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Many of the modern industrial processes are non-minimum phase systems. Therefore, the synthesis of a robust control is a prerequisite for this type of systems. In this paper, a discrete sliding mode control for non-minimum phase systems is proposed via an input-output model. The proposed control is synthesized to overcome the problem of unstable zero. Simulation examples are presented to show the...
The aim of this paper is to develop a robust control algorithm for a five-link biped robot with one degree of underactuation to climb stairs in a natural manner. The biped consists of a five-link planar robot with two actuators at the hip and another two at the knee joints. A robust sliding mode controller is proposed to track gait trajectories while climbing stairs. The control signals are computed...
This paper proposes an adaptive nonlinear sliding mode control for feed drive systems. The aim is to increase precision by minimizing tracking errors of each feed drive axis without additional energy consumption. The proposed adaptive sliding mode control law is used to adjust controller gains based on the tracking error at each sampling time. Therefore, an appropriate control input can be generated...
Chattering alleviation is an area of great interest as far as the practicality of sliding mode controllers (SMC) are concerned. Reaching law based SMC design is a well-known chattering alleviation method available in the literature. Among the different conventional reaching law strategies that are available in the literature, power rate reaching law (PRRL) is found to be effective in terms of chattering...
This paper reports a new technique of control combining the concepts of sliding mode control and the multimodel approach. Baptized Integral Pseudo Sliding Mode Control, this control strategy, reduces the library of models whose number can block the establishment of the multi model control strategy in real time. It also allows, on the one hand, having a robust behavior compared to certain classes of...
This paper is concerned with the Optimal Sliding Mode Control (OSMC) for trajectory tracking of Multiple-Input Multiple Output (MIMO) systems. Integrating the first-order sliding mode control (SMC) with Linear-Quadratic-Regulator (LQR) is employed to design an optimal sliding manifold and a global robust control law for asymptotically stabilizing the system to a desired trajectory. The applicability...
This paper deals with robust sliding mode control for nonlinear uncertain discrete-time systems. The dynamics of a such system are approximated by a model including two parts: the first one is a linear uncertain expression and the second part is a nonlinear static term assimilated to an additive perturbation. Then, a robust sliding mode control is synthesized basing on this model. Finally, two simulation...
This paper presents a PID fast terminal sliding mode dynamic inverse control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties, it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. The PID Control is based on a fast terminal sliding mode control to ensure asymptotic stabilization of the robot's position and orientation...
This study purposed a sliding-mode controller (SMC) with a variable sliding surface (slide plane). This SMC was then applied to a direct field-oriented control (FOC) system without speed sensors developed for an induction motor. To improve the performance and robustness of the drive, fuzzy theory was integrated with sliding-mode control. For this integration, fuzzy sliding surfaces were used as a...
Omnidirectional mobile robots with four Mecanum wheels are used in various homes, military, nuclear power plant, industrial, hospital and space applications. A lot of research has been done using three universal wheels but trajectory control for four Mecanum wheeled mobile robot (FMWMR) in presence of uncertainties still needs attention. Thus, to obtain smooth motion of mobile robots, with chattering...
Soft sliding mode control (SSMC) strategy is given for discrete-time systems with uncertainties by the reaching law with active disturbance rejection function in this paper. The reason of causing chattering is analyzed and a discrete reaching law with boundary layer is developed. A grayscale algorithm is presented for uncertainties and the estimates of parameters are obtained appropriately. Soft sliding...
Cable-driven parallel robot (CDPR) is one of robots hard to dealing with because of their nonlinear characteristics based on the elasticity of cables. This paper suggests a design of sliding-mode controller as a solution to control the over-constrained planar CDPR with consideration of cable stiffness and motor dynamics. The system model has 4 elastic cables with linear stiffness force and motor dynamics...
This paper presents a neuro-sliding mode control method for a robot manipulator. The sliding mode controller requires to identify robot models to lessen the work of the controller although it can be used as a non model-based nonlinear controller. Selection of the gain for the nonlinear function becomes important and affects the performance. To make it easy of selecting the gain, a neural network is...
The control of nonlinear dynamic systems is often a challenging task for practical applications if the process model under consideration is significantly influenced by uncertain parameters and bounded (additive) uncertainty and if it has to be guaranteed simultaneously that specific state constraints are not violated. According to previous work, the handling of bounded uncertainty becomes possible...
Ball and Plate system is a well-known benchmark to test control strategies because of its multivariable nonlinear coupled dynamics, open loop instability and under actuation. Moreover, presence of parameter uncertainty and external disturbance makes it further challenging and interesting. This calls for a robust controller which not only stabilises the ball on the plate but also makes the ball follow...
A knowledge of human upper-limb structure and its mechanical functions are important for developing an exoskeleton. The Sliding Mode Control with Fuzzy Type-II is proposed to control the movements of the human extremity joints. The Lagrange method is used to model the dynamics system of human upper-limb. The findings demonstrate the effectiveness of the proposed controller in tracking the desired...
Multiple agents — sometimes referred to as swarm of agents — and their control have been seeking interest significantly over the course of recent years. Their ability to move in desired formations and perform synchronized tasks have been the key arena in their development. In this research work, design of the continuous sliding mode controller for the output regulation of a multi agent system is studied...
This paper proposes an effective method to balance the confliction between higher steady-state precision and stronger robustness in sliding-mode control systems. Different from the conventional two-phase-based sliding-mode control, the proposed sliding-mode control (SMC) is divided into a three-phase-based control, which include the first reaching phase, the second sliding-mode moving phase and the...
There is an increasing trend in using exoskeleton to walk or carry payload. In the process of human-exoskeleton interaction, since the user's intention is required accurately, an important problem is human-robot collaborative control. A precise position control strategy will significantly enhance collaboration between the exoskeleton and the user. This paper proposes a novel method combining sliding...
A cross-coupled architecture incorporating adaptive fuzzy moving sliding mode control (AFMSMC) is proposed to improve the effects of the mechanical coupling over synchronous and tracking errors in a three-axis gantry stage. We utilize the indirect and direct adaptive fuzzy sliding mode control schemes with the time-varying surface to approximate the each unknown servo-motor system of gantry stage...
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