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.

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.

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.

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 Modeling and robust control algorithms for a linear belt driven system

2018 ◽  
Vol 8 (1) ◽  
pp. 142-153
Author(s):  
Vu Trieu Minh ◽  
Mart Tamre ◽  
Even Sekhri
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Algorithms ◽  
Robust Controller ◽  
Reference Tracking ◽  
Precise Position ◽  
Control Approach ◽  
Mode Control

AbstractThis paper proposes the mathematical modeling and robust control algorithms for linear belt system with the help of sliding mode control approach. Due to the elasticity of the belt, the presence of frictions, and the un-modeled dynamics, conventional controllers cannot provide precise position control of carriage. Dealing with this kind of system, a robust controller is needed and the chattering-free sliding mode control (SMC) approach is used to design the robust controller. A belt stretching estimator is also incorporated into the control law. Simulations show that the system is free from chattering and robust to disturbances. The reference tracking position is performed with the minimal errors to an extent that can be considered negligible. The time for reaching the reference tracking position is very fast. The system is safe for all mechanical and electrical devices.

Multi-Slide-Mode Control for the Homing Phase of Automatic Rendezvous and Docking

2013 ◽  
Vol 336-338 ◽  
pp. 599-603
Author(s):  
Xia Zhao ◽  
Quan Gan ◽  
Tian Hua Lin
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Switching Function ◽  
Slide Mode Control ◽  
Mode Control ◽  
Important Target ◽  
Decrease Energy Consumption ◽  
Rendezvous And Docking

Multi-Slide-Mode Control (MSMC) is proposed to decrease energy consumption for homing phase of automatic rendezvous and docking (AR&D). The energy consumption is an important target in homing phase. MSMC is developed from sliding mode control (SMC) and its advantage is energy saving. The switching function of MSMC is piecewise, which is named as multi-sliding-mode. The control system is simulated and the results show the control effects are in accord with prospects.

scholarly journals Development of Small Autonomous Surface Vehicle Implementing Position Control System Using Sliding Mode Control

2021 ◽  
Vol 33 (3) ◽  
pp. 883
Author(s):  
Yamato Kawamura ◽  
Junichiro Tahara ◽  
Tetsu Kato ◽  
Shun Fujii ◽  
Shoichiro Baba ◽  
...  
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Autonomous Surface Vehicle ◽  
Position Control System

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.

scholarly journals Optimal Sliding Mode Control for an Active Suspension System Based on a Genetic Algorithm

Algorithms ◽  
2018 ◽  
Vol 11 (12) ◽  
pp. 205 ◽  
Author(s):  
Chen Zhou ◽  
Xinhui Liu ◽  
Wei Chen ◽  
Feixiang Xu ◽  
Bingwei Cao
Keyword(s):  
Genetic Algorithm ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Switching Function ◽  
Mode Control ◽  
Dynamic Quality ◽  
Control Principle ◽  
And Control

In order to improve the dynamic quality of traditional sliding mode control for an active suspension system, an optimal sliding mode control (OSMC) based on a genetic algorithm (GA) is proposed. First, the overall structure and control principle of the active suspension system are introduced. Second, the mathematical model of the quarter car active suspension system is established. Third, a sliding mode control (SMC) controller is designed to manipulate the active force to control the active suspension system. Fourth, GA is applied to optimize the weight coefficients of an SMC switching function and the parameters of the control law. Finally, the simulation model is built based on MATLAB/Simulink (version 2014a), and the simulations are performed and analyzed with the proposed control strategy to identify its performance. The simulation results show that the OSMC controller tuned using a GA has better control performance than the traditional SMC controller.

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