Adaptive Sliding Mode Control Based on Disturbance Observer for Placement Pressure Control System

Hong, Qi; Shi, Yaoyao; Chen, Zhen

doi:10.3390/sym12061057

Cited by 7 publications

(7 citation statements)

References 37 publications

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“…For the trajectory, the quadrilateral wave of amplitude ±π/6 was used. The state-space equation for the stance control system [33] used was . ‡ = A• ‡ + B•u + D, where the variables A and B are the system matrix and D is a concentrated disturbance that contains a disturbance due to an oscillating connection of the pendulum.…”

Section: Swing-up and Stabilisation Of Ripmentioning

confidence: 99%

Control Theory Application for Swing Up and Stabilisation of Rotating Inverted Pendulum

et al. 2021

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This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation control problems via the new sliding mode control scheme using both simulations and experiments of rotary inverted pendulum (RIP) underactuated systems. According to the Lyapunov theory, a section of the pendulum was compensated with a scale error in the upright position, as the desired trajectory was followed by the pendulum arm section. As the RIP’s dynamic equations were nonlinearly complex and coupled, the complex internal dynamics made the task of controller design difficult. The system control for the pathway of the reference model of the rotational actuator with the application of the sliding mode technique for moving back and forth up the inverted pendulum’s structure, till the arm to reach the linear range round the vertical upright position, was created and tested in an existent device. The stabilisation scheme was switched on in the sliding mode as soon as the arm reached the linear range. A comparison of the stabilisation performance for the same rotating inverted pendulum as discussed by other authors revealed that the proposed controller was more flexible and reliable in terms of the swing up and stabilisation time.

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Section: Swing-up and Stabilisation Of Ripmentioning

confidence: 99%

Control Theory Application for Swing Up and Stabilisation of Rotating Inverted Pendulum

et al. 2021

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“…The application of nonlinear DOB for overhead cranes can be found in [22]. The nonlinear DOB in [21][22][23][24] needs the condition of the first derivative is zero. However, in the real work environment, the disturbance and its frequency are unknown.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, the concept of a newly opened worldwide for DOB design with the predefined reaching law is proposed in this work. Therefore, the limitation of the work from [21][22][23][24][25][26][27][28][29][30] is solved here. Because of that, this paper proposed a new DOB without this conjunction of the disturbance format and its derivation.…”

Section: Introductionmentioning

confidence: 99%

Inversed Model-Based Disturbance Observer Base on Adaptive Fast Convergent Sliding Mode Control and Fixed-Time State Observer for Slotless Self-Bearing Motor

2022

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The slotless self-bearing motor (SSBM) is a motor with its self-bearing function. The mechanical structure of the motor is six symmetrical hexagonal shapes. The main control problem for this motor is disturbance and uncertainty rejection. Therefore, this paper proposes a new disturbance observer (DOB) based on an optimal fixed-time state observer (OFTSOB) and adaptive sliding mode control (SMC) for the motor. Firstly, the optimal state observer was used to construct to obtain the information of the states of the bearing-less motor system. Second, a new disturbance observer base on the fast speed reaching law is proposed for estimating the unknown dynamics and unpredicted uncertainty of the motor system. Third, the adaptive fast-reaching law-sliding mode control is designed to control the positions and rotational speed. Fourth, the proposed control system is proved via the Lyapunov theorem. Finally, the corrections of proposed method once again tested by using MATLAB simulation. The obtained results figured out that the proposed method is good at rejection disturbance and uncertainty and precision in control the movement and rotation. The novelties of the proposed method are that the gains of fixed-time observer were met by the support of optimal pole placement method, the disturbances were mostly rejected by a new reaching law of unknown input observer.

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“…Currently, all kinds of control methods, including proportional-integral-differential (PID) control [2], active disturbance rejection control [3,4], sliding mode control [5][6][7][8] and neural network control [9], have been utilized in the attitude control of quadrotor UAVs. The article [2] shows the property of stability and robustness for a nonlinear implicit PID control algorithm of finite-time stabilization of quadrotor UAVs subject to constraints bounded external disturbance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Attitude Control of Quadrotor UAVs Based on the Delta Operator Framework

Zheng

et al. 2022

Symmetry

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In this paper, a novel adaptive sliding-mode control algorithm is proposed for the attitude control of quadrotor unmanned aerial vehicles (UAVs) under the delta operator framework. First, the delta operator technique is used to discretize the attitude control systems of a quadrotor UAV. Then, based on the linear matrix inequality technique, a linear sliding surface is designed to ensure the asymptotical stability of the quadrotor UAV attitude control system during the sliding motion process. Second, by the estimated external disturbance using a radical basis function (RBF) neural network, an adaptive sliding-mode attitude controller is designed such that the states of the quadrotor UAV attitude systems can be driven towards the desired sliding surface, and thus the attitude control objective of the qudarotor UAV is achieved. Compared with the traditional adaptive sliding-mode control algorithm, the proposed adaptive sliding-mode control algorithm can effectively realize the attitude control of a quadrotor UAV subject to strong disturbances and couplings. Finally, comparisons of the simulation results verify the effectiveness and superiority of the control algorithm proposed in this paper.

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Adaptive Sliding Mode Control Based on Disturbance Observer for Placement Pressure Control System

Cited by 7 publications

References 37 publications

Control Theory Application for Swing Up and Stabilisation of Rotating Inverted Pendulum

Control Theory Application for Swing Up and Stabilisation of Rotating Inverted Pendulum

Inversed Model-Based Disturbance Observer Base on Adaptive Fast Convergent Sliding Mode Control and Fixed-Time State Observer for Slotless Self-Bearing Motor

Adaptive Sliding Mode Attitude Control of Quadrotor UAVs Based on the Delta Operator Framework

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