Sliding Mode Control of Three-Links Spatial Robot Based on Low-Pass Filter

2017 ◽  
Author(s):  
Fei Hu ◽  
Feng Chen ◽  
Muhan Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Mode Control ◽  
Low Pass

scholarly journals A Novel Sliding Mode Control with Low-Pass Filter for Nonlinear Handling Chain System in Container Ports

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15 ◽  
Author(s):  
Bowei Xu ◽  
Junjun Li ◽  
Yongsheng Yang ◽  
Huafeng Wu ◽  
Octavian Postolache
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Parametric Perturbation ◽  
Container Port ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Chain System ◽  
Mode Control ◽  
Low Pass ◽  
Container Ports

Nonlinearities in a container port handling chain include mainly nonnegative arrive rate of container cargoes, limited container handling completion rate, and nonnegative unsatisfied freight requirement constraints. The nonlinearity influences the operation resources availability and consequently the planned container port handling strategies. Developments presented in this work are devoted to a novel design of sliding mode control with low-pass filter (SMC-LPF) to nonlinear handling chain system (HCS) in container ports. The SMC-LPF can effectively reduce unsatisfied freight requirement of the HCS and make chattering decrease significantly. To illustrate the effectiveness and accuracy of the proposed SMC-LPF, an application to a real container port in China is outlined. The performances of the SMC-LPF for the nonlinear HCS in container ports outperform those of the traditional method, particle swarm optimization algorithm, and slide mode control under simulations with a unit step signal and a sinusoidal signal with offset as the freight requirements. The contributions herein demonstrate the proposed control strategy in weakening chattering, reducing the unsatisfied freight requirements to 0 as close as possible in the HCS, maximizing the operation resilience and robustness of port and shipping supply chain against parametric perturbation, external disturbances, and fluctuant handling abilities.

Application of Sliding Mode Control with a Low Pass Filter to the Constantly Rotating Slider-Crank Mechanisms.

1997 ◽  
Vol 40 (4) ◽  
pp. 717-722 ◽  
Author(s):  
Rong-Fong FUNG ◽  
Faa-Jeng LIN ◽  
Jeng-Sheng HUANG ◽  
Yun-Chen WANG
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Mode Control ◽  
Low Pass

Robust fuzzy sliding mode control based on low pass filter for the welding robot with dynamic uncertainty

2019 ◽  
Vol 47 (1) ◽  
pp. 111-120
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Welding Robot ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Mode Control ◽  
Dynamic Uncertainty ◽  
Low Pass

Purpose Considering the external disturbances and dynamic uncertainties during the process of the trajectory tracking, this paper aims to address the problem of the welding robot trajectory tracking with guaranteed accuracy. Design/methodology/approach The controller consists sliding mode control, fuzzy control and low pass filter. The controller adopts low-pass filter to reduce the high frequency chattering control signal in sliding mode control. The fuzzy control model is used to simulate the external disturbance signal and the dynamic uncertainty signal, so that the controller can effectively restrain the chattering caused by the sliding mode control algorithm, realizing the track of the welding robot effectively and improving the robustness of the robot. Findings An innovative experiment device was adopted to realize the performance of the proposed controller. Considering the kinematic and dynamic uncertainty during the process of robot tracking, the tracking accuracy was realized within 0.3 mm. Originality/value This paper uses Lyapunov stability theory and Barbalat theorem to analyze the stability of the proposed controller.

Sliding Mode Control With Pre-Filter for Spillover and Chattering Suppression

1997 ◽  
Author(s):  
Takayuki Ito ◽  
Kenzo Nonami
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Frequency Region ◽  
Flexible Structure ◽  
Actual System ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Flexible System ◽  
Mode Control ◽  
Low Pass

Abstract We discuss the sliding mode control to suppress a spillover phenomena caused by truncation of the higher flexible modes for a flexible system. We propose a new method to suppress a higher frequency region including a truncated flexible modes and chattering by filtering control inputs through low-pass filter. And also, we can easily design a control system and apply for an actual system. We have verified from simulations and experiments for flexible structure that the proposed method has good performance and is very useful for spillover suppression.

Quantitative Feedback Theory (QFT) for Chattering Reduction and Improved Tracking in Sliding Mode Control (SMC)

2003 ◽  
Vol 125 (4) ◽  
pp. 665-669 ◽  
Author(s):  
E. Z. Taha, ◽  
G. S. Happawana, ◽  
Y. Hurmuzlu
Keyword(s):  
Boundary Layer ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Technique ◽  
System Response ◽  
Quantitative Feedback Theory ◽  
Major Drawback ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Mode Control

Sliding mode control (SMC) is a robust control technique with chattering as a major drawback. Chattering is undesirable because it can excite unmodeled high-frequency dynamics of the system. One way to reduce chattering is to introduce a boundary layer around the sliding surface while keeping the boundary layer attractive. Introduction of the boundary layer, however, causes the system response to oscillate around the sliding manifold. These oscillations, in turn, may lead to undesirable tracking errors. In this paper, we propose a quantitative feedback theory (QFT) controller (a low pass filter) to minimize the oscillations within the boundary layer and considerably improve the tracking response. We also provide an example to demonstrate the key features of the proposed method.

scholarly journals Trajectory tracking control for chain-series robot manipulator: Robust adaptive fuzzy terminal sliding mode control with low-pass filter

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091698 ◽  
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Adaptive Fuzzy ◽  
Low Pass ◽  
Robust Adaptive

This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller.

Sign in / Sign up

Export Citation Format

Share Document