A fuzzy sliding mode controller from a reduced order model: A mobile robot experimental application

2017 ◽  
Author(s):  
Juan Villacres ◽  
Marco Herrera ◽  
Nelson Sotomayor ◽  
Oscar Camacho
Keyword(s):  
Mobile Robot ◽  
Sliding Mode ◽  
Reduced Order Model ◽  
Sliding Mode Controller ◽  
Order Model ◽  
Reduced Order ◽  
Experimental Application ◽  
Fuzzy Sliding Mode

scholarly journals Event-triggered Discrete-time Sliding Mode Control for High-order Systems via Reduced-order Model Approach

2020 ◽  
Vol 53 (2) ◽  
pp. 6207-6212
Author(s):  
Kiran Kumari ◽  
Bijnan Bandyopadhyay ◽  
Johann Reger ◽  
Abhisek K. Behera
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
High Order ◽  
Reduced Order Model ◽  
Order Model ◽  
Reduced Order ◽  
Mode Control ◽  
Event Triggered ◽  
Model Approach

scholarly journals A Novel Sliding Mode Control Framework for Electrohydrostatic Position Actuation System

2018 ◽  
Vol 2018 ◽  
pp. 1-22 ◽  
Author(s):  
Rongrong Yang ◽  
Yongling Fu ◽  
Ling Zhang ◽  
Haitao Qi ◽  
Xu Han ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Reduced Order Model ◽  
Design Solution ◽  
Order Model ◽  
Reduced Order ◽  
Mode Control ◽  
Actuation System ◽  
Mismatched Disturbances

A novel sliding mode control (SMC) design framework is devoted to providing a favorable SMC design solution for the position tracking control of electrohydrostatic actuation system (EHSAS). This framework is composed of three submodules as follows: a reduced-order model of EHSAS, a disturbance sliding mode observer (DSMO), and a new adaptive reaching law (NARL). First, a reduced-order model is obtained by analyzing the flow rate continuation equation of EHSAS to avoid the use of a state observer. Second, DSMO is proposed to estimate and compensate mismatched disturbances existing in the reduced-order model. In addition, a NARL is developed to tackle the inherent chattering problem of SMC. Extensive simulations are conducted compared with the wide adoption of three-loop PID method on the cosimulation platform of EHSAS, which is built by combining AMESim with MATLAB/Simulink, to verify the feasibility and superiority of the proposed scheme. Results demonstrate that the chattering can be effectively attenuated, and the mismatched disturbance can be satisfyingly compensated. Moreover, the transient performance, steady-state accuracy, and robustness of position control are all improved.

scholarly journals Active Vibration Suppression of Smart Cantilever Beam with Sliding Mode Observer Using Two Piezoelectric Patches

2017 ◽  
Vol 13 (1) ◽  
pp. 50-65
Author(s):  
Shibly A. AL-Samarraie ◽  
Mohsin N. Hamzah ◽  
Imad A. Abdulsahib
Keyword(s):  
Cantilever Beam ◽  
Vibration Suppression ◽  
Sliding Mode ◽  
Control Design ◽  
Sliding Mode Observer ◽  
Reduced Order Model ◽  
Control Law ◽  
Order Model ◽  
Reduced Order ◽  
Tip Displacement

This paper presents a vibration suppression control design of cantilever beam using two piezoelectric ‎patches. One patch was used as ‎an actuator element, while the other was used as a sensor. The controller design was designed via the balance realization reduction method to elect the reduced order model that is most controllable and observable. ‎the sliding mode observer was designed to estimate six states from the reduced order model but three states are only used in the control law. Estimating a number of states larger than that used is in order to increase the estimation accuracy. Moreover, the state ‎estimation error is proved bounded. An ‎optimal LQR controller is designed then using the ‎estimated states with the sliding mode observer, to ‎suppress the vibration of a smart cantilever ‎beam via the piezoelectric elements. The control spillover problem was avoided, by deriving an avoidance ‎condition, to ensure the ‎asymptotic stability for the proposed vibration ‎control design. ‎The numerical simulations were achieved to ‎test the vibration attenuation ability of the ‎proposed optimal control. For 15 mm initial tip ‎displacement, the piezoelectric actuator found ‎able to reduce the tip displacement to about 0.1 ‎mm after 4s, while it was 1.5 mm in the ‎open loop case.  The current experimental results showed a good performance of the proposed LQR control law and the sliding mode observer, as well a good agreement with theoretical results.

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