Practical design of adaptive model-based sliding mode control of pneumatic actuators

2002 ◽  
Author(s):  
S.R. Pandian ◽  
Y. Hayakawa ◽  
Y. Kamoyama ◽  
S. Kawamura
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Model ◽  
Pneumatic Actuators ◽  
Model Based ◽  
Mode Control ◽  
Practical Design

Implementation a fractional-order adaptive model-based PID-type sliding mode speed control for wheeled mobile robot

2019 ◽  
Vol 233 (8) ◽  
pp. 1067-1084 ◽  
Author(s):  
Kağan Koray Ayten ◽  
Muhammet Hüseyin Çiplak ◽  
Ahmet Dumlu
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Fractional Order ◽  
Sliding Mode ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Adaptive Model ◽  
Finite Time Convergence ◽  
Model Based ◽  
Mode Control

This article presents the speed and direction angle control of a wheeled mobile robot based on a fractional-order adaptive model-based PID-type sliding mode control technique. Taking into account the individual benefits of the fractional calculus and the adaptive model-based PID-type sliding mode control method, the fractional order and the adaptive model-based PID-type sliding mode control technique are combined and proposed as an effective controller for the first time in the literature for real-time control of the wheeled mobile robot under the external payload. In this proposed method, several critical issues are considered; first, a kinematic and dynamic model of the wheeled mobile robot is analysed considering the system’s uncertainties. Second, fractional-order calculus and the model-based PID-type sliding mode control is composed to realize the chattering-free control, accurate trajectory tracking response, finite time convergence and robustness for the wheeled mobile robot. Finally, an adaptive process is also employed to meet and overcome the unknown dynamics and uncertain parameters of the system, regardless of the previous information of the uncertainties. The experimental outcomes demonstrate that the proposed controller (fractional-order adaptive model-based PID-type sliding mode controller) delivers an accurate trajectory tracking performance, faster finite-time convergence as well as having a smaller speed error under the external payload when the adaptive model-based PID-type sliding mode control is compared.

PID Sliding Mode Control of Prolate Flexible Pneumatic Actuators

2016 ◽  
Author(s):  
Jonathon E. Slightam ◽  
Mark L. Nagurka
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Low Cost ◽  
Tracking Error ◽  
Pneumatic Actuators ◽  
Model Based ◽  
Mode Control ◽  
Significant Performance ◽  
Soft Actuators

The inherent compliance, high power-density, and musclelike properties of soft actuators are especially attractive and useful in many applications, including robotics. In comparison to classical/modern control approaches, model-based control techniques, e.g., sliding mode control (SMC), applied to flexible fluidic actuators (FFAs) offer significant performance advantages and are considered to be state-of-the-art. Improvements in position tracking are possible using nonlinear control approaches that offer enhanced performance for common applications such as tracking of sinusoidal trajectories at high frequencies. This paper introduces a SMC approach that increases the tracking capabilities of prolate flexible pneumatic actuators (PF-PAs). A model-based proportional, integral, derivative sliding mode control (PIDSMC) approach designed for position control of PFPAs is proposed. SMC and PIDSMC systems are implemented on low-cost open-source controls hardware and tested for tracking sinusoidal trajectories at frequencies of 0.5 Hz and 1.0 Hz with an amplitude of 8.255 mm and an offset of 12.7 mm. The PIDSMC approach reduced the maximum tracking error by 20.0%, mean error by 18.6%, and root-mean-square error by 10.5% for a 1 Hz sinusoidal trajectory and by 8.7%, 14.7%, and 3.8%, respectively, for a 0.5 Hz sinusoidal trajectory. These reductions in tracking errors demonstrate performance advantages of the PIDSMC over conventional sliding mode position controllers.

Nonlinear observer based sliding mode control and oxygen fraction estimation for diesel engine

2017 ◽  
Vol 40 (7) ◽  
pp. 2227-2239 ◽  
Author(s):  
Haoping Wang ◽  
Qiankun Qu ◽  
Yang Tian
Keyword(s):  
Diesel Engine ◽  
Sliding Mode Control ◽  
Oxygen Concentration ◽  
Control Method ◽  
Sliding Mode ◽  
Observer Design ◽  
Nonlinear Observer ◽  
Linear Matrix ◽  
Model Based ◽  
Mode Control

In this paper, a nonlinear observer based sliding mode control (NOSMC) approach for air-path and a model-based observer for oxygen concentration in the diesel engine equipped with a variable geometry turbocharger and exhaust gas recirculation is introduced. We propose a less conservative observer design technique for Lipschitz nonlinear systems using Ricatti equations. The observer gains are obtained by solving the linear matrix inequality (LMI). Then a robust nonlinear control method, sliding mode control is applied for the states of intake and exhaust manifold pressure and compressor mass flow rate for the sake of the minimization of emissions. The proposed NOSMC controller is applied on a mean value model of turbocharged diesel engine. Besides this, a model-based observer is developed to estimate the oxygen concentration in the intake and exhaust manifolds owing to its significance in reducing emissions of diesel engines. The validation and efficiency of the proposed method are demonstrated by AMESim and Matlab/Simulink co-simulation results.

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