scholarly journals Composite Hierarchical Anti-Disturbance Control with Multisensor Fusion for Compact Optoelectronic Platforms

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3190 ◽  
Author(s):  
Yutang Wang ◽  
Dapeng Tian ◽  
Ming Dai
Keyword(s):  
Sliding Mode ◽  
Differential Evolution Algorithm ◽  
Unmanned Aircraft ◽  
Adaptive Mutation ◽  
Model Parameters ◽  
Phase Lag ◽  
Multisensor Fusion ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter

In the aerospace field, compact optoelectronic platforms (COPs) are being increasingly equipped on unmanned aircraft systems (UAS). They assist UAS in a range of mission-specific tasks such as disaster relief, crop testing, and firefighting. However, the strict constraint of structure space makes COPs subject to multi-source disturbances. The application of a low-cost and low-precision sensor also affects the system control performance. A composite hierarchical anti-disturbance control (CHADC) scheme with multisensor fusion is explored herein to improve the motion performance of COPs in the presence of internal and external disturbances. Composite disturbance modelling combining the characteristic of wire-wound moment is presented in the inner layer. The adaptive mutation differential evolution algorithm is implemented to identify and optimise the model parameters of the system internal disturbance. Inverse model compensation and finite-time nonlinear disturbance observer are then constructed to compensate for multiple disturbances. A non-singular terminal sliding mode controller is constructed to attenuate disturbance in the outer layer. A stability analysis for both the composite disturbance compensator and the closed-loop system is provided using Lyapunov stability arguments. The phase lag-free low-pass filter is implemented to interfuse multiple sensors with different order information and achieve satisfactory noise suppression without phase lag. Experimental results demonstrate that the proposed CHADC strategy with a higher-quality signal has an improved performance for multi-source disturbance compensation.

scholarly journals Trajectory tracking control for chain-series robot manipulator: Robust adaptive fuzzy terminal sliding mode control with low-pass filter

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091698 ◽  
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Adaptive Fuzzy ◽  
Low Pass ◽  
Robust Adaptive

This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller.

Adaptive back-stepping sliding mode guidance laws with autopilot dynamics and acceleration saturation consideration

2019 ◽  
Vol 233 (13) ◽  
pp. 4853-4863 ◽  
Author(s):  
Sheng-Tao Geng ◽  
Jie Zhang ◽  
Jing-Guang Sun
Keyword(s):  
Sliding Mode ◽  
Lyapunov Theory ◽  
Guidance System ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Guidance Law ◽  
Mode Method ◽  
Low Pass ◽  
Constraint Model

This paper studies the guidance scheme for the terminal guidance problem subject to input constraints, attack angle constraints, and second-order dynamics of missile autopilot. Firstly, the guidance system model with the above multi-constraint model is given. Secondly, an anti-saturation back-stepping guidance law which makes use of the low-pass filter to avoid the differential of the virtual control signals is designed based on the terminal sliding mode method, auxiliary system, and adaptive technique. Finally, Lyapunov theory and numerical simulations are utilized to prove that the states of the system under the proposed guidance law are uniformly ultimately bounded.

scholarly journals Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

2012 ◽  
Vol 2012 ◽  
pp. 1-13 ◽  
Author(s):  
Shanhai Jin ◽  
Ryo Kikuuwe ◽  
Motoji Yamamoto
Keyword(s):  
Time Domain ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Parameter Selection ◽  
Phase Lag ◽  
Transient Time ◽  
Pass Filter ◽  
Low Pass Filter ◽  
The Time Domain ◽  
Two Parameters

This paper presents the results of quantitative performance evaluation of an authors’ new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF), but its phase lag is smaller (maximum 150 degree) than that of 2-LPF (maximum 180 degree). Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.

scholarly journals Sliding-Mode Observer for Speed and Position Sensorless Control of Linear-PMSM

2014 ◽  
Vol 5 (1) ◽  
pp. 20-26 ◽  
Author(s):  
Saeed Masoumi Kazraji ◽  
Ramin Bavili Soflayi ◽  
Mohammad Bagher Bannae Sharifian
Keyword(s):  
Sliding Mode ◽  
Sensorless Control ◽  
Sliding Mode Observer ◽  
Phase Lag ◽  
Sigmoid Function ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Chattering Phenomenon ◽  
Low Pass ◽  
Position Sensorless

Abstract The paper presents a sliding-mode observer that utilizes sigmoid function for speed and position sensorless control of permanent-magnet linear synchronous motor (PMLSM). In conventional sliding mode observer method there are the chattering phenomenon and the phase lag. Thus, in order to avoid the usage of the low pass filter and the phase compensator based on back EMF, in this paper a sliding mode observer with sigmoid function for detecting the back EMF in a PMLSM is designed to estimate the speed and the position of the rotor. Most of conventional sliding mode observers use sign or saturation functions which need low pass filter in order to detect back electromotive force (back EMF). In this paper a sigmoid function is used instead of discontinuous sign function to decrease undesirable chattering phenomenon. By reducing the chattering, detecting of the back EMF can be made directly from switching signal without any low pass filter. Thus the delay time in the proposed observer is eliminated because of the low pass filter. Furthermore, there is no need to compensate phase fault in position and speed estimating of linear-PMSM. Advantages of the proposed observer have been shown by simulation with MATLAB software.

Integral terminal sliding-mode robust vibration control of large space intelligent truss structures using a disturbance observer

2021 ◽  
pp. 095441002110290
Author(s):  
Dalong Tian ◽  
Jianguo Guo
Keyword(s):  
Robust Control ◽  
Forced Vibration ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
External Disturbance ◽  
Truss Structures ◽  
Model Parameters ◽  
Large Space ◽  
Terminal Sliding Mode ◽  
Piezoelectric Stack Actuator

This study aims to develop an advanced integral terminal sliding-mode robust control method using a disturbance observer (DO) to suppress the forced vibration of a large space intelligent truss structure (LSITS). First, the dynamics of the electromechanical coupling of the piezoelectric stack actuator and the LSITS, based on finite element and Lagrangian methods, are established. Subsequently, to constrict the vibration of the structure, a novel integral terminal sliding-mode control (ITSMC) law for the DO is used to estimate the parameter perturbation of the LSITS based on a continuous external disturbance. Simulation results show that, under a forced vibration and compared with the ITSMC system without a DO, the displacement amplitude of the ITSMC system with the DO is effectively reduced. In the case where the model parameters of the LSITS deviate by ±50%, and an unknown continuous external disturbance exists, the control system with the DO can adequately attenuate the structural vibration and realize robust control. Concurrently, the voltage of the employed piezoelectric stack actuator is reduced, and voltage jitter is alleviated.

Robust active disturbance attenuation control of an uncertain quadrotor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Ajeet kumar Bhatia ◽  
Syed Awais Ali Shah
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
The State ◽  
Disturbance Attenuation ◽  
State Variables ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Highly Nonlinear ◽  
The Stability

PurposeThe aim of this research is to design a robust active disturbance attenuation control (RADAC) technique combined with an extended high gain observer (EHGO) and low pass filter (LPF).Design/methodology/approachFor designing a RADAC technique, the sliding mode control (SMC) method is used. Since the standard method of SMC exhibits a chattering phenomenon in the controller, a multilayer sliding mode surface is designed for avoiding the chattering. In addition, to attenuate the unwanted uncertainties and disturbances (UUDs), the techniques of EHGO and LPF are deployed. Besides acting as a patch for disturbance attenuation, the EHGO design estimates the state variables. To investigate the stability and effectiveness of the designed control algorithm, the stability analysis followed by the simulation study is presented.FindingsThe major findings include the design of a chattering-free RADAC controller based on the multilayer sliding mode surface. Furthermore, a criterion of integrating the LPF scheme within the EHGO scheme is also developed to attenuate matched and mismatched UUDs.Practical implicationsIn practice, the quadrotor flight is opposed by different kinds of the UUDs. And, the model of the quadrotor is a highly nonlinear underactuated model. Thus, the dynamics of the quadrotor model become more complex and uncertain due to the additional UUDs. Hence, it is necessary to design a robust disturbance attenuation technique with the ability to estimate the state variables and attenuate the UUDs and also achieve the desired control objectives.Originality/valueDesigning control methods to attenuate the disturbances while assuming that the state variables are known is a common practice. However, investigating the uncertain plants with unknown states along with the disturbances is rarely taken in consideration for the control design. Hence, this paper presents a control algorithm to address the issues of the UUDs as well as investigate a criterion to reduce the chattering incurred in the controller due to the standard SMC algorithm.

Dynamic sliding mode position control of induction motors based load torque compensation using adaptive state observer

2018 ◽  
Vol 37 (6) ◽  
pp. 2249-2262
Author(s):  
Ali Karami-Mollaee ◽  
Hamed Tirandaz ◽  
Oscar Barambones
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
State Observer ◽  
Practical Implementation ◽  
Load Torque ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Adaptive State Observer ◽  
Dynamic Sliding Mode

Purpose The purpose of this paper is position control scheme for a servo induction motor (SIM) with uncertainty has been designed using a new observer issue and a dynamic sliding mode control (DSMC). Design/methodology/approach In DSMC, the chattering is removed due to the integrator (or a low-pass filter) which is placed before the input control of the plant. However, in DSMC, the augmented system has one dimension bigger than the actual system (if integrator is used) and then, the plant model should be completely known. To solve this problem in SIM, the use of a new adaptive state observer (ASO) is proposed. Findings The advantage of the proposed approach is to maintain the system controlled under the external load torque variations. Then, the load variations do not affect the motor positioning. Moreover, it is demonstrated that the observer error converges to zero based on the Lyapunov stability theory. Originality/value The knowledge of the upper bound for the system uncertainty is not necessary in an adaptive state observer, which is important in practical implementation. Simulation results are presented to demonstrate the performance of the proposed approach.

PMSM Control System Based on a Improved Sliding Mode Observer

2013 ◽  
Vol 307 ◽  
pp. 27-30 ◽  
Author(s):  
Yu Feng Zhang ◽  
Sheng Jin Li ◽  
Yong Zhou ◽  
Qi Xun Zhou
Keyword(s):  
Control System ◽  
Vector Control ◽  
Sliding Mode ◽  
Interpolation Method ◽  
Linear Interpolation ◽  
Sliding Mode Observer ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Field Oriented Vector Control ◽  
Vector Control System

In order to improve the performance of sensorless PMSM control system, an improved sliding mode observer (SMO) is proposed in this paper. To decrease the vibration of SMO, a variable switching gain which changes according to the winding currentn is adopted. To improve the estimated value of rotor position, a extra low pass filter (LPF) is employed and the linear interpolation method is used to calculate compensation value of the phase delay caused by LPF. To verify the performance of proposed SMO, a sensorless field oriented vector control system of PMSM is designed. At last, the performance of the improved SMO and the sensorless PMSM vector control system are verified by experimental results.

scholarly journals ROBUST VIBRATION CONTROL OF WIND-EXCITED HIGHRISE BUILDING STRUCTURES

2015 ◽  
Vol 21 (8) ◽  
pp. 967-976 ◽  
Author(s):  
Nengmou Wang ◽  
Hojjat Adeli
Keyword(s):  
Vibration Control ◽  
High Frequency ◽  
Sliding Mode ◽  
Control Force ◽  
Building Structures ◽  
Linear Quadratic ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Equivalent Control ◽  
Control Forces

A robust filtered sliding mode control (SMC) approach is presented for vibration control of wind-excited highrise building structures. Rather than using a Lyapunov-function based control design, an alternative way is provided to find the control force based on the equivalent control force principle to obtain the control force. A low pass filter is properly selected to remove the high-frequency components of the control force while retaining the structural stability. The performance of the proposed filtered SMC is evaluated by application to a wind-excited 76-story building benchmark problem equipped with an active tuned mass damper (ATMD) on the roof. Due to the elimination of high-frequency part of the control force, the structure, sensors, actuators, and dampers are all less excited, and consequently their response is reduced compared with the unfiltered SMC approach. In addition, the required control forces are reduced which means a reduction in the size of actuators, thus making their implementation more practical. It is shown the proposed method is more robust to structural stiffness uncertainties compared with the linear quadratic Gaussian (LQG) algorithm and another implementation of SMC.

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