Design of a stable sliding-mode controller for a class of second-order underactuated systems

Wang, W.; Yi, Jianqiang; Zhao, Dan; Liu, D.

doi:10.1049/ip-cta:20040902

Cited by 229 publications

(137 citation statements)

References 14 publications

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“…,4 sistemin durum değişkenleri, u kontrol sinyali ve y çıkış vektörüdür. Hiyerarşik kayan kipli kontrolde, iki ayrı grup dinamik davranış için durum değişkenleri cinsinden iki ayrı kayma yüzeyi aşağıdaki gibi tanımlanabilir [19,20,21]. …”

Section: Hiyerarşik Kayan Kipli Kontrol (Hierarchical Sliding Mode Counclassified

Prati̇kte Kullanilan Bazi Kayan Ki̇pli̇ Kontrol Tekni̇kleri̇ni̇n Teori̇k Ve Deneysel İncelenmesi̇

Kalayci¹,

Yiğit²

2015

Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi

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ÖZETKayan kipli kontrol, uygun şartlar yerine geldiğinde, dış bozucular ve belirsizliklere rağmen istenilen dinamik davranışı sağlayabilen gürbüz bir kontrol yöntemidir. Kayan kipli kontrol yöntemi, uygulama basitliği ve gürbüzlüğünden dolayı, son yıllarda gözde hale gelmiş, çok sayıda kayan kipli kontrol tekniği geliştirilmiş, mühendislik uygulamalarda yerini almıştır. Ancak, açık literatürde bu kontrol tekniklerinin çeşitli gerçek sistemler üzerinde aynı anda uygulandığı kapsamlı bir çalışma bulunmadığı görülmüştür. Bu çalışmada, pratikte kullanılan bazı kayan kipli kontrol teknikleri çeşitli gerçek sistemler üzerinde teorik ve deneysel olarak incelenmiştir. Bu amaçla, tek giriş tek çıkışlı doğru akım motoru tahrikli doğrusal bilyalı kızak sistemi, doğrusal olmayan basit ters sarkaç ve tek giriş çok çıkışlı dolaylı tahrikli doğrusal olmayan arabalı ters sarkaç sistemi olmak üzere üç farklı gerçek sistem kullanılmıştır. Bu sistemlerin kontrolleri, hem teorik hem de deneysel olarak tatmin edici düzeyde gerçekleştirilmiş, elde edilen çok sayıda simülasyon ve deney sonuçları değerlendirilerek karşılaştırmalar yapılmış, çeşitli sonuçlar çıkarılmış, ileriye dönük çalışmalar için önerilerde bulunulmuştur.Anahtar Kelimeler: kayan kipli kontrol, doğrusal olmayan sistem, ters sarkaç, modelleme, simülasyon, deney THEORETICAL AND EXPERIMENTAL INVESTIGATION OF SOME SLIDING MODE CONTROL TECHNIQUES USED IN PRACTICE ABSTRACTSliding mode control is a robust control technique which is able to provide a desired dynamic behaviour in spite of disturbances and uncertainties under matching conditions. In recent years, because of simplicity and robustness, sliding mode control has become popular and various sliding mode control techniques have been developed and taken place in engineering practices. However, it is found that a comprehensive study dealing with the application of these control techniques on various real systems is not available in open literature. In this study, some commonly used sliding mode control techniques are investigated theoretically, and experimentally applying on various real systems. For this purpose, three different types of real systems are used: a single input single output direct current motor driven linear recirculating ball bearing system; a nonlinear simple inverted pendulum; and a single input multiple output underactuated nonlinear cart type inverted pendulum. Control of the systems with various control techniques are implemented satisfactorily both theoretically and experimentally. Results of simulations and experiments are compared with each other, and various inferences are made and recommendations for further studies are presented.

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Section: Hiyerarşik Kayan Kipli Kontrol (Hierarchical Sliding Mode Counclassified

Prati̇kte Kullanilan Bazi Kayan Ki̇pli̇ Kontrol Tekni̇kleri̇ni̇n Teori̇k Ve Deneysel İncelenmesi̇

Kalayci¹,

Yiğit²

2015

Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi

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“…Meanwhile, many researchers also devoted themselves to design universal SMC for the UMSs that have the same dynamic characteristics, e.g. [139,98,140,71,141,142,143,144]. Although SMC has grown exponentially in the past two decades, its applications on control of UMS is only mature at the level of simulation.…”

Section: Sliding Mode Controlmentioning

confidence: 99%

“…Moreover, semi-global and global stabilizations were also done in [139,98,44,179] for both set-point regulation and trajectory tracking control problems. A special concern is paid to the setpoint regulation of UMS as there is no breakthrough on global stabilization, and almost all the works (e.g.…”

Section: Theoretical Challengesmentioning

confidence: 99%

A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

236

131

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An underactuated mechanical system (UMS) is the system that has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research due to its diverse engineering applications.This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control methods, and to some extent, provides some unique insights for bottleneck issues of control and future research directions.

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“…In [10],Wang et al have proved that if the second layer sliding surface is driven to the origin; then the first layer sliding functions, i.e., and , are also convergent to the origin, i.e. and .…”

Section: Stability Analysis Of the Sliding Surfacesmentioning

confidence: 99%

“…Let us first define a Lyapunov function for as, (8) Taking time derivative, one can get ( 9 ) The time derivative of the of Equation (7) is given by or, or, (10) Now, let us propose the control input ,…”

Section: Stability Analysis Of the Sliding Surfacesmentioning

confidence: 99%

Fast Terminal Sliding Mode Control for Gantry Cranes

Singh¹,

Hoang²,

Ha³

2016

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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Cranes remain a vital tool for the construction of infrastructure such as buildings, bridges, etc. Recently, there has been renewed interest in crane automation in dealing with concerns on safety and possible performance degradation due to system uncertainties and disturbances. One potential solution to the problem is the use of robust techniques based on the Sliding Mode Control (SMC) methodology. Much research has been conducted to design controllers based on linear sliding surfaces, aiming at achieving the desired control performance in finite time. In this context, this paper proposes a control method, based on the Fast Terminal Sliding Mode (FTSM), to guarantee finite-time stability of the crane. To do that, we have derived a mathematical model of the crane using Lagrangian formulation with uncertainties as bounding functions. Then, sliding surfaces based on the hierarchical sliding mode are defined, and a control law is derived using the Lyapunov stability theory. The hierarchical sliding surfaces consist of two layers. The first layer include sliding functions based on FTSM to enable faster convergence of the system to equilibrium. This can have advantages in high precision tracking applications. In the second-layer, the sliding surface is designed from the linear combination of the first layer sliding functions. Also, we have given a proof of the stability of the system in finite time. Extensive simulation results show the proposed controller based on FTSM can achieve higher performance in stabilizing the swinging load of a gantry crane. Laboratorial experiments have been conducted to verify the obtained results in terms of the superior convergence time and improved performance over conventional SMC.

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Design of a stable sliding-mode controller for a class of second-order underactuated systems

Abstract: The fallacies of a paper by Wang et al. concerning the stabilisation of a class of second-order underactuated systems are pointed out.

Cited by 229 publications

References 14 publications

Prati̇kte Kullanilan Bazi Kayan Ki̇pli̇ Kontrol Tekni̇kleri̇ni̇n Teori̇k Ve Deneysel İncelenmesi̇

Prati̇kte Kullanilan Bazi Kayan Ki̇pli̇ Kontrol Tekni̇kleri̇ni̇n Teori̇k Ve Deneysel İncelenmesi̇

A survey of underactuated mechanical systems

Fast Terminal Sliding Mode Control for Gantry Cranes

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