scholarly journals Trajectory Tracking of Linear Inverted Pendulum Using Integral Sliding Mode Control

2012 ◽  
Vol 4 (6) ◽  
pp. 31-38 ◽  
Author(s):  
Punitkumar Bhavsar ◽  
Vijay Kumar
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

A new continuous integral sliding mode control algorithm for inverted pendulum and 2-DOF helicopter nonlinear systems: Theory and experiment

2021 ◽  
pp. 095965182110480
Author(s):  
Satyanarayan Sadala ◽  
Balasaheb Patre ◽  
Divyesh Ginoya
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Discontinuous Function ◽  
Single Input Single Output ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Control Approach ◽  
Mode Control

This paper introduces a new continuous integral sliding mode control algorithm, where the discontinuous function of the super-twisting control law is replaced with a continuous disturbance observer for the substantial chattering attenuation. In the present integral sliding mode control, the discontinuous function generates chattering that is undesirable for several real-time applications. The proposed control strategy decreases the amplitude of the controller gain compared to the existing integral sliding mode controls, and as a consequence of this, the attenuation of chattering is achieved to a great extent. The efficacy of the proposed control algorithm is validated successfully on the single-input single-output Inverted Pendulum and 2-DOF Helicopter nonlinear coupled multi-input multi-output systems. The simulation and experimental results demonstrate the successful application of the proposed control approach to follow reference inputs and acquire robustness and stabilization of the system in the presence of limited matched perturbations and nonlinearities.

Trajectory Tracking Control for Rotary Drilling Systems Via Integral Sliding Mode Control Approach

2020 ◽  
Vol 1 (3) ◽  
Author(s):  
Chien-Chih Weng ◽  
Mansour Karkoub ◽  
Wen-Shyong Yu ◽  
Ming-Guo Her ◽  
Hsuan-Yi Chen
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Drill String ◽  
Rotary Table ◽  
Rotary Drilling ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Drilling System

Abstract Active and passive control techniques have been devised over the years to mitigate the effect of vibrations on drill-string life with varying degrees of success. Here, it is proposed to design a robust trajectory tracking controller, which ultimately forces the rotary table and the drill-bit to move with the same speed (speed synchronization), hence reducing/eliminating torsional vibrations from the drill pipes. A model of the rotary drilling system, which includes torsional stick-slip, is first developed; then, an integral sliding mode control with time-varying exponent (ISMC-TVE) scheme is developed such that the bit motion tracks that of the rotary table to mitigate the effects of the induced vibrations. The ISMC-TVE is able to control the transient stage of the drill-string system’s response, maintain the system in the sliding state even under abrupt or existing external disturbances, and guarantee asymptotic stability of the rotary drilling system. The Lyapunov stability theorem is used here to analyze the performance of the closed-loop system, and the simulation results showed that the ISMC-TVE law is capable of accurately synchronizing the bit and rotary table speeds.

Integral sliding mode control for trajectory tracking of a unicycle type mobile robot

2006 ◽  
Vol 13 (3) ◽  
pp. 277-288 ◽  
Author(s):  
Michael Defoort ◽  
Thierry Floquet ◽  
Annemarie Kokosy ◽  
Wilfrid Perruquetti
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

scholarly journals INTEGRAL SLIDING MODE CONTROL FOR TRAJECTORY TRACKING CONTROL OF ROBOTIC MANIPULATORS USING AN ADAPTIVE TWISTING ALGORITHM

2019 ◽  
Vol 17 (12.2) ◽  
pp. 42
Author(s):  
Anh Tuan Vo ◽  
Ngoc Hoai An Nguyen ◽  
Duy Duong Pham
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

This paper proposes an integral sliding mode for trajectory tracking control of robotic manipulators. Our proposed control method is developed on the foundation of the benefits in both integral sliding mode control and adaptive twisting control algorithm, such as high robustness, high accuracy, estimation ability, and chattering elimination. In this paper, the proposed integral sliding mode controller is designed with the elimination of the reaching phase to offer better trajectory tracking precision and to stabilize the robot system. To reduce the calculation burden along with chattering rejection, an adaptive twisting controller with only one simple adaptive rule is employed to estimate the upper-boundary values of the lumped uncertainties. Accordingly, the requirement of their prior knowledge is removed and then decrease the computation complexity. Consequently, this control method provides better trajectory tracking accuracy to handle the dynamic uncertainties and external disturbances more strongly. The system global stability of the control system is guaranteed by using Lyapunov criteria. Finally, simulated examples are performed to analyze the effectiveness of our control approach for position pathway tracking control of a 2-DOF parallel manipulator.

Design of a fractional-order adaptive integral sliding mode controller for the trajectory tracking control of robot manipulators

2018 ◽  
Vol 232 (9) ◽  
pp. 1212-1229 ◽  
Author(s):  
Ahmet Dumlu
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Six Degrees Of Freedom ◽  
Mode Control

In this study, trajectory tracking control of six–degrees of freedom robotic manipulator has been performed using the proposed fractional-order adaptive integral sliding mode control scheme. The proposed method is first composed by fractional-order and adaptive integral sliding mode control to achieve the finite-time convergence, chattering-free control inputs, better tracking performance and robustness for the robotic manipulator. Furthermore, an adaptive method has been utilized to evaluate and compensate the uncertain and unknown dynamics of the system without relying on the prior knowledge of the upper bounds. To illustrate the efficiency of the proposed fractional-order adaptive integral sliding mode control method, the real-time experimental studies have been performed for the six–degrees of freedom industrial robot manipulator. The experimental outcomes strongly verified that the proposed controller gives quite well trajectory tracking response and faster convergence compared with the classical integral sliding mode control under the external payload.

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