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This paper presents a control strategy using Sliding Mode Control (SMC) and Repetitive Control (RC) for linear multi-input discrete-time systems to reject periodic and multi-periodic disturbances. A new reaching law is used to steer the system trajectories into the sliding surface and then keep them on it without chattering. The repetitive control is used to reject periodic and multi-periodic signals...
A robust control method based on equivalent control of Variable Structure Control (VSC) with feedforward compensator for robotic manipulators subject to load uncertainties is presented. The feedforward compensator is used to improve tracking precision, and the feed-sequence compensator with the Proportional Integral (PI) regulator to the sliding-mode function is used for improving the dynamical performance...
In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is presented for the tracking control of work platform of folding-boom aerial platform vehicle. Chattering caused by the high speed switching control in sliding mode controller may degenerate the system performance and result in unpredictable instabilities. The proposed AFSMC could eliminate the chattering by substituting the discontinuous...
In this paper, chattering in a time-delayed second order sliding mode control (2-SMC) system is analyzed using the Poincaré map method. Convergence of the system under arbitrary time-delay is proved. The switching patterns are explored. The existence and uniqueness of the periodic orbit are shown. Simulations are done to support the theoretical results.
This paper presents a terminal sliding mode control strategy that provides faster tracking error convergence than the existing methods. The main objective is to find a feedback control law such that the manipulator output tracks the desired trajectory in finite time. The Lyapunov stability theory is used to establish the reaching law condition for the Terminal Sliding Mode. A two-link robot manipulator...
In this paper, a new variable structure position control law for a Six Phase Induction Machine (6PIM) is proposed. The algorithm based on a time-varying switching line guarantees the existence of sliding mode since the beginning of the shaft motion. Indeed, the surface is initially designed to pass through the initial representative point and subsequently moved towards a predetermined desired surface...
This paper presents a new formulation for “Equivalent Control” used in sliding mode control. Although in literature there exist a unique equivalent control for a given system and linear sliding surface, it is shown that the equivalent control can be non unique. Further this flexibility in equivalent control is used to obtain the sliding mode control for specific needs such as actuator saturation,...
In this paper, sliding mode control (SMC) technique is used to control the speed of DC motor. The performance of the SMC is judged via MATLAB simulations using linear model of the DC motor and known disturbance. SMC is then compared with PI controller. The simulation result shows that the sliding mode controller (SMCr) is superior controller than PI for the speed control of DC motor. Since the SMC...
In this paper, a new variable structure position control law for a Six Phase Induction Machine (6PIM) is proposed. The algorithm based on a time-varying switching line guarantees the existence of sliding mode since the beginning of the shaft motion. Indeed, the surface is initially designed to pass through the initial representative point and subsequently moved towards a predetermined desired surface...
This paper deals with a new variable structure position control law for a Six Phase Induction Machine (6PIM) that is based on time-rotating switching surface. This algorithm guarantees the existence of sliding mode since the beginning of the shaft motion. Indeed, the surface is initially designed to pass through the initial representative point and subsequently moved towards a predetermined desired...
This article presents a strategy of haptic guidance for training based on a sliding model control law for path planning, designed from passivity theory, applied to haptic devices modelling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the PHANToM premium 1.0 haptic device and a closed path planning in its space of...
The variable structure control has been widely used for industry. The variable structure system is a system whose structure is intentionally changed with a discontinuous control and it drives the phase trajectory to a hyperplane or manifold El-Ghezawi et al, Fu and Liao. In this paper, the variable structure control for a Flexible Euler-Bernoulli Beam formulated by partial differential equations with...
According to the characteristics of cruise torpedo horizontal motion, torpedo equation of motion in use is simplified and the linearized model of horizontal motion is established. Combine the strategy of a small AUV trajectory tracking, guidance law and controller based on sliding model control for the cruise torpedo horizontal path tracking is designed. Matlab simulation is made according to the...
Rolling cart system is a highly nonlinear phenomenon in which links undergo tipping and rolling with no fixed base. This in turn requires that the system running states be predicted correctly. This paper makes a full analysis of the rolling cart states by applying observer-based adaptive wavelet neural network (OBAWNN) tracking sliding mode control scheme with system uncertainties, multiple time-delayed...
This paper presents a novel discrete-time quasi-sliding mode controller for the multiple-input multiple-output underwater vehicle system. First, according property of slow time-varying dynamics system, an on-line estimation method is used to eliminate the uncertainties of the underwater vehicle systems. Second, combined with the constant term and uncertainties estimation in the dynamics model, the...
In this paper, a dynamic identification method for a robot manipulator is investigated. A robust adaptive differentiator based on higher order sliding modes is used to estimate the state of the system. A theoretical proof of the convergence of this robust differentiator is given. A frequency analysis in term of filtering is provided and a comparison with a filter based on a classical differentiator...
In this paper, based on the theory of sliding mode control and fuzzy logic control, a new fuzzy sliding mode controller with a fixed-order compensator (FSMC&C) has been presented for application to seismically excited building structures. The major advantages of this method over the conventional sliding mode control are as follows: (i) it make trade-offs between control efforts and specific response...
Precision positioning performance is degraded by nonlinear effects of dynamic error and flexibility with harmonic drive systems. To compensate for dynamic error in the presence of nonlinear flexibility in high precision tracking, the nonlinear dynamic equation with dynamic error of harmonic drive is established by Lagrange method. Then, it is inverted to the state equation for control design. The...
In this paper, time-delay effect on continuous approximation of sliding mode control (SMC) systems is studied in depth. The switching band that bound the zigzagging behaviors due to control switching around the switching manifold is constructed. Robust control theory is employed to develop a sufficient condition for the asymptotical stability of the system. Simulation is conducted to verify the theoretical...
In the present paper, preliminary results towards the generalization to the infinite-dimensional setting of some known robust finite-dimensional control algorithms are illustrated. The main focus of the present paper is on the rejection of non-vanishing external disturbances. The generalization to the infinite-dimensional setting of some known finite-dimensional controllers, namely the “Power-fractional”...
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