Time delay controller combined with sliding mode for DC motor position control: Experimental validation on Quanser QET

2013 ◽  
Author(s):  
A. K. Kadam ◽  
D. D. Ray ◽  
S. R. Shimjith ◽  
P. D. Shendge ◽  
S. B. Phadke
Keyword(s):  
Time Delay ◽  
Experimental Validation ◽  
Position Control ◽  
Sliding Mode ◽  
Dc Motor

scholarly journals Adaptive Robust Force Position Control for Flexible Active Prosthetic Knee Using Gait Trajectory

2020 ◽  
Vol 10 (8) ◽  
pp. 2755
Author(s):  
Fang Peng ◽  
Haiyang Wen ◽  
Cheng Zhang ◽  
Bugong Xu ◽  
Jiehao Li ◽  
...  
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Control Method ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Impedance Control ◽  
Joint Stiffness ◽  
Variable Stiffness ◽  
Time Delay Estimation ◽  
Model Free

Active prosthetic knees (APKs) are widely used in the past decades. However, it is still challenging to make them more natural and controllable because: (1) most existing APKs that use rigid actuators have difficulty obtaining more natural walking; and (2) traditional finite-state impedance control has difficulty adjusting parameters for different motions and users. In this paper, a flexible APK with a compact variable stiffness actuator (VSA) is designed for obtaining more flexible bionic characteristics. The VSA joint is implemented by two motors of different sizes, which connect the knee angle and the joint stiffness. Considering the complexity of prothetic lower limb control due to unknown APK dynamics, as well as strong coupling between biological joints and prosthetic joints, an adaptive robust force/position control method is designed for generating a desired gait trajectory of the prosthesis. It can operate without the explicit model of the system dynamics and multiple tuning parameters of different gaits. The proposed model-free scheme utilizes the time-delay estimation technique, sliding mode control, and fuzzy neural network to realize finite-time convergence and gait trajectory tracking. The virtual prototype of APK was established in ADAMS as a testing platform and compared with two traditional time-delay control schemes. Some demonstrations are illustrated, which show that the proposed method has superior tracking characteristics and stronger robustness under uncertain disturbances within the trajectory error in ± 0 . 5 degrees. The VSA joint can reduce energy consumption by adjusting stiffness appropriately. Furthermore, the feasibility of this method was verified in a human–machine hybrid control model.

Sliding Mode Position Control of a DC Motor

1987 ◽  
Vol 20 (5) ◽  
pp. 333-338
Author(s):  
P. Feller ◽  
U. Benz
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Dc Motor

scholarly journals Adaptive Sliding Mode Fault-Tolerant Control for Uncertain Systems with Time Delay

2020 ◽  
Vol 14 (2) ◽  
pp. 337-345
Author(s):  
Pu Yang ◽  
Zhangxi Liu ◽  
Yuxia Wang ◽  
Dejie Li ◽  
◽  
...  
Keyword(s):  
Time Delay ◽  
Uncertain Systems ◽  
Position Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Detection And Isolation ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Mode Method ◽  
Sliding Dynamics

In this work, an adaptive sliding mode fault-tolerant controller is proposed for a class of uncertain systems with time delay. The integral term is added to the traditional sliding surface to improve the robustness of the control system, and then a type of special sliding surface is designed to cancel the reaching mode based on global sliding mode method. Without the need for fault detection and isolation, an adaptive law is proposed to estimate the value of actuator faults, and an adaptive sliding mode fault-tolerant controller is designed to guarantee the asymptotic stability of sliding dynamics. Finally, the presented control scheme is applied to the position control of a Qball-X4 quad-rotor UAV model to verify the effectiveness.

scholarly journals Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

2019 ◽  
Vol 25 (4) ◽  
pp. 8-16 ◽  
Author(s):  
Akif Durdu ◽  
Emre Hasan Dursun
Keyword(s):  
Sliding Mode Control ◽  
Real Time ◽  
Position Control ◽  
Sliding Mode ◽  
Servo System ◽  
Dc Motor ◽  
Industrial Applications ◽  
Performance Comparison ◽  
The Real ◽  
Mode Control

In this paper, the real-time position control of servo system is carried out using sliding mode control (SMC) method based on variable structure control (VSC). As DC Motors are commonly used in many industrial applications and robotics, studies in this paper have are tested on a DC servo system, which is designed and produced by Quanser Inc. Three different types of sliding mode controllers are designed for position control of servo system and, later, performance comparison of DC Motor on Servo system is made. According to results obtained from real-time servo system, it is shown that SMC method is robust against to disturbing effects, variabilities, and uncertainties on the systems. Outstanding part of this paper is that designed controllers are implemented to servo system in real-time with a variable loaded DC Motor. Moreover, this study shows that this control structure can be performed as high performance in the real-time motor control applications.

Sign in / Sign up

Export Citation Format

Share Document