Study on the control method about improving piezoelectric actuated photoelectric precision tracking system

2020 ◽  
pp. 1-12
Author(s):  
Zongkai Liu ◽  
Yuming Liu ◽  
Yuheng Zhang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Tracking System ◽  
Large Angle ◽  
Response Speed ◽  
Field Of View ◽  
Small Range ◽  
Adaptive Backstepping ◽  
Precision Tracking

Fast steering mirrors (FSM) driven by Piezoelectric transducer (PZT) are widely used in various precision stable tracking systems. Aiming to counteract the hysteresis and non-linear interference in PZT, this work applies a radial basis function (RBF) neural network to approximate its nonlinearity. Adaptive backstepping sliding mode (ABSM) controller combinewith a sliding mode control method and backstepping control is designed. Combining the characteristics of PZT and voice coil motors (VCM), the FSM driven by VCM is designed as the power sub-system to ensure that the large-angle deflection of the FSM can match a wider field of view. The FSM driven by PZT is designed as a correction sub-system, which can adjust the system error within a small range. Finally, the power sub-system and the correction sub-system are combined into a two-level precision tracking system. The simulation results show that the maximum steady-state error of the system is about 15 μrad, and the root mean square error is about 10 μrad. Compared with the traditional PI controller, the error is reduced by about 75%, the response speed is up to 10 ms, and the output is smooth without some serious viberation.

General model and improved global sliding mode control of the four-rotor aircraft

2017 ◽  
Vol 232 (4) ◽  
pp. 383-389 ◽  
Author(s):  
Chunbo Xiu ◽  
Fengnan Liu ◽  
Guowei Xu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Response Speed ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Special Cases ◽  
Global Robustness ◽  
General Mathematical Model ◽  
Dynamic Sliding Mode

In order to improve the versatility of the control method of the four-rotor aircraft, a general mathematical model, the rectangular four-rotor aircraft, is modeled, and two special cases, square cross structure and square X structure, are deduced. Based on the conventional global sliding mode control, an improved global sliding mode control is proposed to control the position and the attitude of the four-rotor aircraft. The dynamic sliding mode surface of the improved global sliding mode control can evolve into the linear sliding mode surface in a limited time by changing the decay function of the dynamic sliding mode surface. In this way, the controlled system has not only the strong global robustness but also the quick response rate. Simulation results show that the position and the attitude of the four-rotor aircraft can be controlled by the improved global sliding mode control, and the control performances, for instance the response speed, can be improved.

scholarly journals Dynamical Adaptive Integral Sliding Backstepping Control of Nonlinear Nontriangular Uncertain Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Mahmood Pervaiz ◽  
Qudrat Khan ◽  
Aamer Iqbal Bhatti ◽  
Shahzad Ahmed Malik
Keyword(s):  
Control Strategy ◽  
Uncertain Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Continuous Stirred Tank Reactor ◽  
Adaptive Backstepping ◽  
Recursive Procedure ◽  
Continuous Stirred Tank ◽  
Simulation Results

We present a control strategy for nonlinear nontriangular uncertain systems. The proposed control method is a synergy between the dynamic adaptive backstepping (DAB) and integral sliding mode (ISM) and is referred to as DAB-ISMC. Our main objective is to find a recursive procedure to transform a nontriangular system into an implementable form that enables designing a control law which almost eliminates the reaching-phase. The proposed method further facilitates minimization of chattering which is believed to be a shortcoming of the sliding mode control. In this methodology, the ISM, as an integrated subsystem of DAB, is introduced at the final stage of backstepping. This strategy works very well to obtain a system that is robust against model imperfections, matching and unmatching uncertainties. The DAB-ISMC method is applied on a continuous stirred tank reactor (CSTR) and simulation results obtained on Matlab are found to be very promising.

scholarly journals A Novel Compound Control Method for Hydraulically Driven Shearer Drum Lifting

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Lei Si ◽  
Zhongbin Wang ◽  
Xinhua Liu ◽  
Lin Zhang
Keyword(s):  
Control Method ◽  
Rbf Neural Network ◽  
Response Speed ◽  
Hydraulic Cylinder ◽  
Control Approach ◽  
Tuning Parameters ◽  
Compound Control ◽  
Control Precision ◽  
Asymmetrical Hydraulic Cylinder ◽  
Fractional Order Pid

In order to adjust shearer drum swiftly and precisely to adapt to the changes of coal seam, a compound control approach based on cerebellar model articulation control and fractional order PID controller was proposed. As the movement precision and response speed of hydraulic system were determined mainly by the control precision of valve-controlled asymmetrical hydraulic cylinder, its working principle and characteristics were analyzed in this paper, with particular focusing on the asymmetry problem. Furthermore, RBF neural network was applied to obtaining reasonable tuning parameters and a control algorithm of proposed controller was designed. Finally, laboratory experiments were developed to verify the validity and effectiveness of proposed compound control method. The testing results, compared with those for other controllers, proved that the proposed compound control method can acquire high movement precision and respond speed in the system of hydraulically driven shearer drum lifting with different control conditions.

scholarly journals Enhanced Nonlinear Robust Control for TCSC in Power System

2018 ◽  
Vol 2018 ◽  
pp. 1-11
Author(s):  
Chao Zhang ◽  
Xing Wang ◽  
Zhengfeng Ming ◽  
Zhuang Cai
Keyword(s):  
Adaptive Control ◽  
Time Delay ◽  
Robust Control ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Uncertain Parameter ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Backstepping Sliding Mode Control

This paper proposes an enhanced robust control method, which is for thyristor controlled series compensator (TCSC) in presences of time-delay nonlinearity, uncertain parameter, and external disturbances. Unlike conventional adaptive control methods, the uncertain parameter is estimated by using system immersion and manifold invariant (I&I) adaptive control. Thus, the oscillation of states caused by the coupling between parameter estimator and system states can be avoided. In addition, in order to overcome the influences of time-delay nonlinearity and external disturbances, backstepping sliding mode control is adopted to design control law recursively. Furthermore, robustness of TCSC control subsystem is achievable provided that dissipation inequality is satisfied in each step. Effectiveness and efficiencies of the proposed control method are verified by simulations. Compared with adaptive backstepping sliding mode control and adaptive backstepping control, the time of reaching steady state is shortened by at least 11% and the oscillation amplitudes of transient responses are reduced by at most 50%.

scholarly journals Quadrotor Stabilization and Tracking Using Nonlinear Surface Sliding Mode Control and Observer

2021 ◽  
Vol 11 (4) ◽  
pp. 1417
Author(s):  
Kyunghyun Lee ◽  
Sangkyeum Kim ◽  
Seongwoo Kwak ◽  
Kwanho You
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking System ◽  
Target Position ◽  
Tracking Performance ◽  
Sliding Surface ◽  
Mode Control ◽  
Nonlinear Surface ◽  
Set Up

We propose a control method wherein the estimated angles converge to the desired value for quadrotor attitude stabilization and position tracking. To improve the performance of a quadrotor system, the unmeasured states of the quadrotor are estimated using a sliding mode observer (SMO). We set up a quadrotor dynamic model and augment the quadrotor dynamics by an SMO. We also derive the control inputs by sliding mode control (SMC) and calculate the desired angle of the quadrotor to reach the target position with the control inputs. For fast convergence speed and increased robustness of tracking performance, a nonlinear sliding surface is applied to SMC. The angle of the quadrotor converges to the desired value through the operation of SMC with a nonlinear sliding surface. The target tracking performance is improved by adaptively switching the deceleration curve of the sliding mode surface with a nonlinear curve. Using a tracking system based on a nonlinear surface sliding mode control (NSMC) and SMO, the quadrotor reaches the target position with a decreased settling time. The performance and effectiveness of the proposed system are proved through simulation results.

scholarly journals Adaptive Backstepping Sliding-Mode Control of the Electronic Throttle System in Modern Automobiles

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Rui Bai ◽  
Shaocheng Tong
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Backstepping Design ◽  
Adaptive Backstepping ◽  
Electronic Throttle ◽  
Nonlinear Dynamical ◽  
Mode Control ◽  
Backstepping Sliding Mode Control ◽  
Unknown Disturbance

In modern automobiles, electronic throttle is a DC-motor-driven valve that regulates air inflow into the vehicle’s combustion system. The electronic throttle is increasingly being used in order to improve the vehicle drivability, fuel economy, and emissions. Electronic throttle system has the nonlinear dynamical characteristics with the unknown disturbance and parameters. At first, the dynamical nonlinear model of the electronic throttle is built in this paper. Based on the model and using the backstepping design technique, a new adaptive backstepping sliding-mode controller of the electronic throttle is developed. During the backstepping design process, parameter adaptive law is designed to estimate the unknown parameter, and sliding-mode control term is applied to compensate the unknown disturbance. The proposed controller can make the actual angle of the electronic throttle track its set point with the satisfactory performance. Finally, a computer simulation is performed, and simulation results verify that the proposed control method can achieve favorable tracking performance.

A Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation

2015 ◽  
Vol 137 (6) ◽  
Author(s):  
Huihui Tian ◽  
Yuxin Su
Keyword(s):  
Control Method ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Direct Method ◽  
Actuator Failure ◽  
Asymptotic Tracking ◽  
Repetitive Learning ◽  
Precision Tracking ◽  
Improved Performance ◽  
Three Degree Of Freedom

This paper proposes a sliding mode based repetitive learning control method for high-precision tracking of robot manipulators with actuator saturation. Advantages of the proposed control include the absence of model parameter in the control law formulation and the ability to remove the possibility of actuator failure due to excessive torque input levels. Lyapunov's direct method is employed to prove semiglobal asymptotic tracking. Simulation results on a three degree-of-freedom (3DOF) robot illustrate the effectiveness and improved performance of the proposed scheme.

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