Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory

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.

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A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/09544100211013617 ◽

2021 ◽

pp. 095441002110136

Author(s):

Nasim Ullah ◽

Irfan Sami ◽

Wang Shaoping ◽

Hamid Mukhtar ◽

Xingjian Wang ◽

...

Keyword(s):

Robust Control ◽

Fractional Order ◽

Sliding Mode ◽

Adaptive Robust Control ◽

Computationally Efficient ◽

Control Scheme ◽

Control Schemes ◽

Adaptive Laws ◽

Unknown Disturbances ◽

The Stability

This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

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Robust control of sensorless sliding mode controlled induction motor drive facing a large scale rotor resistance variation

Proceedings of the 4th International Conference on Smart City Applications - SCA '19 ◽

10.1145/3368756.3369036 ◽

2019 ◽

Cited By ~ 1

Author(s):

Yassine Zahraoui ◽

Mohamed Akherraz ◽

Chaymae Fahassa ◽

Sara Elbadaoui

Keyword(s):

Robust Control ◽

Induction Motor ◽

Large Scale ◽

Sliding Mode ◽

Motor Drive ◽

Induction Motor Drive ◽

Rotor Resistance ◽

Resistance Variation

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Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1243/09596518jsce734 ◽

2009 ◽

Vol 223 (6) ◽

pp. 785-795 ◽

Cited By ~ 16

Author(s):

D W Qian ◽

X J Liu ◽

J Q Yi

Keyword(s):

Robust Control ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Underactuated Systems ◽

Sliding Surface ◽

Nominal System ◽

Sliding Surfaces ◽

Mode Control ◽

Mismatched Uncertainties

Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.

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