Application of decaying boundary layer and switching function method thorough error feedback for sliding mode control on spacecraft's attitude

Hassrizal, H. B.; Rossiter, J.A.

doi:10.1109/med.2017.7984289

Cited by 7 publications

(2 citation statements)

References 11 publications

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“…Another consideration for the SMC is to reduce the chattering of control inputs. Chattering refers to the switching of a variable from a control input around a reference point in a short period of time, which cannot be applied to an input from the actual system, and thus leads to the introduction of the concept of the boundary layer [41]. To apply the boundary layer concept, the existing signum function was replaced with the saturation function.…”

Section: Design Of a Sliding Mode Controlmentioning

confidence: 99%

Design and Control of a Polycentric Knee Exoskeleton Using an Electro-Hydraulic Actuator

Lee

Song

et al. 2019

Sensors

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An exoskeleton robot helps the wearer with mechanical forces by identifying the wearer’s intentions and requires high energy efficiency, sufficient load capacity, and a comfortable fit. However, since it is difficult to implement complex anatomical movements of the human body, most exoskeleton robots are designed simply, unlike the anatomy of real humans. This forces the wearer to accept the robot’s stiffness entirely, and to use energy inefficiently from the power source. In this paper, a simple 1 degree of freedom (DoF) structure, which was mainly used in the knees of exoskeleton robots, was designed with a polycentric (multi-axial) structure to minimize the misalignment between wearer and robot, so that torque transfer could be carried out efficiently. In addition, the overall robot system was constructed by using an electro-hydraulic actuator (EHA) to solve the problems of the energy inefficiency of conventional hydraulic actuators and the low load capacity of conventional electric actuators. After the configuration of the hardware system, the sliding mode controller was designed to address the EHA nonlinear models and the uncertainty of the plant design. This was configured as Simulink for the first verification, and the experiment was conducted by applying it to the actual model to demonstrate the performance of the sliding mode control. In this process, an optical rotary encoder was used as the main feedback sensor of the controller. The proposed polycentric knee exoskeleton robot system using the EHA was able to reach the desired target value well despite the presence of many model uncertainties.

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Section: Design Of a Sliding Mode Controlmentioning

confidence: 99%

Design and Control of a Polycentric Knee Exoskeleton Using an Electro-Hydraulic Actuator

Lee

Song

et al. 2019

Sensors

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“…Another approach found in the literature for dealing with parametric uncertainties is the SMC [17][18][19][20][21][22]. It is a robust control approach as it is unresponsive to external disturbances and parametric uncertainties or variations [23,24].…”

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confidence: 99%

Fixed‐time sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems

Hosseinabadi

Abadi

Schwartz

et al. 2023

Asian Journal of Control

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This paper investigates a fixed‐time convergence issue using the sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems. This observer‐based controller is designed assuming that only the first state measurement is available and there is no information about external disturbances and modeling uncertainties. A new form of sliding mode observer in combination with a sliding mode controller is designed to estimate unmeasured state and unknown disturbances and uncertainties as well as provide the estimated data in the control law. A novel form of sliding surfaces for the robust observer‐based controller is proposed for which fixed‐time convergence is guaranteed to achieve trajectory tracking. In the proposed fixed‐time scheme, the bound on the settling time is user‐defined using design parameters regardless of the system's initial conditions. The control law and observer law are designed such that the chattering issue is alleviated in the control signal. The stability analysis of the closed‐loop system using the observer‐based controller is established via the Lyapunov theory. The validity of the controller design is tested by applying and simulating an example of a robot manipulator in Simulink/MATLAB. The superiority of the proposed method is demonstrated by comparing it with two other methods from the relevant literature.

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Range guidance for subsonic unpowered gliding vehicle using integral action-based sliding mode control

Ahmad

Rehman

Bhatti

2023

Int. J. Dynam. Control

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Application of decaying boundary layer and switching function method thorough error feedback for sliding mode control on spacecraft's attitude

Cited by 7 publications

References 11 publications

Design and Control of a Polycentric Knee Exoskeleton Using an Electro-Hydraulic Actuator

Design and Control of a Polycentric Knee Exoskeleton Using an Electro-Hydraulic Actuator

Fixed‐time sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems

Range guidance for subsonic unpowered gliding vehicle using integral action-based sliding mode control

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