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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...
Utilizing the notion of Filippov solution, a sliding mode control law is derived for generic second order nonlinear mechanical system with friction. The control law is designed with some tunable parameters and optional functions. The asymptotically stability of the closed-loop system is proved by the concept of the solution, nonsmooth analysis and nonsmooth Lyapunov stability theory. By some numerical...
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...
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
This work aims at developing tracking control algorithms based on sliding mode control (SMC) for the manipulation of electrostatically actuated parallel-plate MEMS. By this approach, stable full range operation with high performance is achieved, even in the presence of parametric uncertainties. Moreover, SMC allows employing simple actuation mechanisms by pure switching control signals, which is particularly...
The goal of this paper is to present the first controller that has been applied to an original system, which is a direct-drive submersible grinding robot. Since this application is quite recent, an analogy is made with machine tools equipped with linear motors, and the control methods that have been applied are reviewed. This review has led to the selection of the sliding-mode controller with the...
A discontinuous time-invariant switching feedback control law is proposed to make the states of an underactuated surface vessel convergence to equilibrium point in finite time. After global diffeomorphism and input transformations, explicit formulas of the state feedback control law are respectively proposed for two subsystems based on global fast terminal sliding mode control strategy. Thus, the...
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...
A self-organizing neural sliding mode controller (SONSMC) is presented for trajectory tracking control of multi-link robots with model errors and uncertain disturbances. This approach gives a new global sliding mode manifold for multi-link robots, which enable system trajectory to run on the sliding mode manifold at the start point and eliminate the reaching phase of the conventional sliding mode...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
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...
A new design method is developed based on the new criteria on approaching phase of sliding mode control. The linear Lipschitz surface can be designed to be switching condition of sliding mode control such that the sliding motion along the surface is not smooth any longer as usual sliding mode controller. Thus, the flexible performance of the sliding motion can be achieved according to the region of...
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...
This paper proposes a novel feedrate control scheme utilized in real-time non-uniform rational B-spline (NURBS) interpolation algorithm for the contouring control purpose. The objective is to improve the contour error performance to achieve high-precision standard. The proposed structure can provide the action that once the contour error is large in the relative sense, then the feedrate will be adequately...
This paper deals with the tracking control of robot manipulators with uncertain payload. Proposed is a set of novel SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, and two nonlinear integral control modes driven by a...
Double-layer vibration isolation device can significantly reduce the vibration of machinery and equipment delivered to the base or the environment. However, the passive approach is difficult to isolate the low-frequency vibration effectively. Active vibration isolation technology can set the control law according to the adjustment of dynamic characteristics parameters of the system, realize isolation...
In order to achieve high accuracy, less machining time, and more machining variety, normally, additional two rotary axes are set up on top of traditional three- axis CNC machine tool, which is called five-axis machines. The tool motion for five-axis machines in this research includes both translating and rotating axis movements simultaneously. This research analyzes the contour errors for multi-axis...
In this paper, an anti-swing control law, previously proposed for the 2-dimensional (2D, or planar) model of an overhead crane [2], is generalized to the 3-dimensional (3-D) case. The multi-input controller is based on the second-order sliding-mode approach. Thanks to specially designed sliding surfaces, explicitly depending on the load swing angles, zero steady position error and active load swing...
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,...
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