Hybrid Type Position and Force Control of a Pneumatic Robot with Improved Sliding Mode Control Method

Background: A novel type of control strategy is presented for control of chaotic systems particularly a chaotic robot in joint and workspace which is the result of applying fractional calculus to dynamic sliding mode control. Objectives: To guarantee the sliding mode condition, control law is introduced based on the Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Conclusion: Also, all of chaotic robot's qualitative and quantitative characteristics have been investigated. Numerical simulations indicate viability of our control method. Results: Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.

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Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽

10.3390/act10070154 ◽

2021 ◽

Vol 10 (7) ◽

pp. 154

Author(s):

Bin Wang ◽

Pengda Ren ◽

Xinhao Huang

Keyword(s):

Sliding Mode Control ◽

Position Control ◽

Control Method ◽

Sliding Mode ◽

Piezoelectric Pump ◽

Mode Control ◽

Control Precision ◽

Backstepping Sliding Mode Control ◽

Actuator System ◽

The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

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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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A Novel Sliding Mode Control Method for Double Pendulum Crane

Proceedings of the 3rd International Conference on Information Technologies and Electrical Engineering ◽

10.1145/3452940.3453002 ◽

2020 ◽

Author(s):

Tianlei Wang ◽

Nanlin Tan ◽

Jing Zhou ◽

Xianwen Zhang ◽

Jingling Zhang

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Double Pendulum ◽

Mode Control

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Suppression of heavy-truck driver-seat vibration using sliding-mode control and quantitative feedback theory

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

10.1243/09596518jsce216 ◽

2007 ◽

Vol 221 (5) ◽

pp. 769-779

Author(s):

N. I. Rajapakse ◽

G. S. Happawana ◽

Y Hurmuzlu

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Optimization Methods ◽

Heavy Vehicle ◽

Quantitative Feedback Theory ◽

Mode Control ◽

Smooth Tracking ◽

Noise Amplification ◽

Seat Vibration

The current paper presents a robust control method that combines sliding-mode control (SMC) and quantitative feedback theory (QFT) for designing a driver seat of a heavy vehicle to reduce driver fatigue. A mathematical model is considered to analyse tracking control characteristics through computer simulation in order to demonstrate the effectiveness of the proposed control methodology. The SMC is used to track the trajectory of the desired motion behaviour of the seat. However, when the system enters into sliding regime, chattering occurs owing to switching delays as well as vehicle system vibrations. The chattering is eliminated with the introduction QFT inside the boundary layer to ensure smooth tracking. Furthermore, using SMC alone requires higher actuator forces for tracking than using both the control schemes together, and causes various problems in selecting hardware. Problems with noise amplification, resonances, presence of uncertainties, and unmodelled high-frequency dynamics can largely be avoided with the use of QFT over other optimization methods. The main contribution of the present paper is to provide guidance in designing the controller to reduce heavy vehicle seat vibration so that the driver's sensation of comfort maintains a certain level at all times.

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