The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The application of variable structure system with sliding mode and saturation in a task of position control of second order dynamic object is considered in this paper. The features of system behaviour at different values of control law coefficients are analyzed. The new conditions of a sliding mode existence in the given areas of a phase plane are formulated and strictly proved. The control systems...
This paper presents a new scheme for induction motor control. First the feedback sliding mode linearization control is applied to induction motor in order to separate the control of the rotor speed and flux square. Once the two physical outputs reach their reference, the machine control is performed by an H∞ controller. We detail, in this paper, how to design the H∞ controller to guarantee the robust...
In this paper, a delta operator robust sliding mode controller is presented for pneumatic muscle actuator joint model. Sampling the model, a class of delta operator system with parameter uncertainty and exogenous disturbance is obtained. Sufficient LMI conditions are developed to guarantee the existence of the discrete linear sliding surfaces. By solving the conditions, a linear sliding surface is...
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...
A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control...
This paper presents an interaction control scheme for planar anthropomorphic robotic manipulators. Before starting the control phase, an a-priori trajectory is designed. The task is to follow the a-priori trajectory until a collision between the tip of the robot and an obstacle occurs. After the collision, once measured the contact force, the local properties of the obstacle surface in a vicinity...
This paper proposes first partial results for a new class of differentiators. This new differentiator is based on a recent output feedback control. This latter is based on second order sliding mode control, its main features being the finite time convergence and the robustness. This output feedback controller ensures the establishment of a “real” second order sliding mode. The differentiator provides...
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...
In this paper, an Estimator/Observer Swapping system is proposed, for the surface Permanent Magnet Synchronous Motor (PMSM), to overcome position observability problems at zero speed which is an unobservable state point. The designed observer based on Higher Order Sliding Mode (HOSM) is used in order to ensure the robustness against disturbances and to avoid the chattering phenomenon which is inherent...
Since the longitudinal, lateral, and yaw dynamics of front steering vehicles are represented by nonlinear coupled equations, it is not easy to derive the explicit nonlinear controller of both steering angle and driving force for the perfect path-following control. In this paper, a novel and robust sliding mode controller for vehicles with coupled full dynamic model is presented. Comparing with the...
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...
In this paper, we investigate the design problem of the sliding mode control for uncertain singular time-delay systems. Based on the dependent-delay robust stability criterion, we give an integral-type surface and propose a delay-dependent sufficient condition such that the sliding mode dynamics restricted to the surface is regular, impulse free, robustly asymptotically stable for all admissible uncertainties...
The design of a Second Order Sliding Mode controller to perform the motion control of a robot manipulator in presence of obstacles is discussed in this paper. A possible solution to the problem of planning a trajectory for the manipulator is first proposed. The obstacles are represented by discs in the robot workspace. The proposed solution consists in an analytical mapping of the discs, representing...
The development of discrete sliding mode control for three-phase PWM converters with LCL filter is presented. This robust control method is investigated for the current control loop. Done in a discrete state space system, a feedforward feedback structure is utilized. A reference state trajectory and feedforward control in αβ coordinates, discrete integral SMC in dq coordinates are designed and analysed...
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...
The robust stabilization of switched systems with nonlinear disturbance and its application are studied, and the sliding mode control theory is applied to the controller synthesis. The reduced-order sliding mode dynamics and a sufficient condition of its stability are given by introduce a linear transformation. Moreover, the switching law is chosen and a sliding mode control law is synthesized based...
A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller,...
A hybrid control algorithm is proposed based on a backstepping kinematic control and a PID sliding mode dynamic control with an adaptive neural network adjust gain of sliding mode control for trajectory tracking control of nonholonomic mobile robot. Parameters and non-parameter uncertainties of mobile robot can be solved by using the robust control which takes advantages of stability and robustness...
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...
Most known high-order sliding mode controllers are homogeneous. Homogeneous high-order sliding modes are shown to be robust with respect to the presence of fast stable actuators and sensors, small model disturbances changing the relative degree, measurement noises and control delays. Computer simulation confirms the theoretical results.
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.