Sliding mode control of a differentially flat vibrational mechanical system: experimental results

2002 ◽  
Author(s):  
J. Enriquez-Zarate ◽  
G. Silva-Navarro ◽  
H. Sira-Ramirez
Keyword(s):  
Sliding Mode Control ◽  
Mechanical System ◽  
Sliding Mode ◽  
Experimental Results ◽  
Mode Control

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

scholarly journals Sliding Mode Control of Magnetic Bearings: Comparison of Sensed and Self Sensing Performance

1999 ◽  
Author(s):  
S. Ueno ◽  
J. H. Lee ◽  
P. E. Allaire ◽  
Y. Okada
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Angular Displacement ◽  
State Space Model ◽  
Experimental Results ◽  
Magnetic Bearings ◽  
Small Scale ◽  
Linear Component ◽  
Mode Control ◽  
Physical Sensors

A sliding mode control algorithm has been designed for control of a balance beam on two symmetric magnetic bearings. A state space model of the system is developed and the controller is separated into a linear and non-linear component. A reaching condition to bring the system to the sliding surface is developed and a continuous function boundary layer approach is evaluated to avoid chattering. Previous works have discussed theoretical and experimental sliding mode control with physical sensors. This paper represents the first use of a simple envelope filter for sliding mode self sensing. The system simulation demonstrates arrival at the hyperplane surface within 0.003 sec and converges to the zero angular displacement value within 0.008 sec. Experimental results produced system convergence to zero angular displacement within approximately 0.35 sec both for the case when an eddy current position sensor was used and the case when system self sensing was employed. Some small scale chatter was observed in the experimental results with a peak to peak magnitude of approximately 3 times larger in the self-sensing case as compared to the case with a physical sensor.

Stabilization of an under-actuated mechanical system by sliding mode control

2008 ◽  
Author(s):  
A. Choukchou-Braham ◽  
C. Bensalah ◽  
B. Cherki ◽  
Hichem Arioui ◽  
Rochdi Merzouki ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Mechanical System ◽  
Sliding Mode ◽  
Mode Control
Sign in / Sign up

Export Citation Format

Share Document