scholarly journals Adaptive Sliding Mode Control of MEMS AC Voltage Reference Source

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Ehsan Ranjbar ◽  
Ali Mehrnezhad ◽  
Amir Abolfazl Suratgar
Keyword(s):  
State Feedback ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Controller ◽  
Pole Placement ◽  
Reference Source ◽  
Physical Parameters ◽  
Voltage Reference ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller

The accuracy of physical parameters of a tunable MEMS capacitor, as the major part of MEMS AC voltage reference, is of great importance to achieve an accurate output voltage free of the malfunctioning noise and disturbance. Even though strenuous endeavors are made to fabricate MEMS tunable capacitors with desiderated accurate physical characteristics and ameliorate exactness of physical parameters’ values, parametric uncertainties ineluctably emerge in fabrication process attributable to imperfections in micromachining process. First off, this paper considers applying an adaptive sliding mode controller design in the MEMS AC voltage reference source so that it is capable of giving off a well-regulated output voltage in defiance of jumbling parametric uncertainties in the plant dynamics and also aggravating external disturbance imposed on the system. Secondly, it puts an investigatory comparison with the designed model reference adaptive controller and the pole-placement state feedback one into one’s prospective. Not only does the tuned adaptive sliding mode controller show remarkable robustness against slow parameter variation and external disturbance being compared to the pole-placement state feedback one, but also it immensely gets robust against the external disturbance in comparison with the conventional adaptive controller. The simulation results are promising.

Adaptive Sliding Mode Controller Design for a Nonlinear Inverted Pendulum with Unknown Physical Parameters and its Experiment

2011 ◽  
Vol 128-129 ◽  
pp. 50-53
Author(s):  
Qing He ◽  
Jin Kun Liu
Keyword(s):  
Inverted Pendulum ◽  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Physical Parameters ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Adaptive Law ◽  
System Robustness ◽  
High Degree

In this paper, an adaptive sliding mode control (ASMC) method for a single inverted pendulum (IP) is proposed. The physical parameters are transformed into the model information, thus adaptive law for the IP can be designed with unknown physical parameters. By simulation and experiments, we found that the ASMC method can keep the IP in the upright position, with quick parameters adjustment and high degree of system robustness.

Sliding mode control of a shape memory alloy actuated active flexible needle

Robotica ◽  
2018 ◽  
Vol 36 (8) ◽  
pp. 1188-1205 ◽  
Author(s):  
Felix Orlando Maria Joseph ◽  
Tarun Podder
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Sliding Mode ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Precise Control ◽  
Adaptive Sliding Mode ◽  
Tissue Phantom ◽  
Adaptive Sliding Mode Controller ◽  
Actual Movement

SUMMARYIn medical interventional procedures such as brachytherapy, biopsy and radio-frequency ablation, precise tracking through the preplanned desired trajectory is very essential. This important requirement is critical due to two major reasons: anatomical obstacle avoidance and accurate targeting for avoiding undesired radioactive dose exposure or damage to neighboring tissue and critical organs. Therefore, a precise control of the needling device in the unstructured environment in the presence of external disturbance is required to achieve accurate target reaching in clinical applications. In this paper, a shape memory alloy actuated active flexible needle controlled by an adaptive sliding mode controller is presented. The trajectory tracking performance of the needle is tested while having its actual movement in an artificial tissue phantom by giving various input reference trajectories such as multi-step and sinusoidal. Performance of the adaptive sliding mode controller is compared with that of the proportional, integral and derivative controller and is proved to be the effective method in the presence of the external disturbances.

Hardware in the Loop Simulation and Analysis of a Model of Fish Robotic System

2010 ◽  
Author(s):  
S. Zeinoddini Meymand ◽  
G. R. Vosoughi ◽  
M. Farshchi ◽  
A. Nemati
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Adaptive Controller ◽  
Robotic System ◽  
Adaptive Sliding Mode Control ◽  
Hardware In The Loop ◽  
Fish Robot ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller

In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using hardware in the loop methodology. Up to now, few researches have focused on autonomous control of fish robot in dynamic environments which may be the result of difficulties in modeling of hydrodynamic effects on fish robot. Therefore, following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Then, kinematics control to track desired trajectories was designed for under-actuated model of robot. Adaptive sliding mode controller, capable of adapting according to changes and uncertainties, was designed and implemented. Using a fabricated stand, experimental tests were performed using hardware in the loop simulation. Computer simulations accompanied by experimental results verify that the presented adaptive controller has two main advantages: first, they make a robot versatile and capable of moving in unknown environments because of system robustness under changes and uncertainties of parameters. Second, they leave out the need for expensive and time consuming experiments to recognize system model and reduce operations for final tuning of controller.

scholarly journals Friction Compensation Control of Electromechanical Actuator Based on Neural Network Adaptive Sliding Mode

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1508
Author(s):  
Wei Ruan ◽  
Quanlin Dong ◽  
Xiaoyue Zhang ◽  
Zhibing Li
Keyword(s):  
Neural Network ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Electromechanical Actuator ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Radial Basis ◽  
Actuator System

In this paper, a radial basis neural network adaptive sliding mode controller (RBF−NN ASMC) for nonlinear electromechanical actuator systems is proposed. The radial basis function neural network (RBF−NN) control algorithm is used to compensate for the friction disturbance torque in the electromechanical actuator system. An adaptive law was used to adjust the weights of the neural network to achieve real−time compensation of friction. The sliding mode controller is designed to suppress the model uncertainty and external disturbance effects of the electromechanical actuator system. The stability of the RBF−NN ASMC is analyzed by Lyapunov’s stability theory, and the effectiveness of this method is verified by simulation. The results show that the control strategy not only has a better compensation effect on friction but also has better anti−interference ability, which makes the electromechanical actuator system have better steady−state and dynamic performance.

scholarly journals Performance of 2- Link Robot by utilizing Adaptive Sliding Mode Controller

2020 ◽  
Vol 26 (12) ◽  
pp. 44-65
Author(s):  
Dena Hameed Tu'ma ◽  
Ahmed Khalaf Hamoudi
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Equations Of Motion ◽  
Systems Design ◽  
Sliding Mode Controller ◽  
Robot System ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Robot Performance ◽  
Better Than

The Sliding Mode Control (SMC) has been among powerful control techniques increasingly. Much attention is paid to both theoretical and practical aspects of disciplines due to their distinctive characteristics such as insensitivity to bounded matched uncertainties, reduction of the order of sliding equations of motion, decoupling mechanical systems design. In the current study, two-link robot performance in the Classical SMC is enhanced via Adaptive Sliding Mode Controller (ASMC) despite uncertainty, external disturbance, and coulomb friction. The key idea is abstracted as follows: switching gains are depressed to the low allowable values, resulting in decreased chattering motion and control's efforts of the two-link robot system. Un-known uncertainty bounded and reducing switching gains can be considered major advantages of ASMC leading to outperform ASMC upon CSMC. Simulink MATLAB 2019a was used to obtain the simulation outcomes. The outcomes have shown that both methodologies had good tracking performance to the desired position and made the system asymptotically stable through the steady-state errors investigate approaching zero. ASMC is better than CSMC illustrated by minimizing gains values, control efforts, and chattering for each link.

scholarly journals A fuzzy adaptive sliding mode controller for uncertain nonlinear multi motor systems

2018 ◽  
Vol 161 ◽  
pp. 02013
Author(s):  
Tran Xuan Tinh ◽  
Pham Tuan Thanh ◽  
Tran Van Tuyen ◽  
Nguyen Van Tien ◽  
Dao Phuong Nam
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller ◽  
Pressure Meter ◽  
Fuzzy Adaptive

Multi-motor drive systems are nonlinear, multi-input multi-output (MIMO) and strong-coupling complicated system, including the effect of friction and elastic, backlash. They have been widely used in many modern industries. The control law for this dive system much depend on the determining of the tension being hard to obtain this tension in practice based on a load cell or a pressure meter due to the accuracy of sensors or external disturbance. An emerging proposed technique in the control law is the use of adaptive sliding mode control scheme to stabilize closed system. However, the control system would be affected by chattering phenomenon. In order to eliminate this term, fuzzy technique is proposed by adjusting equivalent coefficients. The theory analysis and simulation results point out the good performance of the proposed fuzzy adaptive sliding mode control for the drive system.

scholarly journals Adaptive Sliding Mode Controller Design For Attitude Small UAV

2015 ◽  
Vol 4 (3) ◽  
pp. 219
Author(s):  
Samaneh Amini
Keyword(s):  
Attitude Control ◽  
Controller Design ◽  
Sliding Mode ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Attitude Control System ◽  
Strongly Coupled ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Aerial Vehicle

The dynamic of Unmanned Aerial Vehicle (UAV) is nonlinear, strongly coupled, multi-input multi-output (MIMO), and subject to uncertainties and external disturbances.  In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV. In the proposed scheme, sliding mode control law parameters due to uncertainty are assumed to be unknown and are estimated via adaptation laws. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Navigation outer loop parameters are regulated via PID controllers. Simulation results indicate that the proposed controller design can stabilize the nonlinear system, and it is robust to parametric model uncertainties and external disturbance.

scholarly journals Design of RBF Adaptive Sliding Mode Controller for A Supercavitating Vehicle

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 39873-39883
Author(s):  
Wang Jinghua ◽  
Liu Yang ◽  
Cao Guohua ◽  
Zhao Yongyong ◽  
Zhang Jiafeng
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Supercavitating Vehicle
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