based on the principle of exponential approach law, an integral sliding mode controller (ISMC) for brushless doubly-fed machine (BDFM) adjustable speed system is presented. Because of using the integral sliding mode control, the proposed controller for BDFM employs the robustness and excellent dynamic performances of ISMC. Simulation results show that the proposed control strategy is of the feasibility, correctness and effectiveness.

Synchronizing the Noise-Perturbed Rössler Hyperchaotic System via Sliding Mode Control

2011 ◽  
Vol 66 (1-2) ◽  
pp. 6-12 ◽  
Author(s):  
Jianwen Feng ◽  
Phillip Yam ◽  
Francis Austin ◽  
Chen Xu
Keyword(s):  
Numerical Simulation ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Hyperchaotic System ◽  
Mode Control ◽  
Synchronization Problem ◽  
Control Concept ◽  
Simulation Results ◽  
Hyperchaotic Systems

This paper investigates the synchronization problem between two unidirectionally-coupled Rössler hyperchaotic systems in the presence of noise perturbations. Sufficient conditions are obtained for synchronization by using a particularly simple linear sliding mode surface that is based on the sliding mode control concept. Only one controller function is needed to achieve synchronization in our present approach which makes it much easier to implement in contrast to many other synchronization schemes that require two or more controllers. Numerical simulation results are also included to illustrate the superior features of this new scheme.

scholarly journals A Sliding Mode Control Strategy for an ElectroHydrostatic Actuator with Damping Variable Sliding Surface

Actuators ◽  
2020 ◽  
Vol 10 (1) ◽  
pp. 3
Author(s):  
Mingkang Wang ◽  
Yan Wang ◽  
Rongrong Yang ◽  
Yongling Fu ◽  
Deming Zhu
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Control Strategies ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Extended State ◽  
Mode Control ◽  
Simulation Results ◽  
Working Performance

Electro-hydrostatic actuator (EHA) has significance in a variety of industrial tasks. For the purpose of elevating the working performance, we put forward a sliding mode control strategy for EHA operation with a damping variable sliding surface. To start with, a novel sliding mode controller and an extended state observer (ESO) are established to perform the proposed control strategy. Furthermore, based on the modeling of the EHA, simulations are carried out to analyze the working properties of the controller. More importantly, experiments are conducted for performance evaluation based on the simulation results. In comparison to the widely used control strategies, the experimental results establish strong evidence of both overshoot suppression and system rapidity.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

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