Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control

2016 ◽  
Author(s):  
Xu Zhou ◽  
Rui Liu ◽  
Jiucai Zhang ◽  
Xiaoli Zhang
Keyword(s):  
Sliding Mode ◽  
Suspended Load ◽  
Pd Controller ◽  
Practical Applications ◽  
Uncertain Disturbances ◽  
Mass Uncertainty ◽  
Simulation Results ◽  
The Stability ◽  
Quadrotor System ◽  
Load Mass

The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the quadrotor’s stability in this situation, we investigate the impacts of the uncertain load mass on the quadrotor. By comparing the simulation results of two controllers — the proportional-derivative (PD) controller and the sliding mode controller (SMC) driven by a sliding mode disturbance of observer (SMDO), the quadrotor’s performance is verified to be worse as the uncertainty increases. The simulation results also show a controller with stronger robustness against disturbances is better for practical applications.

scholarly journals Active Sliding Mode for Synchronization of a Wide Class of Four-Dimensional Fractional-Order Chaotic Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Bin Wang ◽  
Yuangui Zhou ◽  
Jianyi Xue ◽  
Delan Zhu
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Wide Class ◽  
Stability Theory ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Order System ◽  
Fractional Order Calculus ◽  
Simulation Results ◽  
The Stability

We focus on the synchronization of a wide class of four-dimensional (4-D) chaotic systems. Firstly, based on the stability theory in fractional-order calculus and sliding mode control, a new method is derived to make the synchronization of a wide class of fractional-order chaotic systems. Furthermore, the method guarantees the synchronization between an integer-order system and a fraction-order system and the synchronization between two fractional-order chaotic systems with different orders. Finally, three examples are presented to illustrate the effectiveness of the proposed scheme and simulation results are given to demonstrate the effectiveness of the proposed method.

scholarly journals Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Yassine El Houm ◽  
Ahmed Abbou ◽  
Moussa Labbadi ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Sliding Surface ◽  
State Variables ◽  
Quadrotor Uav ◽  
The Stability ◽  
Quadrotor System

This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

Neuro-Fuzzy Sliding Mode Control of Inverted Pendulum

2013 ◽  
Vol 711 ◽  
pp. 432-439
Author(s):  
Khedoudja Kherraz ◽  
Mustapha Hamerlain ◽  
Nouara Achour
Keyword(s):  
Function Method ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Controller ◽  
Fuzzy Sliding Mode Control ◽  
Neuro Fuzzy ◽  
Lyapunov Function Method ◽  
Fuzzy Sliding Mode ◽  
Simulation Results ◽  
The Stability

In this paper we develop a robust controller based on sliding mode, neural network and fuzzy logic for the control of a class of under-actuated systems. The stability of the proposed controller is proved with the Lyapunov function method. Simulation results are made on an inverted pendulum.

scholarly journals A neural network combined with sliding mode controller for the two-wheel self-balancing robot

2021 ◽  
Vol 10 (3) ◽  
pp. 592
Author(s):  
Duc-Minh Nguyen ◽  
Van-Tiem Nguyen ◽  
Trong-Thang Nguyen
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Laws ◽  
Noise Compensation ◽  
Simulation Results ◽  
Balancing Robot ◽  
The Stability

This article presents the sliding control method combined with the selfadjusting neural network to compensate for noise to improve the control system's quality for the two-wheel self-balancing robot. Firstly, the dynamic equations of the two-wheel self-balancing robot built by Euler–Lagrange is the basis for offering control laws with a neural network of noise compensation. After disturbance-compensating, the sliding mode controller is applied to control quickly the two-wheel self-balancing robot reached the desired position. The stability of the proposed system is proved based on the Lyapunov theory. Finally, the simulation results will confirm the effectiveness and correctness of the control method suggested by the authors.

Synchronization of Fractional-Order Chaotic Systems with Uncertain Parameters

2010 ◽  
Vol 171-172 ◽  
pp. 723-727
Author(s):  
Hong Zhang ◽  
Qiu Mei Pu
Keyword(s):  
Fractional Order ◽  
Stability Theory ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
System Stability ◽  
Order System ◽  
Uncertain Parameters ◽  
Mode Theory ◽  
Simulation Results ◽  
The Stability

For the synchronization of fractional-order chaotic systems with uncertain parameters, a controller based on sliding mode theory is presented. Based on the stability theory of fractional-order system, stability of the proposed method is analyzed. The theory is successfully applied to synchronize fractional Newton-Leipnik chaotic systems with uncertain parameters. The simulation results show the effectiveness of the proposed controller.

Sliding Mode Control With Sliding Perturbation Observer

1997 ◽  
Vol 119 (4) ◽  
pp. 657-665 ◽  
Author(s):  
Jairo Terra Moura ◽  
Hakan Elmali ◽  
Nejat Olgac
Keyword(s):  
Sliding Mode Control ◽  
State Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Variable Structure ◽  
Practical Applications ◽  
Mode Control ◽  
Full State Feedback ◽  
Modelling Uncertainties ◽  
The Stability

This work introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity called perturbation. The major contribution of this work comes as the development and design of a robust observer for the state and the perturbation which is integrated into a Variable Structure Controller (VSC) structure. The proposed observer combines the procedures of Sliding Observers (Slotine et al, 1987) with the idea of Perturbation Estimation (Elmali and Olgac, 1992). The result is what is called Sliding Perturbation Observer (SPO). The VSC follows the philosophy of Sliding Mode Control (SMC) (Slotine and Sastry, 1983). This combination of controller/observer gives rise to the new routine called Sliding Mode Control with Sliding Perturbation Observer (SMCSPO). The stability analysis shows how the algorithm parameters are scheduled in order to assure the sliding modes of both controller and observer. A simplified form of the general design procedure is also presented in order to ease the practical applications of SMCSPO. Simulations are presented for a two-link manipulator to verify the proposed approach. Experimental validation of the methodology is also performed on a PUMA 560 robot. A superior control performance is obtained over some full state feedback techniques such as SMC and Computed Torque Method.

scholarly journals An Adaptive Assistance Controller to Optimize the Exoskeleton Contribution in Rehabilitation

Robotics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 95
Author(s):  
Rezvan Nasiri ◽  
Mohammad Shushtari ◽  
Arash Arami
Keyword(s):  
Tracking Error ◽  
Adaptive Method ◽  
Convergence Time ◽  
Task Completion ◽  
Pd Controller ◽  
Convergence Proof ◽  
Human Arm ◽  
Simulation Results ◽  
The Stability ◽  
Adaptive Feedforward

In this paper, we present a novel adaptation rule to optimize the exoskeleton assistance in rehabilitation tasks. The proposed method adapts the exoskeleton contribution to user impairment severity without any prior knowledge about the user motor capacity. The proposed controller is a combination of an adaptive feedforward controller and a low gain adaptive PD controller. The PD controller guarantees the stability of the human-exoskeleton system during feedforward torque adaptation by utilizing only the human-exoskeleton joint positions as the sensory feedback for assistive torque optimization. In addition to providing a convergence proof, in order to study the performance of our method we applied it to a simplified 2-DOF model of human-arm and a generic 9-DOF model of lower limb to perform walking. In each simulated task, we implemented the impaired human torque to be insufficient for the task completion. Moreover, the scenarios that violate our convergence proof assumptions are considered. The simulation results show a converging behavior for the proposed controller; the maximum convergence time of 20 s is observed. In addition, a stable control performance that optimally supplements the remaining user motor contribution is observed; the joint angle tracking error in steady condition and its improvement compared to the start of adaptation are as follows: shoulder 0.96±2.53° (76%); elbow −0.35±0.81° (33%); hip 0.10±0.86° (38%); knee −0.19±0.67° (25%); and ankle −0.05±0.20° (60%). The presented simulation results verify the robustness of proposed adaptive method in cases that differ from our mathematical assumptions and indicate its potentials to be used in practice.

scholarly journals Stabilization of A Single Chamber Single Population Microbial Fuel Cell by Using of a Novel Nonlinear Adaptive Sliding Mode Control

2021 ◽  
Vol 24 (1) ◽  
pp. 14-20
Author(s):  
Xiuwei Fu ◽  
Li Fu ◽  
Hashem Imani Marrani
Keyword(s):  
Fuel Cell ◽  
Microbial Fuel Cell ◽  
Control Method ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Single Population ◽  
Simulation Results ◽  
The Stability ◽  
Classical Control ◽  
Combined Technique

The microbial fuel cell is one of the most important tools in the supply of renewable energy and its controller plays an important role in improving the performance and stability of its output. Using the advantages of adaptive and sliding mode methods, this paper presents a combined technique to ensure the stability and output voltage stabilization of the fuel cell in the presence of parametric uncertainties and nonlinear terms. The proposed control method is compared with classical control approaches and the simulation results confirm its efficiency.

scholarly journals Análisis de estabilidad de convertidores de segundo orden con la metodología de optimización de suma de polinomios cuadráticos

2020 ◽  
Vol 1 (1) ◽  
pp. 49-58
Author(s):  
Jhon Jairo Herrera-Pérez ◽  
Alejandro Garcés-Ruiz
Keyword(s):  
Output Voltage ◽  
Equilibrium Points ◽  
Linear Method ◽  
Pi Controller ◽  
Quadratic Lyapunov Function ◽  
Boost Converters ◽  
Dc Microgrids ◽  
Practical Applications ◽  
Simulation Results ◽  
The Stability

This paper presents a non-linear method based on sum-of-squares (SOS), to determine the stability of equilibrium points for the Buck, Boost, Buck-Boost and non-inverter Buck-Boost converters. These converters share a similar structure with a PI controller to regulate the output voltage. A quadratic Lyapunov function is proposed in all cases, and the conditions for stability are evaluated using convex optimization based on SOS models. The methodology is useful for academic purposes but also in practical applications like DC microgrids. Simulation results shows the advantages of the proposed method.

scholarly journals Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Moussa Labbadi ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability ◽  
The Right ◽  
Quadrotor System

The purpose of this paper is to solve the problem of controlling of the quadrotor exposed to external constant disturbances. The quadrotor system is partitioned into two parts: the attitude subsystem and the position subsystem. A new robust integral terminal sliding mode control law (RITSMC) is designed for stabilizing the inner loop and the quick tracking of the right desired values of the Euler angles. To estimate the disturbance displayed on the z-axis and to control the altitude position subsystem, an adaptive backstepping technique is proposed, while the horizontal position subsystem is controlled using the backstepping approach. The stability of the quadrotor subsystems is guaranteed by the Lyapunov theory. The effectiveness of the proposed methods is clearly comprehended through the obtained results of the various simulations effectuated on MATLAB/Simulink, and a comparison with another technique is presented.

Sign in / Sign up

Export Citation Format

Share Document