Design and Implementation of a Rocket Launcher with Improved High Speed & Accuracy

2012 ◽  
Vol 466-467 ◽  
pp. 1334-1338 ◽  
Author(s):  
De Ying Li
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
External Disturbance ◽  
Strong Impact ◽  
Internal Mode ◽  
Mode Control ◽  
Speed Accuracy

Aiming at high speed and accuracy position control, this paper introduces design of an optimal internal mode control and sliding mode control for rocket launcher servo systems which have large varied moment of inertia, strong impact moment and load moment. Internal mode control designed by LQR theory can satisfy system requirement of the position loop in PMSM system. Sliding mode control can restrain effects that caused by model parameter perturbation and external disturbance and realize high performance position control. Simulation results show that the control method is simple and has better performances compared with PID controller.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

Electro-Hydraulic Servo System Controlled by Index Reaching Law Sliding Mode

2011 ◽  
Vol 317-319 ◽  
pp. 1490-1494 ◽  
Author(s):  
Bao Quan Jin ◽  
Yan Kun Wang ◽  
Ya Li Ma
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Servo System ◽  
Response Speed ◽  
Reaching Law ◽  
Mode Control ◽  
Hydraulic Servo

The parameters uncertainty and external disturbance play a negative role to improve electro-hydraulic position servo system performance. The valve controlled cylinder system model is established, using the traditional PID control strategy and reaching law control strategy for simulating the system, respectively, the two methods have similar control effects in the ideal model, but considering the external disturbances, the index approaches sliding mode control law has better response speed and stability. Research shown that sliding mode control algorithm has an important role for improving the performance of hydraulic servo position control system.

Nonlinear Position Control of Smart Actuators Using Model Predictive Sliding Mode Control

2008 ◽  
Author(s):  
Byeongil Kim ◽  
Gregory N. Washington
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Hysteresis Model ◽  
Positioning Control ◽  
Mode Control ◽  
Input Field ◽  
Control Methodology ◽  
Piezoelectric Devices

This paper investigates a novel nonlinear positioning control methodology for piezoelectric stack actuators. Piezoelectric devices become very common recently for precise positioning, primarily due to the fact that they are solid state and can be accurately controlled by a voltage or current input. However, hysteresis decreases positioning accuracy and could lead to instability. The ultimate goal is to reduce it so that the piezoelectric device has a nearly linear relationship between the input field and output strain. The main purpose of this research is the reduction of the hysteresis utilizing a hysteresis model and a nonlinear model-based controller. A novel control method called model predictive sliding mode control (MPSMC) will be utilized on an actuator using a nonlinear energy-based hysteresis model. The idea of MPSMC is to implement model predictive control techniques to improve sliding mode control by forcing the system to reach the sliding surface in an optimal manner. Simulations and experiments were conducted to verify the technique.

Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1701-1727 ◽  
Author(s):  
Mohd Ariffanan Mohd Basri
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Control Approach ◽  
Mode Control ◽  
Aerial Robot ◽  
Six Dof

SUMMARYThe quadrotor aerial robot is a complex system and its dynamics involve nonlinearity, uncertainty, and coupling. In this paper, an adaptive backstepping sliding mode control (ABSMC) is presented for stabilizing, tracking, and position control of a quadrotor aerial robot subjected to external disturbances. The developed control structure integrates a backstepping and a sliding mode control approach. A sliding surface is introduced in a Lyapunov function of backstepping design in order to further improve robustness of the system. To attenuate a chattering problem, a saturation function is used to replace a discontinuous sign function. Moreover, to avoid a necessity for knowledge of a bound of external disturbance, an online adaptation law is derived. Particle swarm optimization (PSO) algorithm has been adopted to find parameters of the controller. Simulations using a dynamic model of a six degrees of freedom (DOF) quadrotor aerial robot show the effectiveness of the approach in performing stabilization and position control even in the presence of external disturbances.

Position Sliding Mode Control of Manipulator Joint Based on Genetic Algorithm

2014 ◽  
Vol 912-914 ◽  
pp. 727-731
Author(s):  
Tao Zhou ◽  
Xi Feng Liang
Keyword(s):  
Genetic Algorithm ◽  
Control System ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Switching Function ◽  
Joint Control ◽  
Precise Position ◽  
Mode Control

In order to improve the control performance of position trajectory tracking of manipulator joint, a sliding mode control (SMC) method based on genetic algorithm(GA) is proposed in this paper. In this method, the performance of SMC algorithm is improved through adjusting the parameters of switching function and exponential approach law by genetic algorithm. The method was applied to accomplish the precise position control of manipulator joint. Simulation experiments show that the response time in manipulator joint control system by the SMC method based on GA is reduced 0.62s than the ordinary SMC algorithm. And the system restore stability time with a load change is also reduced 0.7s. External disturbance has no significant effect on the control system. The chattering of controller output is significantly reduced.

scholarly journals Research on Variable Cycle Engine Control Based on Model Reference Adaptive Sliding Mode Control Method

2018 ◽  
Vol 36 (5) ◽  
pp. 824-830
Author(s):  
Hongliang Xiao ◽  
Huacong Li ◽  
Jia Li ◽  
Jiangfeng Fu ◽  
Kai Peng
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Sliding Mode Control ◽  
Engine Control ◽  
Model Reference ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Model Reference Adaptive

As to solve the problem of multivariable output tracking control of variable cycle engine under system uncertainties and external disturbances, an augmented model reference adaptive sliding mode control method based on LQR method was developed. Firstly, the model is augmented and the reference state is provided to the controller by designing the reference model using the optimal LQR method. Then, based on the state tracking sliding mode control method, the adaptive law is derived based on the strict stability condition of Lyapunov function to estimate the upper bound of the system perturbation matrix and the upper bound of the external disturbances. Finally, the controller achieves the asymptotic zero tracking error of the system under the conditions of uncertainty and external disturbance. The simulation results showed that the LQR-based augmented model reference adaptive sliding mode control method can solve the problem that the traditional sliding mode control method needs to specify the reference state in advance and improve the control performance of the variable cycle engine control with system uncertainties and external disturbance. The tracking of the control command is effectively achieved and the steady-state and dynamic performance are improved. The steady-state control errors under different conditions are less than 0.1%, the system overshoot is less than 0.5%, and the adjustment time is less than 1s, which conformed to the requirements of the aero engine control system technology.

Adaptive sliding mode formation control for multiple flight vehicles with considering autopilot dynamic

2021 ◽  
pp. 1-21
Author(s):  
W. Li ◽  
Q. Wen ◽  
H. Zhou
Keyword(s):  
Sliding Mode Control ◽  
Formation Control ◽  
Control Method ◽  
Sliding Mode ◽  
Dimensional Space ◽  
External Disturbance ◽  
Control Law ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Flight Vehicles

ABSTRACT This paper mainly focuses on the cooperative control of formation configuration for multiple flight vehicles in the three-dimensional space. Considering the external disturbance of the system, the adaptive non-singular terminal sliding mode control law (NTSMC) is designed based on the virtual leader-follower method, which aims to ensure that each flight vehicle reaches the expected terminal position in a limited time and meet the configuration constraints. Further considering the first-order dynamic characteristic of the autopilot, a novel second-order sliding mode control (SOSMC) law is deduced with using the estimated information of sliding mode disturbance observer. The proposed control method ensures that all flight vehicles form the required space formation configuration simultaneously at a pre-designed time, and the chattering phenomenon of the sliding mode surface and acceleration response that nears the equilibrium point is effectively weaken. The stability of the proposed control law is verified by theoretical analysis and lots of mathematical simulations. The results show that the control algorithm in this paper can be used to guidance the formation controller design of multiple flight vehicles in the mid-guidance phase to some extent, and thus the cooperative flight stability of the system can be effectively improved.

Quaternion-based position control of a quadrotor unmanned aerial vehicle using robust nonlinear third-order sliding mode control with disturbance cancellation

2019 ◽  
Vol 234 (4) ◽  
pp. 997-1013 ◽  
Author(s):  
Jitu Sanwale ◽  
Prasiddh Trivedi ◽  
Mangal Kothari ◽  
Appasaheb Malagaudanavar
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Higher Order ◽  
Effective Control ◽  
Third Order ◽  
Outer Loop ◽  
Mode Control

In this paper, we propose a robust nonlinear position and attitude control method for quadrotor using higher order sliding mode control concept. The control of quadrotor is realized in an inner- and outer-loop structure. Both inner- (attitude control) and outer (position control)-loop controllers are synthesized using third-order sliding mode control. The attitude control is designed in a quaternion framework to avoid gimbal lock and for better computational efficiency. A low-pass filter is used to reduce the effect of chattering in higher order sliding mode. A disturbance observer is designed for disturbance estimation. The robustness of proposed control method is ensured by providing the disturbance compensation term in the control law. Lyapunov stability analysis is provided for both inner- and outer-loop controls. Numerical results show that the proposed method provides effective control solution under continuous disturbance/uncertainties due to unmodeled dynamics, parameter variations, and external disturbance with high position accuracy.

scholarly journals Sliding Mode Control of Magnetic Bearings: a Hardware Perspective

1999 ◽  
Author(s):  
Eric Maslen ◽  
Dominick Montie
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Sliding Mode ◽  
Magnetic Bearing ◽  
Strong Impact ◽  
Substantial Impact ◽  
Mode Control ◽  
Flexible Rotors ◽  
State Observers ◽  
Linear State

The physical hardware of magnetic bearing systems has a very strong impact on the application of sliding mode control to this technology. Finite current slew rates affect the character of achievable reaching conditions; flexible rotors demand the use of state observers which then affect achievable robustness; finite controller throughput and use of switching power amplifiers has substantial impact on how chatter should be addressed. This paper formulates the sliding mode control problem for realistic rotor/magnetic actuator systems considering rotor flexibility and finite amplifier voltages. The structure of the resulting class of controllers is examined for both rigid and for flexible rotors. It is demonstrated that, fundamentally, these controllers are conventional linear state observer based controllers acting through high speed switching amplifiers as in conventional magnetic bearing technology.

Composite nonlinear feedback–based adaptive integral sliding mode control for a servo position control system subject to external disturbance

2021 ◽  
pp. 014233122110636
Author(s):  
Hui Chen ◽  
Min Xiang ◽  
Bingjie Guan ◽  
Weijie Sun
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Feedback ◽  
Closed Loop System ◽  
Composite Nonlinear Feedback ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Position Control System

This paper presents a composite nonlinear feedback–based adaptive integral sliding mode controller with a reaching law (CNF-AISMRL) for fast and accurate control of a servo position control system subject to external disturbance. The proposed controller exploits the advantages of composite nonlinear feedback (CNF) and sliding mode control (SMC) schemes to improve the transient performance and increase the robustness of the closed-loop system. An integral sliding mode combined with a quick reaching law is designed to eliminate the effect of disturbances, which mitigates chattering and achieves finite-time convergence of the sliding mode. An adaptation tuning approach is utilized to deal with unknown but bounded system uncertainties and disturbances. When considering the model uncertainties and disturbances, the stability of the closed-loop system is verified based on the Lyapunov theorem. Numerical simulations are investigated to the effectiveness of the proposed scheme. The transient performance of load disk position to step signal with disturbances using CNF, composite nonlinear feedback based integral sliding mode control (CNF-ISM), and the proposed CNF-AISMRL schemes is given. The simulation results indicate that, without acquiring the knowledge of bounds on system disturbances, the proposed control scheme has superior performance in the presence of time-varying disturbances.

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