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In this paper, a multirate output feedback (MROF) based on discrete time sliding mode control (DSMC) method is proposed. The MROF controller is designed to maintain the inverted pendulum at upright position by controlling the tracking position of a cart. This method is practical because it only used the output samples and the measurement of the system states feedback is not necessary. The MROF output...
Trajectory tracking with high accuracy is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the arm. Modelling difficulties like these have forced to use simplified or linearised models. Currently, one widely adopted approach in control engineering to overcome these modelling difficulties involves robust control,...
This paper presents a multirate output feedback based on discrete time sliding mode to control motion servo system. The method used the output information that is sampled at a faster rate than the control input to design controller. It has been shown that proper selection of the reaching law parameter can reduce the chattering problem. Simulation demonstrate that the controller is highly robust to...
This paper presents the position tracking performance of an electro-hydraulic hydraulic actuator (EHA) system by using a discrete sliding mode control (DSMC). A point-to-point trajectory is used in the experimental works to evaluate the performance of the DSMC which is design in two-degree-of-freedom (2-DOF) control structure. The design consists of DSMC and a feed forward controller. The control...
Electro-hydraulic actuator (EHA) system inherently suffers from uncertainties, nonlinearities and time-varying in its model parameters which makes the modeling and controller designs are more complicated. The main objective of this paper is to perform a robust control design using discrete-time sliding mode control (DSMC) with perfect tracking control strategy. The proposed controller consists of...
This paper presents discrete sliding mode control (DSMC) for nonlinear model of an inverted pendulum system. The reaching law method is used during the DSMC design. The uncertainties are structured in that system by considering the existence of an error during the pendulum angle measurement. The designed controller is compared with Linear Quadratic Regulator (LQR) controller to observe the capability...
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