Sliding Mode Control for Hexacopter Stabilization with Motor Failure

2016 ◽  
Vol 28 (6) ◽  
pp. 936-948 ◽  
Author(s):  
Yi Yang ◽  
◽  
Wei Wang ◽  
Daisuke Iwakura ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Linear Constraints ◽  
Control Input ◽  
Linear Quadratic ◽  
Mode Control ◽  
Integral Controller ◽  
Quadratic Integral ◽  
Comparative Results

[abstFig src='/00280006/18.jpg' width='300' text='Hovering with 5 rotors' ] This study presents a fault-tolerance approach for hexacopters with failed propulsion systems (i.e., motors and propellers) using sliding mode control theory. In this study, we use an explicit control allocation method with linear constraints for allocating the control input to redundancy actuators, as well as a new sliding model controller designed to stabilize the attitude and maintain the basic flight performance of a vehicle with a single failed motor during an outdoor autonomous flight mission. An asymmetrical motor rotation arrangement is applied in order to ensure controllability for all degrees of freedom. We verify the developed system on a real hexacopter suffering propulsion-system failure. Finally, the comparative results between the linear-quadratic-integral controller and model reference sliding mode controller are presented to evaluate the robustness of each controller against the failure of redundancy actuators.

Dynamic modelling and linear quadratic sliding mode control of a multivariable looper system in hot strip mills

2021 ◽  
Vol 118 (2) ◽  
pp. 215
Author(s):  
Yin Fang-Chen ◽  
Wu Xiang-Cheng
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Modelling ◽  
Control Law ◽  
Linear Quadratic ◽  
Mode Control ◽  
Sliding Motion ◽  
Quadratic Performance ◽  
Hot Strip Mills ◽  
Looper System

This paper introduces a linear quadratic sliding mode control (LQ-SMC) scheme into a looper control system. First, according to a 1700 mm tandem hot mill, the state-space dynamic model of the looper system was established, and then, the optimal control law of the looper system was obtained based on the established model. Finally, the optimal sliding mode and optimal sliding mode control law of the LQ-SMC scheme were designed such that the sliding motion could satisfy the optimal value of the quadratic performance index. Simulation results show that the proposed control scheme has complete robustness to external disturbances that satisfies certain conditions, and the coupling between the looper angle dynamic and strip tension dynamic is also minimized.

Chaotic Gyros Synchronization

2011 ◽  
pp. 183-209
Author(s):  
M. Roopaei ◽  
M. J. Zolghadri ◽  
B. S. Ranjbar ◽  
S. H. Mousavi ◽  
H. Adloo ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Dead Zone ◽  
Control Input ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Robust Adaptive ◽  
Fuzzy Parameter

In this chapter, three methods for synchronizing of two chaotic gyros in the presence of uncertainties, external disturbances and dead-zone nonlinearity are studied. In the first method, there is dead-zone nonlinearity in the control input, which limits the performance of accurate control methods. The effects of this nonlinearity will be attenuated using a fuzzy parameter approximator integrated with sliding mode control method. In order to overcome the synchronization problem for a class of unknown nonlinear chaotic gyros a robust adaptive fuzzy sliding mode control scheme is proposed in the second method. In the last method, two different gyro systems have been considered and a fuzzy controller is proposed to eliminate chattering phenomena during the reaching phase of sliding mode control. Simulation results are also provided to illustrate the effectiveness of the proposed methods.

scholarly journals Stability Analysis of a Class of Second Order Sliding Mode Control Including Delay in Input

2013 ◽  
Vol 2013 ◽  
pp. 1-9
Author(s):  
Pedro R. Acosta
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Second Order ◽  
Control Input ◽  
Sliding Surface ◽  
Numerical Examples ◽  
Mode Control ◽  
Second Order Sliding Mode

This paper deals with a class of second order sliding mode systems. Based on the derivative of the sliding surface, sufficient conditions are given for stability. However, the discontinuous control signal depend neither on the derivative of sliding surface nor on its estimate. Time delay in control input is also an important issue in sliding mode control for engineering applications. Therefore, also sufficient conditions are given for the time delay size on the discontinuous input signal, so that this class of second order sliding mode systems might have amplitude bounded oscillations. Moreover, amplitude of such oscillations may be estimated. Some numerical examples are given to validate the results. At the end, some conclusions are given on the possibilities of the results as well as their limitations.

Model Following Sliding Mode Control Based on Uncertainty and Disturbance Estimator

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
S. E. Talole ◽  
S. B. Phadke
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Input ◽  
Input Matrix ◽  
Mode Control ◽  
Model Following ◽  
Uncertainty And Disturbance Estimator ◽  
Disturbance Estimator

A new design of sliding mode control based on an uncertainty and disturbance estimator (UDE) is given. The control proposed does not require the knowledge of bounds of uncertainties and disturbances and is continuous. Thus, two main difficulties in the design of sliding mode control are overcome. Furthermore, the method of UDE is extended to plants having significant uncertainty in the control input matrix and subjected to disturbances that nonlinearly depend on states.

Emergency Avoidance Control System for an Automatic Vehicle – Slip Ratio Control Using Sliding Mode Control and Real-Number-Coded Immune Algorithm –

2015 ◽  
Vol 27 (6) ◽  
pp. 645-652 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
◽  
Takao Taniguchi
Keyword(s):  
Sliding Mode Control ◽  
Real Number ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Linear Interpolation ◽  
Immune Algorithm ◽  
Transport Systems ◽  
Slip Ratio ◽  
Mode Control ◽  
Data Points

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/06.jpg"" width=""300"" /> Vehicle behavior in emergency avoidance</div>The automotive industry facilitates research and development on intelligent transport systems. One area researched intensively to enhance passenger safety is the prevention of collisions by controlling steering and braking precisely. In this study, we assume that an automatic vehicle travelling on a highway is on a collision course with an obstacle. The purpose of this research is combining steering and braking to find a set of operations the vehicle can follow to avoid the projected collision. To do this, we propose slip ratio control using sliding mode control using a real-number-coded immune algorithm (IA). CarSim (produced by Mechanical Simulation Company) provides full vehicle dynamics with 27 degrees of freedom adopted as a vehicle model. Operation waveforms are generated by linear interpolation through designated data points. The IA, which is a coded real-number expression, is used to determine data points. Our proposal's efficiency is verified through emergency avoidance simulation using CarSim. Simulation results demonstrate operation that keeps tires from skidding using slip ratio control and halting the vehicle in the shortest braking distance possible.

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