A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator

2005 ◽  
Vol 128 (1) ◽  
pp. 159-164 ◽  
Author(s):  
Kevin B. Fite ◽  
Jason E. Mitchell ◽  
Eric J. Barth ◽  
Michael Goldfarb
Keyword(s):  
Sliding Mode ◽  
Direct Injection ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Single Input Single Output ◽  
Control Approach ◽  
Single Output ◽  
Human Scale ◽  
Actuation System ◽  
And Control

This paper describes the modeling and control of a proportional-injector direct-injection monopropellant-powered actuator for use in power-autonomous human-scale mobile robots. The development and use of proportional (as opposed to solenoid) injection valves enables a continuous and unified input/output description of the device, and therefore enables the development and implementation of a sliding-mode-type controller for the force control of the proposed actuator, which provides the stability guarantees characteristic of a sliding-mode control approach. Specifically, a three-input, single-output model of the actuation system behavior is developed, which takes a nonlinear non-control-canonical form. In order to implement a nonlinear controller, a constraint structure is developed that effectively renders the system single input, single output, and control canonical, and, thus, of appropriate form for the implementation of a sliding-mode controller. A sliding-mode controller is then developed and experimentally implemented on the proposed actuator. Experimental results demonstrate closed-loop force tracking with a saturation-limited bandwidth of approximately 6Hz.

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part Two—Robust Control

2011 ◽  
Author(s):  
Sai-Kit Wu ◽  
Garrett Waycaster ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Robust Control ◽  
Nonlinear Model ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Control Approach ◽  
Actuation System ◽  
Highly Nonlinear ◽  
Pressure Dynamics ◽  
System Part ◽  
And Control

A robust control approach is presented in this part of the paper, which provides an effective servo control for the novel PAM actuation system presented in Part I. Control of PAM actuation systems is generally considered as a challenging topic, due primarily to the highly nonlinear nature of such system. With the introduction of new design features (variable-radius pulley and spring-return mechanism), the new PAM actuation system involves additional nonlinearities (e.g. the nonlinear relationship between the joint angle and the actuator length), which further increasing the control difficulty. To address this issue, a nonlinear model based approach is developed. The foundation of this approach is a dynamic model of the new actuation system, which covers the major nonlinear processes in the system, including the load dynamics, force generation from internal pressure, pressure dynamics, and mass flow regulation with servo valve. Based on this nonlinear model, a sliding mode control approach is developed, which provides a robust control of the joint motion in the presence of model uncertainties and disturbances. This control was implemented on an experimental setup, and the effectiveness of the controller demonstrated by sinusoidal tracking at different frequencies.

Output Feedback Control Surface Positioning With a High-Order Sliding Mode Controller/Estimator: An Experimental Study on a Hydraulic Flight Actuation System

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Ali Şener Kaya ◽  
Mehmet Zeki Bilgin
Keyword(s):  
Output Feedback ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Control Surface ◽  
Parametric Uncertainties ◽  
Third Order ◽  
Single Input Single Output ◽  
Single Output ◽  
Actuation System ◽  
Position Controller

In this paper, an output feedback sliding mode position controller/estimator scheme is proposed to control an single input single output (SISO) system subject to bounded nonlinearities and parametric uncertainties. Various works have been published addressing the theoretical effectiveness of the third-order sliding mode control (3-SMC) in terms of chattering alleviation and controller robustness. However, the application of 3-SMC with a feedback estimator to a flight actuators has not been treated explicitly. This is due to the fact that the accurate full state estimation is required since SMCs performance can be severely degraded by measurement or estimation noise. Aerodynamic control surface actuators in air vehicles mostly employ linear position controllers to achieve guidance and stability. The main focus of the paper is to experimentally demonstrate the stability and positioning performance of a third-order SMC applied to a class of system with high relative degree and bounded parametric uncertainties. The performance of the closed-loop system is also compared with a lower level SMC and classical controller to show the effectiveness of the algorithm. Realization of the proposed algorithm from an application perspective is the main target of this paper and it demonstrates that a shorter settling time and higher control action attenuation can be achieved with the proposed strategy.

scholarly journals Adaptive Moving Sliding Mode Control for SISO Systems: Application to an Electropneumatic System

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Assil Ayadi ◽  
Soufien Hajji ◽  
Mohamed Smaoui ◽  
Abdessattar Chaari
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sliding Surface ◽  
External Disturbances ◽  
Single Input Single Output ◽  
Mode Control ◽  
Single Output ◽  
Single Input ◽  
Electropneumatic System ◽  
Siso Systems

This paper aims to propose and develop an adaptive moving sliding mode controller (AMSMC) that can be applied for nonlinear single-input single-output (SISO) systems with external disturbances. The main contribution of this framework consists to overcome the chattering phenomenon problem. The discontinuous term of the classic sliding mode control is replaced by an adaptive term. Moreover, a moving sliding surface is proposed to have better tracking and to guarantee robustness to the external disturbances. The parameters of the sliding surface and the adaptive law are deduced based on Lyapunov stability analysis. An experimental application of electropneumatic system is treated to validate the theoretical results.

A new continuous integral sliding mode control algorithm for inverted pendulum and 2-DOF helicopter nonlinear systems: Theory and experiment

2021 ◽  
pp. 095965182110480
Author(s):  
Satyanarayan Sadala ◽  
Balasaheb Patre ◽  
Divyesh Ginoya
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Discontinuous Function ◽  
Single Input Single Output ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Control Approach ◽  
Mode Control

This paper introduces a new continuous integral sliding mode control algorithm, where the discontinuous function of the super-twisting control law is replaced with a continuous disturbance observer for the substantial chattering attenuation. In the present integral sliding mode control, the discontinuous function generates chattering that is undesirable for several real-time applications. The proposed control strategy decreases the amplitude of the controller gain compared to the existing integral sliding mode controls, and as a consequence of this, the attenuation of chattering is achieved to a great extent. The efficacy of the proposed control algorithm is validated successfully on the single-input single-output Inverted Pendulum and 2-DOF Helicopter nonlinear coupled multi-input multi-output systems. The simulation and experimental results demonstrate the successful application of the proposed control approach to follow reference inputs and acquire robustness and stabilization of the system in the presence of limited matched perturbations and nonlinearities.

scholarly journals Tuning and Feasibility Analysis of Classical First-Order MIMO Non-Linear Sliding Mode Control Design for Industrial Applications

Machines ◽  
2019 ◽  
Vol 7 (1) ◽  
pp. 10 ◽  
Author(s):  
Alessandro Palmieri ◽  
Renato Procopio ◽  
Andrea Bonfiglio ◽  
Massimo Brignone ◽  
Marco Invernizzi ◽  
...  
Keyword(s):  
Feedback Linearization ◽  
Sliding Mode ◽  
Parameter Tuning ◽  
Industrial Applications ◽  
Single Input Single Output ◽  
First Order ◽  
Control Techniques ◽  
Single Output ◽  
System A ◽  
Single Input

Model-based control techniques have been gaining more and more interest these days. These complex control systems are mostly based on theories, such as feedback linearization, model predictive control, adaptive and robust control. In this paper the latter approach is investigated, in particular, sliding mode (SM) control is analyzed. While several works on the description and application of SM control on single-input single-output systems can easily be found, its application on multi-input multi-output systems is not examined in depth at the same level. Hence, this work aims at formalizing some theoretical complements about the necessary conditions for the feasibility of the SM control for multi-input-multi-output systems. Furthermore, in order to obtain the desired performance from the control system, a method for parameter tuning is proposed in the particular case in which the relative degree of the controlled channels is equal to one. Finally, a simple control problem example is shown with the aim of stressing the benefits derived from the application of the theoretical complements described here.

Optimal Decoupled Disturbance Observers for Dual-Input Single-Output Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Xu Chen ◽  
Masayoshi Tomizuka
Keyword(s):  
Disturbance Observer ◽  
Filter Design ◽  
Spectral Characteristics ◽  
Hard Disk Drives ◽  
Disk Drives ◽  
Single Input Single Output ◽  
Control Approach ◽  
Single Output ◽  
Dual Stage ◽  
Single Input

The disturbance observer (DOB) has been a popular robust control approach for servo enhancement in single-input single-output systems. This paper presents a new extension of the DOB idea to dual- and multi-input single-output systems, and discusses an optimal filter design technique for the related loop-shaping. The proposed decoupled disturbance observer (DDOB) provides the flexibility to use the most suitable actuators for compensating disturbances with different spectral characteristics. Such a generalization is helpful, e.g., for modern dual-stage hard disk drives, where enhanced servo design is becoming more and more essential in the presence of vibration disturbances.

Dynamic Analysis and Sliding Mode Control of a Novel Extendable Modular Multi-DOFs Link

2012 ◽  
Author(s):  
Hak Yi ◽  
Je Hong Yoo ◽  
Reza Langari
Keyword(s):  
Sliding Mode Control ◽  
Dynamic Analysis ◽  
Sliding Mode ◽  
Free Motion ◽  
Modular Robot ◽  
Nonlinear Controller ◽  
Control Approach ◽  
Mode Control ◽  
Reachable Workspace ◽  
Simulation Results

In this paper, we have considered the new extendable modular multi-DOFs link to have a larger reachable workspace and more dexterous manipulability, as compared to a typical link. As a part of the extendable modular robot (EMR), our link is implemented to allow free motion when performing required tasks. In addition, this paper deals with a function of adjusting the link’s length (within 25% of the nominal length). Our investigation also focuses on the dynamics of a multi-DOFs link and the nonlinear controller for a given trajectory. The simulation results show the effectiveness of this control approach.

Cadmium concentration stabilization in a continuous sulfate reducing bioreactor via sulfide concentration control

2013 ◽  
Vol 67 (3) ◽  
Author(s):  
Pablo López Pérez ◽  
M. Neria González ◽  
Ricardo Aguilar López
Keyword(s):  
Sliding Mode ◽  
Cadmium Concentration ◽  
Sulfide Concentration ◽  
Cadmium Removal ◽  
Single Input Single Output ◽  
Output State ◽  
Sulfate Reducing ◽  
Virtual Plant ◽  
Continuous Bioreactor ◽  
Single Output

AbstractCadmium concentration stabilization in a single input-single output continuous bioreactor via sulfide concentration, as the controlled and measured output state variable, was assumed. For the above process, a novel kinetic model of the sulfate-reducing process for cadmium removal was proposed and experimentally confirmed. This model has been extended to continuous operation, which is employed as a virtual plant to enable the implementation of the proposed controller. The considered nonlinear control law contains a sigmoid feedback of the given control error in order to regulate the sulfide concentration at the maximum value indirectly leading to cadmium concentrations meeting the environmental regulations. A theoretical frame of the closed-loop stability of the bioreactor is provided under the assumption that bounded trajectories occur in the bioreactor. Finally, numerical experiments proved satisfactory performance of the proposed methodology in comparison with the standard sliding-mode and linear PI controllers.

scholarly journals Attitude Blended Control for Aerospace Vehicle with Lateral Thrusters and Aerodynamic Fins

2019 ◽  
Vol 37 (3) ◽  
pp. 532-540
Author(s):  
Aijun Li ◽  
Yu Wang ◽  
Yong Guo ◽  
Changqing Wang
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Attitude Control ◽  
Sliding Mode ◽  
Control Allocation ◽  
Sliding Mode Controller ◽  
Attitude Error ◽  
The Neural Network ◽  
And Control ◽  
Attitude Model

A finite-time blended control strategy is proposed for the reentry phase attitude control of the aerospace vehicle (ASV) based on the neural network, sliding mode control theory and control allocation. Firstly, a finite-time neural networks sliding mode controller is designed based on the attitude model of the ASV in the reentry phase to obtain the virtual control moments which can make the attitude error converge to the equilibrium point in finite time. Secondly, the desired control moments are mapped into the control commands on the aerodynamic deflectors and the reaction control system (RCS) by using the control allocation. Finally, simulation results are provided to demonstrate the effectiveness of the attitude blended control strategy proposed.

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