scholarly journals A Position Control of EHA Systems using Adaptive PID Sliding Mode Control Scheme

2013 ◽  
Vol 17 (4) ◽  
pp. 120-130 ◽  
Author(s):  
Ji-Min Lee ◽  
Sung-Hwan Park ◽  
Min-Gyu Park ◽  
Jong-Shik Kim
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Control Scheme

Neural network–based sliding-mode control of a tendon sheath–actuated compliant rescue manipulator

2019 ◽  
Vol 233 (8) ◽  
pp. 1055-1066 ◽  
Author(s):  
Qingcong Wu ◽  
Xingsong Wang ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Radial Basis Function Network ◽  
Tendon Sheath ◽  
Step Response ◽  
Mode Control ◽  
Control Scheme ◽  
Modeling Uncertainties

The novel contribution of this article is to propose a neural network–based sliding-mode control strategy for improving the position-control performance of a tendon sheath–actuated compliant rescue manipulator. Structural design of a rescue robot with slender and compliant mechanical structure is introduced. The developed robot is capable of drilling into the narrow space under debris and accommodating complicated configuration in ruins. Dynamics modeling and parameters identification of a compliant gripper with flexible tendon sheath transmission are researched and discussed. Moreover, the neural network–based sliding-mode control scheme developed based on radial basis function network is proposed to improve the position-control accuracy of the gripper with modeling uncertainties and external disturbances. The stability of the proposed control system is demonstrated using Lyapunov stability theory. Further experimental investigation including trajectory-tracking experiments and step-response experiments are conducted to confirm the effectiveness of the proposed neural network–based sliding-mode control scheme. Experimental results show that the proposed neural network–based sliding-mode control scheme is superior to cascaded proportional–integral–derivative controller and conventional sliding-mode controller in position-control application.

scholarly journals Adaptive Sliding Mode Control Based on Equivalence Principle and Its Application to Chaos Control in a Seven-Dimensional Power System

2020 ◽  
Vol 2020 ◽  
pp. 1-13 ◽  
Author(s):  
Jiangbin Wang ◽  
Ling Liu ◽  
Chongxin Liu ◽  
Xiaoteng Li
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Design Process ◽  
Equivalence Principle ◽  
Sliding Mode ◽  
Chaotic Oscillation ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

The main purpose of the paper is to control chaotic oscillation in a complex seven-dimensional power system model. Firstly, in view that there are many assumptions in the design process of existing adaptive controllers, an adaptive sliding mode control scheme is proposed for the controlled system based on equivalence principle by combining fixed-time control and adaptive control with sliding mode control. The prominent advantage of the proposed adaptive sliding mode control scheme lies in that its design process breaks through many existing assumption conditions. Then, chaotic oscillation behavior of a seven-dimensional power system is analyzed by using bifurcation and phase diagrams, and the proposed strategy is adopted to control chaotic oscillation in the power system. Finally, the effectiveness and robustness of the designed adaptive sliding mode chaos controllers are verified by simulation.

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.

scholarly journals A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 54
Author(s):  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Unmanned Aerial Vehicle ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Mode Control ◽  
Ducted Fan ◽  
Control Scheme ◽  
Aerial Vehicle

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

scholarly journals A Parameter Independent Stator Current Space-Vector Reference Frame-Based Sensorless IPMSM Drive Using Sliding Mode Control

Energies ◽  
2021 ◽  
Vol 14 (9) ◽  
pp. 2365
Author(s):  
Mohammadreza Moradian ◽  
Jafar Soltani ◽  
Mohamed Benbouzid ◽  
Abbas Najjar-Khodabakhsh
Keyword(s):  
Sliding Mode Control ◽  
Reference Frame ◽  
Sliding Mode ◽  
Rotor Speed ◽  
Space Vector ◽  
Stator Current ◽  
Mode Control ◽  
Control Scheme ◽  
Stator Flux ◽  
Stator Resistance

In this paper, a sliding mode control is presented for direct torque and stator flux control of interior permanent magnet synchronous motor in a rotor speed sensorless drive system. The control scheme is developed in a specific synchronous rotating reference frame (X-Y) in which the stator current space vector coincides with the direct (X) axis. For this control technique no need to have any knowledge of machine parameters such as stator two-axis inductances, rotor permanent magnets flux linkage, and even the rotor initial position. However, the on-line actual stator resistance value is required to estimate the stator flux components in the stator stationary two-axis reference frame. In this control strategy, two simple methods are described for estimating the rotor speed and stator resistance. Some simulation and experimental results are presented to support the validity and effectiveness of the proposed control scheme.

scholarly journals A New Control Method for Second-Order Multiple Models Control System Based on Global Sliding Mode

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Dan-xu Zhang ◽  
Yang-wang Fang ◽  
Peng-fei Yang ◽  
You-li Wu ◽  
Tong-xin Liu
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Multiple Models ◽  
Finite Time Convergence ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Control Scheme

This paper proposed a finite time convergence global sliding mode control scheme for the second-order multiple models control system. Firstly, the global sliding surface without reaching law for a single model control system is designed and the tracking error finite time convergence and global stability are proved. Secondly, we generalize the above scheme to the second-order multimodel control system and obtain the global sliding mode control law. Then, the convergent and stable performances of the closed-loop control system with multimodel controllers are proved. Finally, a simulation example shows that the proposed control scheme is more effective and useful compared with the traditional sliding mode control scheme.

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