Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems: A Firetruck Example

2018 ◽  
Author(s):  
Waseem Abbasi ◽  
Ibrahim Shah ◽  
Fazal ur Rehman ◽  
Nazim Siddque ◽  
Umair Rafique
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Nonholonomic Mechanical Systems ◽  
Mode Control

scholarly journals High Order Sliding Mode Control for Suppression of Nonlinear Dynamics in Mechanical Systems with Friction

10.5772/15994 ◽  
2011 ◽  
Author(s):  
Rogelio Hernandez ◽  
America Morales ◽  
Norberto Flores ◽  
Eliseo Hernandez ◽  
Hector Puebl
Keyword(s):  
Nonlinear Dynamics ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
High Order ◽  
Mode Control

A Nonlinear Sliding Surface in Sliding Mode Control to Reduce Vibrations of a Three-Link Flexible Manipulator

2017 ◽  
Vol 139 (5) ◽  
Author(s):  
Francesco Ripamonti ◽  
Lorenzo Orsini ◽  
Ferruccio Resta
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Operating Conditions ◽  
Nonlinear Observer ◽  
Flexible Manipulator ◽  
Engineering Practice ◽  
Sliding Surface ◽  
Mode Control ◽  
Highly Nonlinear

Many mechanical systems often show nonlinear behavior related to particular operating conditions or to the nonlinear characteristic of the elements (springs, dampers, etc.) making up the system. In these cases, common engineering practice is to linearize the equation of motion around a particular operating point and to design a linear controller. Although this approach is simple, its main disadvantage is that stability properties and validity of the controller are only local. For these reasons, over the last decades, nonlinear control techniques have been investigated more and more in order to improve control performance. In particular, in this paper, sliding mode control (SMC) technique, which is based on the model of the system (model-based), is considered because of its easy implementation, especially on simple mechanical systems, and the considerable robustness of the controller even under significant model uncertainties. This technique is analyzed numerically with respect to the pendulum system to better understand the influence of the control action on the system dynamics. A nonlinear sliding surface is also considered, recalling the terminal sliding mode (TSM) control already analyzed in the scientific literature. This sliding surface is characterized for the numerical system, and then it is applied experimentally in order to control a highly nonlinear system, consisting of a three-link flexible manipulator. For this system, a nonlinear modal model is developed, and a nonlinear observer is designed. Finally, results of experimental tests on the manipulator are reported, in order to compare the performances of the linear embedded control and the sliding mode controllers with the linear and nonlinear sliding surface.

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