A Combined Control System With Roll Reduction and Track Keeping for the Ship Moving in Waves

2006 ◽  
Vol 50 (04) ◽  
pp. 344-354
Author(s):  
Ming-Chung Fang ◽  
Jhih-Hong Luo
Keyword(s):  
Control System ◽  
Sliding Mode ◽  
Guidance System ◽  
Roll Motion ◽  
Sliding Mode Controller ◽  
Pd Controller ◽  
Ship Steering ◽  
Combined Control ◽  
Heading Angle ◽  
Ship Roll

In this paper, a hydrodynamic numerical model with a combined control system is developed to simulate a ship steering in waves. The combined control system includes the PD controller and the sliding mode controller. By way of the rudder operation, the PD controller integrated with a line-of-sight (LOS) guidance system is used to control the track keeping, whereas the sliding mode controller is mainly chosen to reduce the roll motion. Different heading angle, wave height, wavelength, and initial speed are selected to investigate the combined control ability of the autopilot system. From simulation results, we find that this combined control system indeed works well, either for the ship roll motion reduction or for the ship track keeping in waves.

A new control system design for a small hydro-power plant based on particle swarm optimization-fuzzy sliding mode controller with Kalman estimator

2011 ◽  
Vol 34 (4) ◽  
pp. 388-400 ◽  
Author(s):  
A Zargari ◽  
R Hooshmand ◽  
M Ataei
Keyword(s):  
Particle Swarm Optimization ◽  
Control System ◽  
Sliding Mode ◽  
Particle Swarm ◽  
Local Network ◽  
Sliding Mode Controller ◽  
Swarm Optimization ◽  
Hydro Power ◽  
Fuzzy Sliding Mode ◽  
System Variables

One of the main problems in small hydro-power plants that are locally used is their frequency control system. In this paper, a suggested control system based on the fuzzy sliding mode controller is presented for controlling the network frequency. Also, the proposed control strategy is compared with a PI controller and conventional sliding mode controller. In order to regulate the membership functions of fuzzy system more accurately, the particle swarm optimization algorithm is also applied. Moreover, because of unavailability of the control system variables, an estimator is suggested for estimating and identifying the system variables. This estimator will reduce the costs of implementing the control method. The simulation results show the ability of controller system in controlling the local network frequency in the presence of load and parameter’s variations.

scholarly journals Sliding mode control-based system for the two-link robot arm

2019 ◽  
Vol 9 (4) ◽  
pp. 2771
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Equations ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Very High

In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.

A Global Fast Integral Operator Terminal Adaptive Sliding-Mode Controller

2012 ◽  
Vol 190-191 ◽  
pp. 880-885
Author(s):  
Lu Cao ◽  
Xiao Qian Chen ◽  
Yong Zhao
Keyword(s):  
Control System ◽  
Integral Operator ◽  
Attitude Control ◽  
High Performance ◽  
Sliding Mode ◽  
High Reliability ◽  
Sliding Mode Controller ◽  
Limited Time ◽  
Attitude Control System ◽  
Adaptive Sliding Mode Controller

Attitude Control System(ACS); Terminal; Adaptive; Integral operator Abstract: Attitude Control System (ACS) with high performance, high precision, and high reliability is the kernel technology of the research of spacecraft, which directly affects the whole performance of spacecraft. Hence, a global fast integral operator Terminal adaptive sliding-mode controller is proposed to come true the high performance control. The theory of this controller is to introduce the limited time mechanics—Terminal mode to the sliding-mode control and introduce the integral operator to the sliding-mode plane, which can realize the convergence of spacecraft attitude in “limited time” in the condition of serious disturbance , in order to enhance the performance of fast response. At last, the simulation results demonstrate the high reliability and advantages of the control approach.

scholarly journals PSO-Based Integral Sliding Mode Controller for Optimal Swing-Up and Stabilization of the Cart-Inverted Pendulum System

2021 ◽  
Vol 18 (2) ◽  
pp. 88-97
Author(s):  
T.J. Shima ◽  
H.A. Bashir
Keyword(s):  
Control System ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Pso Algorithm ◽  
Track Length ◽  
Sliding Mode Controller ◽  
Pendulum System ◽  
Integral Sliding Mode ◽  
Inverted Pendulum System ◽  
Optimal Values

An integral sliding mode controller (ISMC) which employs particle swarm optimization (PSO) algorithm to search for optimal values of the parameters of the integral sliding manifold as well as the gains of the controller is proposed in this work. We considered the swing-up and stabilization of the cart-inverted pendulum system which is assumed to be affected by uncertainties. First, we determined the swing-up and stabilization conditions of the control system by using the internal dynamics of the cart-inverted pendulum system and sliding mode dynamics. A PSO algorithm is then used to search for the optimal values of the ISMC design parameters that satisfy the stabilization condition with the aim of improving the transient performance of the control system. To mitigate the chattering phenomenon, a saturation function of the integral sliding variable was used in the discontinuous control law. Simulation results on swing-up and stabilization of the cart-inverted pendulum system revealed improvement in transient behaviour by reducing settling time (by 52.61%), overshoots (by 45.56%) and required track length for cart movement (by 68.34%).

scholarly journals Sliding-mode controller for a step up-down battery charger with a single current sensor

2022 ◽  
Vol 12 (2) ◽  
pp. 1251
Author(s):  
Juan Pablo Villegas Ceballos ◽  
Carlos Andres Ramos-Paja ◽  
Elkin Edilberto Henao-Bravo
Keyword(s):  
Control System ◽  
Direct Current ◽  
Sliding Mode ◽  
Design Procedure ◽  
Current Sensor ◽  
Sliding Mode Controller ◽  
Battery Charger ◽  
Operation Conditions ◽  
Voltage Conversion ◽  
General Interface

This paper proposes a battery charger solution based on the Zeta DC/DC converter to provide a general interface between batteries and microgrid direct current (DC) buses. This solution enables to interface batteries and DC buses with voltage conversion ratios lower, equal, and higher than one using the same components and without redesigning the control system, thus ensuring global stability. The converter controller is designed to require only the measurement of a single inductor current, instead of both inductors currents, without reducing the system flexibility and stability. The controller stability is demonstrated using the sliding-mode theory, and a design procedure for the parameters is developed to ensure a desired bus performance. Finally, simulations and experiments validate the performance of the proposed solution under realistic operation conditions.

Time-Varying Vector Field Guidance Law for Path Following and Obstacle Avoidance for Underactuated Autonomous Vehicles

2019 ◽  
Author(s):  
Haitong Xu ◽  
M. A. Hinostroza ◽  
C. Guedes Soares
Keyword(s):  
Vector Field ◽  
Obstacle Avoidance ◽  
Autonomous Vehicles ◽  
Sliding Mode ◽  
Path Following ◽  
Guidance System ◽  
Time Varying ◽  
Guidance Law ◽  
Heading Angle ◽  
Vector Field Guidance

Abstract This paper presents a time-varying vector field guidance law for path-following control of underactuated autonomous vehicles. The proposed guidance law employs a time-varying equation to calculate the desired heading angle. A sliding mode controller is designed to track the desired heading angle, and it is proved to be globally exponentially stable (GES). With this controller, the stability proof for guidance system is presented and the equilibrium point of the guidance system is Uniform Global Asymptotic Stable (UGAS). In order to avoid the obstacle when ship approaching the predefined path, a combined Path-following and repelling field based obstacle avoidance system is proposed in this paper. Simulations are carried out to validate the performance of the combined path-following and collision avoidance system.

scholarly journals Development of a Novel Fractional Order Sliding Mode Controller for a Gun Control System

2013 ◽  
Vol 6 (21) ◽  
pp. 4009-4015 ◽  
Author(s):  
Qiang Gao ◽  
Haijun Chen ◽  
Guolai Yang ◽  
Jilin Chen ◽  
Yuanlong Hou
Keyword(s):  
Control System ◽  
Fractional Order ◽  
Sliding Mode ◽  
Gun Control ◽  
Sliding Mode Controller
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