Robust Biaxial Contouring Controller Design Incorporating Frictional Dynamics

2006 ◽  
Author(s):  
Kuan-Chen Lin ◽  
Chieh-Li Chen
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Contour Error ◽  
Friction Compensation ◽  
Parametric Uncertainties ◽  
Coordination Control ◽  
Friction Modeling ◽  
Friction Forces ◽  
Load Variations ◽  
Chattering Free

The performance of a contouring action is evaluated by the geometric deviation called contour error. By analysis, this error is significantly affected by coordination of axes, frictional effects and load variations. To improve the contouring performance, both the coordination control and the friction compensation should be incorporated into controller synthesis. Besides, friction forces are also found tending to vary quantitatively with position and time, which can be termed as parametric uncertainties in the friction modeling. Therefore, this paper provides an integrated structure such that all the factors can be combined into a single formulation, and a robust chattering-free output feedback sliding mode contouring controller design is proposed based on this formulation such that the coordination control, friction compensation, load variation and parametric uncertainties can be together solved by a systematic procedure. Numerical results with 20% system parametric uncertainties are shown consistent to the theoretical analysis, and reveal the effectiveness and the robustness of the proposed method.

scholarly journals On Chattering-Free Dynamic Sliding Mode Controller Design

2012 ◽  
Vol 2012 ◽  
pp. 1-7 ◽  
Author(s):  
Jeang-Lin Chang
Keyword(s):  
Sliding Mode Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Law ◽  
Mode Control ◽  
Chattering Free ◽  
Dynamic Sliding Mode Control ◽  
System States ◽  
Dynamic Sliding Mode ◽  
Free Dynamic

For a class of linear MIMO uncertain systems, a dynamic sliding mode control algorithm that avoids the chattering problem is proposed in this paper. Without using any differentiator, we develop a modified asymptotically stable second-order sliding mode control law in which the proposed controller can guarantee the finite time convergence to the sliding mode and can show that the system states asymptotically approach to zero. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.

scholarly journals Robust Synchronization of Incommensurate Fractional-Order Chaotic Systems via Second-Order Sliding Mode Technique

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Hua Chen ◽  
Wen Chen ◽  
Binwu Zhang ◽  
Haitao Cao
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Second Order ◽  
External Disturbances ◽  
Globally Asymptotically Stable ◽  
Control Scheme ◽  
Chattering Free ◽  
Second Order Sliding Mode

A second-order sliding mode (SOSM) controller is proposed to synchronize a class of incommensurate fractional-order chaotic systems with model uncertainties and external disturbances. Based on the chattering free SOSM control scheme, it can be rigorously proved that the dynamics of the synchronization error is globally asymptotically stable by using the Lyapunov stability theorem. Finally, numerical examples are provided to illustrate the effectiveness of the proposed controller design approach.

Sliding Mode Friction Compensation for a 20 DOF Sensor Glove

2000 ◽  
Vol 122 (4) ◽  
pp. 611-615 ◽  
Author(s):  
Pe´ter Korondi ◽  
Pe´ter T. Szemes ◽  
Hideki Hasimoto
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Sliding Mode ◽  
Friction Compensation ◽  
Practical Application ◽  
Human Interface ◽  
Direct Model ◽  
Chattering Free ◽  
Interface Device

A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom. [S0022-0434(00)01104-7]

scholarly journals A Robust Payload Control System Design for Offshore Cranes: Experimental Study

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 462
Author(s):  
Hwan-Cheol Park ◽  
Soumayya Chakir ◽  
Young-Bok Kim ◽  
Dong-Hun Lee
Keyword(s):  
Control System ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Technique ◽  
Parametric Uncertainties ◽  
Control Performance ◽  
Robust Control System ◽  
Reliable Performance ◽  
Offshore Crane

This paper presents a robust controller design of payload position control for an offshore crane facing disturbance and parametric uncertainties. The offshore operations with cranes while lifting and lowering a payload can be dangerous since safety and efficiency are affected by waves, wind and ocean currents. Such harsh sea conditions put the offshore crane and payload through unwanted disturbances and parametric uncertainties, which requires a robust control system to guarantee reliable performance of these systems. In this paper, we detail a controller designed based on uniformly ultimately bounded (UUB) theory, combined with the input-output linearization control technique (IOLC). The stability of the closed-loop system under the UUB conditions is analyzed using the energy-based Lyapunov function. To evaluate the control performance of the proposed controller, along with an IOLC and an integral sliding mode controller (ISMC), a comparison study is also conducted. The control performance and efficiency of the proposed controller are validated through experiments on an offshore crane model.

Smooth backstepping sliding mode control for missile attitude system based on parameters online adjusting and estimating for square of disturbance upper bound

2017 ◽  
Vol 233 (1) ◽  
pp. 22-33 ◽  
Author(s):  
Yun-Jie Wu ◽  
Jing-Xing Zuo ◽  
Liang-Hua Sun
Keyword(s):  
Upper Bound ◽  
Reference Model ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Parametric Uncertainties ◽  
Adaptive Law ◽  
Key Innovation ◽  
Attitude Tracking ◽  
Chattering Free ◽  
Attitude Tracking Control

To efficaciously eliminate the effect of chattering caused by parametric uncertainties and external disturbances on attitude tracking control of missile systems, a chattering-free backstepping sliding mode controller based on parameters online adjusting and square of disturbance upper bound estimating is proposed in this paper for the quaternion-described missile model, which is nonlinear in aerodynamics. The controller comprises the back stepping sliding mode strategy and several adaptive laws. First, one adaptive law is applied to adjust the uncertain parameters, involving inertias, atmospheric moment coefficients, and steering efficiencies online, which reduces the upper bound of the equivalent disturbances. Then, another adaptive law, estimating square of the disturbance upper bound, is introduced. Combining with the backstepping sliding mode controller, the expected missile attitude can be tracked asymptotically. Compared with other missile attitude controllers, key innovation of the proposed control laws are that the controller is based on the novel online adjusting model rather than the conventional fixed-parameter reference model and square of disturbance upper bound is estimated rather than the upper bound itself, which thoroughly abstains the chattering problem. Simulation results of a specific missile model demonstrate that the proposed controller is independent of the parametric uncertainties and can achieve a fast convergence rate without any chattering.

Design and Application of Chattering-Free Sliding Mode Controller to Cable-Driven Parallel Robot Manipulator: Theory and Experiment

2010 ◽  
Author(s):  
Meysar Zeinali ◽  
Amir Khajepour
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Parallel Robot ◽  
Industrial Applications ◽  
Fast Time ◽  
Chattering Free

High-performance robust controller design for nonlinear uncertain dynamical systems such as cable-driven parallel robot manipulators is a challenging work. In this paper, a new and systematic approach to combine sliding mode control, adaptive control design techniques and PID control for tracking control of cable-driven parallel robot manipulators, in the presence of model uncertainties is presented. In the proposed method, structured (parametric) and unstructured (un-modeled) uncertainties are lumped into one term and one uncertain parameter (term) is considered corresponding to each degrees of freedom of robot manipulator. Therefore, the problem of computation burden and large number of parameters, which are not addressed in the literature, is solved to a large extent. The global uniform ultimate boundedness stability is obtained in the presence of fast time-varying uncertainties. The simulation and experimental results revealed that the proposed method is robust against uncertainties and its simplicity makes the approach attractive for industrial applications.

Modelling and hovering control for a coaxial unmanned helicopter using sliding mode

2018 ◽  
Vol 90 (5) ◽  
pp. 815-827 ◽  
Author(s):  
Zhi Chen ◽  
Daobo Wang ◽  
Ziyang Zhen
Keyword(s):  
Flight Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Unmanned Helicopter ◽  
Nonlinear Controller ◽  
Control Logic ◽  
Coupling Analysis ◽  
Content Type ◽  
Chattering Free ◽  
Coupling Characteristics

Purpose To facilitate the nonlinear controller design, dynamic model of a novel coaxial unmanned helicopter (UH) is established and its coupling analysis is presented. Design/methodology/approach The chattering-free sliding mode controller (SMC) with unidirectional auxiliary surfaces (UASs) is designed and implemented for the coaxial ducted fan UH. Findings The coupling analysis based on the established model show severe coupling between channels. For coaxial UH’s special model structure, UAS-SMC controller is proposed to reduce the coupling characteristics between channels of the UH by setting controllers’ output calculation sequence. Originality/value The flight control law and control logic are successfully tested in numerical simulation and hardware in the loop (HIL) simulation. The results show best hovering performances without chattering problem, even under the bounded internal dynamics and external disturbances.

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