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In this paper, a novel sliding mode control (SMC) method is proposed for the small-scale unmanned helicopter with mismatched disturbance. The novel SMC method is developed by designing a new sliding surface with the output of nonlinear disturbance observer (NDO). The proposed method is robust with both matched and mismatched disturbance. Moreover, it can attenuate the chattering problem significantly...
A new driving mode that using servo motor to drive continuous casting mold oscillated following the expected non-sinusoidal (include sinusoidal) is introduced. For this system, the integral nonlinear mathematical model is built, which contains the nonlinear model of servo motor and the mechanical transmission parts of the mold. Because the servo motor rotates continuously in single direction while...
In this paper, we focus on the design of a nonlinear robust controller for a small-scale helicopter. A three-layer control architecture is adopted: the inner loop controller is designed combining second-order sliding mode control with extended state observer to control the angular rates and yield good robustness properties with respect to model uncertainties and gust disturbances; the middle loop...
Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presented to estimate the lumped disturbances and compensate them in a feedforward form. To enhance the disturbances estimation speed and accuracy, a composite adaptive extended state observer,...
This paper studied a novel chattering elimination method based on improved three-sliding-surface and tensor product mode transformation, and the intelligent adaptive sliding mode controller with reinforcement learning strategy is proposed for parallel-type double inverted pendulum (PIP) system. The tensor product model transformation based sliding mode controller was introduced firstly to lay the...
This paper addresses high-precision Mars entry guidance and control approach via sliding mode control (SMC) and Extended State Observer (ESO). First, differential flatness (DF) approach is applied to the dynamic equations of the entry vehicle. The presented control law requires no information on high uncertainties that are estimated by ESO. Finally, simulation results are presented to demonstrate...
The attitude tracking control problem for a rigid spacecraft system is investigated in this paper. A novel adaptive approach is proposed with the utilization of sliding mode control (SMC) and backstepping technique (BT) to achieve accurate attitude tracking control for spacecraft system in the presence of inertia uncertainties and external disturbances. Finally, simulation results are presented to...
Integrating the Sliding Mode Control (SMC) theory with Approximate Dynamic Programming (ADP), this paper presents a novel technique for designing robust optimal sliding mode control schemes for a class of nonlinear control affine systems with disturbances. The main motivation of the work is to merge the inherent robustness of conventional sliding mode control with optimal control theory. Towards this...
This paper presents a trajectory tracking control scheme for a two-wheeled mobile robot using sliding mode techniques. The stability of the designed sliding mode dynamics is analysed and reachability of the sliding mode is guaranteed in a given region with the proposed controller. A simple robot system including a micro-controller, the Arduino Due based on the ARM Cortex-M3, is used to implement the...
In this paper, a novel sliding mode method is proposed to suppress the chattering phenomenon with unstable surfaces. Unlike the conventional sliding mode control methods, these unstable surfaces are utilized to design an available sliding mode structure. The main idea of this method is to design a sliding mode controller following a new reaching condition with unstable auxiliary surfaces. Based on...
In this paper, the problem of sliding mode control (SMC) for mixed logical dynamical (MLD) systems is investigated. The sufficient conditions for the finite-time reachability and the asymptotical stability of the designed sliding mode surface are established, and the finite reaching time is given. A sliding mode controller is designed to force the trajectories of the mixed logical dynamical system...
To improve the equality of continuous casting billet, synchronization control is investigated for continuous casting mold driven by dual-cylinder electro-hydraulic servo systems (EHSS) in this paper. A second-order super twisting sliding mode controller is developed for each cylinder EHSS, in which cross-coupled errors are employed to construct the sliding mode surfaces, which guarantee that trajectory...
This paper proposes an optimal integral sliding mode control scheme with feedforward compensation for uncertain systems. The uncertain system under consideration may have matched norm bounded uncertainties, and mismatched external persistent disturbance which are generated by an exogenous system. By designing an optimal integral sliding mode surface which includes the state of the exogenous system,...
As fractional order sliding mode controller has its unique advantages, it has been widely studied in recently years. This paper will discuss about the fractional order sliding mode controller and design a controller which is used into the spacecraft attitude system so that it can be with more quickness and strong robustness. A new sliding mode surface is proposed and it is proved that the system can...
This paper investigates a novel control strategy for the position and attitude tracking control problem of a quadrotor UAV based on terminal sliding mode control. To realize the control objective, the model of the quadrotor UAV with six degrees of freedom which is actually a class of underactuated systems, is reasonably divided into a fully actuated subsystem with two degrees of freedom and an underactuated...
The problem of designing a sliding mode fault-tolerant controller for a class of uncertain time-delay systems in presence of actuator faults is investigated. First, for the effect of time-delay and parameter uncertainty on control performance, a sufficient condition is given with Finsler's lemma and linear matrix inequality(LMI) technique to guarantee the asymptotic stability of the sliding mode of...
In this paper, we investigate the problems of stabilization of networked control systems with packets dropout via delta operator approach. A sliding mode controller is constructed to analyze the stochastic stability of the closed-loop networked control systems. The process of packets dropout is modeled as a Bernoulli process. Sufficient LMI conditions are developed to guarantee the existence of the...
This paper demonstrates the design and implementation of a second order twisting control algorithm with PID sliding surface for a MEMS micromirror. A laser scanning system with the closed-loop controlled MEMS micromirror is developed and obtains 2D images. Transient response and pointing performance are essential for the optical communications applications, for instance, M EM S optical switches. To...
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