scholarly journals High Performance of an Adaptive Sliding Mode Controller under Varying Loads for Lifting-Type Autonomous Grounded Robot

2020 ◽  
Vol 10 (17) ◽  
pp. 5858
Author(s):  
Van Ngoc Son Huynh ◽  
Ha Quang Thinh Ngo ◽  
Thanh Phuong Nguyen ◽  
Hung Nguyen
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Tracking Error ◽  
Autonomous Systems ◽  
Tracking Performance ◽  
Order System ◽  
Distribution Centers ◽  
Technical Problems ◽  
Adaptive Sliding Mode ◽  
Control Scheme

To work in shared space with humans, autonomous systems must carry unknown loads in predefined missions. With the conventional control scheme, the grounded robot would suffer unstable motion and imprecise tracking performance. To overcome these challenges, in this paper, a novel controller using an adaptive sliding mode for autonomous grounded robots (AGR) is proposed. This control strategy takes into consideration uncertain characteristics, varying loads, and external disturbances. To analyze the tracking performance precisely, the overall error of motion system is decoupled into two subsystems where the second-order system is related to the angular tracking error and the third-order system is associated with the linear one. Initially, the dynamics model of the grounded robot is established containing different elements of nonlinear forces in order to address the technical problems. Then, the system state equation of the autonomous system is mentioned to indicate the theoretical characteristics. Based on the proposed controller, the stability of the system is validated by the Lyapunov theorem. From the results of numerical tests, three practical situations consisting of separately linear and circular trajectories with varying loads and an S-curve trajectory of a working map are suggested. The tracking performance validates that the proposed control scheme is, in various scenarios, robust, effective, and feasible. From these superior outcomes, it can be determined obviously the property of our works in accommodating the variations of cargo from applications in distribution centers, material transportation, or handling equipment.

scholarly journals Adaptive Sliding Mode Control Based on Equivalence Principle and Its Application to Chaos Control in a Seven-Dimensional Power System

2020 ◽  
Vol 2020 ◽  
pp. 1-13 ◽  
Author(s):  
Jiangbin Wang ◽  
Ling Liu ◽  
Chongxin Liu ◽  
Xiaoteng Li
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Design Process ◽  
Equivalence Principle ◽  
Sliding Mode ◽  
Chaotic Oscillation ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

The main purpose of the paper is to control chaotic oscillation in a complex seven-dimensional power system model. Firstly, in view that there are many assumptions in the design process of existing adaptive controllers, an adaptive sliding mode control scheme is proposed for the controlled system based on equivalence principle by combining fixed-time control and adaptive control with sliding mode control. The prominent advantage of the proposed adaptive sliding mode control scheme lies in that its design process breaks through many existing assumption conditions. Then, chaotic oscillation behavior of a seven-dimensional power system is analyzed by using bifurcation and phase diagrams, and the proposed strategy is adopted to control chaotic oscillation in the power system. Finally, the effectiveness and robustness of the designed adaptive sliding mode chaos controllers are verified by simulation.

Iterative learning algorithm with a quadratic criterion for linear time-varying systems

2002 ◽  
Vol 216 (3) ◽  
pp. 309-316 ◽  
Author(s):  
S N Huang ◽  
K K Tan ◽  
T H Lee
Keyword(s):  
Learning Algorithm ◽  
Linear Time ◽  
Tracking Error ◽  
Iterative Learning ◽  
Tracking Performance ◽  
Time Varying ◽  
Control Scheme ◽  
Time Varying Systems ◽  
Simulation Results ◽  
Learning Law

A novel iterative learning controller for linear time-varying systems is developed. The learning law is derived on the basis of a quadratic criterion. This control scheme does not include package information. The advantage of the proposed learning law is that the convergence is guaranteed without the need for empirical choice of parameters. Furthermore, the tracking error on the final iteration will be a class K function of the bounds on the uncertainties. Finally, simulation results reveal that the proposed control has a good setpoint tracking performance.

scholarly journals Antidisturbance Vibration Suppression of the Aerial Refueling Hose during the Coupling Process

2017 ◽  
Vol 2017 ◽  
pp. 1-20
Author(s):  
Zikang Su ◽  
Honglun Wang
Keyword(s):  
Vibration Suppression ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Tracking Error ◽  
Measurement Noise ◽  
Aerial Refueling ◽  
Terminal Sliding Mode ◽  
Multiple Disturbances ◽  
Noise Simulation ◽  
Control Scheme

In autonomous aerial refueling (AAR), the vibration of the flexible refueling hose caused by the receiver aircraft’s excessive closure speed should be suppressed once it appears. This paper proposed an active control strategy based on the permanent magnet synchronous motor (PMSM) angular control for the timely and accurate vibration suppression of the flexible refueling hose. A nonsingular fast terminal sliding-mode (NFTSM) control scheme with adaptive extended state observer (AESO) is proposed for PMSM take-up system under multiple disturbances. The states and the “total disturbance” of the PMSM system are firstly reconstituted using the AESO under the uncertainties and measurement noise. Then, a faster sliding variable with tracking error exponential term is proposed together with a special designed reaching law to enhance the global convergence speed and precision of the controller. The proposed control scheme provides a more comprehensive solution to rapidly suppress the flexible refueling hose vibration in AAR. Compared to other methods, the scheme can suppress the flexible hose vibration more fleetly and accurately even when the system is exposed to multiple disturbances and measurement noise. Simulation results show that the proposed scheme is competitive in accuracy, global rapidity, and robustness.

scholarly journals Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-23 ◽  
Author(s):  
Guoqiang Zhu ◽  
Sen Wang ◽  
Lingfang Sun ◽  
Weichun Ge ◽  
Xiuyu Zhang
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Process ◽  
Nonlinear Observer ◽  
Dynamic Surface ◽  
Mode Control ◽  
Control Scheme

In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.

Many-Objective Optimal Design of Sliding Mode Controls

2016 ◽  
Vol 139 (1) ◽  
Author(s):  
Yousef Sardahi ◽  
Jian-Qiao Sun
Keyword(s):  
Optimal Design ◽  
Pareto Front ◽  
Sliding Mode ◽  
Design Method ◽  
Tracking Error ◽  
Control Design ◽  
Processing Algorithm ◽  
Order System ◽  
Post Processing ◽  
Control Effort

This paper presents a many-objective optimal (MOO) control design of an adaptive and robust sliding mode control (SMC). A second-order system is used as an example to demonstrate the design method. The robustness of the closed-loop system in terms of stability and disturbance rejection are explicitly considered in the optimal design, in addition to the typical time-domain performance specifications such as the rise time, tracking error, and control effort. The genetic algorithm is used to solve for the many-objective optimization problem (MOOP). The optimal solutions known as the Pareto set and the corresponding objective functions known as the Pareto front are presented. To assist the decision-maker to choose from the solution set, we present a post-processing algorithm that operates on the Pareto front. Numerical simulations show that the proposed many-objective optimal control design and the post-processing algorithm are promising.

Adaptive Sliding Mode Control of MEMS Vibrational Gyroscope

2006 ◽  
Author(s):  
J. Fei ◽  
C. Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Angular Rate ◽  
External Disturbance ◽  
Adaptive Sliding Mode Control ◽  
Angular Velocity Vector ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
On Line

This paper presents a new sliding mode adaptive controller for MEMS z-axis gyroscope. The proposed adaptive sliding mode control algorithm can on-line estimate the component of the angular velocity vector, which is orthogonal to the plane of oscillation of the gyroscope (the z-axis) and the linear damping and stiffness model coefficients. The stability of the closed-loop system can be guaranteed with the proposed control strategy. The numerical simulation for MEMS Gyroscope is investigated to verify the effectiveness of the proposed adaptive sliding mode control scheme. It is shown that the proposed adaptive sliding mode control scheme offers several advantages such as on-line estimation of gyroscope parameters including angular rate and large robustness to parameter variations and external disturbance.

Sign in / Sign up

Export Citation Format

Share Document