A Modular Sliding Mode Controller for Cooperative Closed-Chain Manipulators With Uncertain Dynamics

2006 ◽  
Author(s):  
Wail Gueaieb ◽  
Salah Al-Sharhan
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Uncertain Dynamics ◽  
Closed Chain

Dynamic Analysis and Adaptive Sliding Mode Controller for a Chaotic Fractional Incommensurate Order Financial System

2017 ◽  
Vol 27 (13) ◽  
pp. 1750198 ◽  
Author(s):  
Ahmad Hajipour ◽  
Hamidreza Tavakoli
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Financial System ◽  
Period Doubling ◽  
Largest Lyapunov Exponent ◽  
Sliding Mode Controller ◽  
Adaptive Sliding Mode Controller ◽  
Uncertain Dynamics ◽  
Route To Chaos ◽  
Doubling Sequence

In this study, the dynamic behavior and chaos control of a chaotic fractional incommensurate-order financial system are investigated. Using well-known tools of nonlinear theory, i.e. Lyapunov exponents, phase diagrams and bifurcation diagrams, we observe some interesting phenomena, e.g. antimonotonicity, crisis phenomena and route to chaos through a period doubling sequence. Adopting largest Lyapunov exponent criteria, we find that the system yields chaos at the lowest order of [Formula: see text]. Next, in order to globally stabilize the chaotic fractional incommensurate order financial system with uncertain dynamics, an adaptive fractional sliding mode controller is designed. Numerical simulations are used to demonstrate the effectiveness of the proposed control method.

scholarly journals A Path Tracking Strategy for Car Like Robots with Sensor Unpredictability and Measurement Errors

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3077 ◽  
Author(s):  
Madan Mohan Rayguru ◽  
Mohan Rajesh Elara ◽  
Balakrishnan Ramalingam ◽  
M. A. Viraj J. Muthugala ◽  
S. M. Bhagya P. Samarakoon
Keyword(s):  
Motion Control ◽  
Measurement Errors ◽  
Feedback Linearization ◽  
Closed Loop ◽  
Sliding Mode ◽  
Observer Design ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Robust Observer ◽  
Uncertain Dynamics

This work is inspired by motion control of cleaning robots, operating in certain endogenous environments, and performing various tasks like door cleaning, wall sanitizing, etc. The base platform’s motion for these robots is generally similar to the motion of four-wheel cars. Most of the cleaning and maintenance tasks require detection, path planning, and control. The motion controller’s job is to ensure the robot follows the desired path or a set of points, pre-decided by the path planner. This control loop generally requires some feedback from the on-board sensors, and odometry modules, to compute the necessary velocity inputs for the wheels. As the sensors and odometry modules are prone to environmental noise, dead-reckoning errors, and calibration errors, the control input may not provide satisfactory performance in a closed-loop. This paper develops a robust-observer based sliding mode controller to fulfill the motion control task in the presence of incomplete state measurements and sensor inaccuracies. A robust intrinsic observer design is proposed to estimate the input matrix, which is used for dynamic feedback linearization. The resulting uncertain dynamics are then stabilized through a sliding mode controller. The proposed robust-observer based sliding mode technique assures asymptotic trajectory tracking in the presence of measurement uncertainties. Lyapunov based stability analysis is used to guarantee the convergence of the closed-loop system, and the proposed strategy is successfully validated through numerical simulations.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

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