Compliance Control of Robotic Walk Assist Device via Integral Sliding Mode Control

Shah, Syed Humayoon; Khan, Said Ghani; Haq, Izhar Ul; Shah, Kamran; Abid, Anam

doi:10.1109/ibcast.2019.8667148

Cited by 13 publications

(8 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…6. Measured and simulated outputs an integral sliding mode element [15] and tested. The results were improved significantly as demonstrated in Figure 8.…”

Section: Resultsmentioning

confidence: 99%

“…However, LQG requires an accurate model of the system which is somehow not possible in case of nonlinear systems [14]. Integral Sliding Mode Control (ISMC) [15] is a robust control technique which is coupled with LQG in this work to overcome the issue of deriving exact model of a TRMS. This paper is organized as follows: Section II derives and analyzes model of a TRMS.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and Robust Control of Twin Rotor MIMO System

Shah

Khan

Iqbal

et al. 2019

2019 International Conference on Robotics and Automation in Industry (ICRAI)

Self Cite

View full text Add to dashboard Cite

Recently, unmanned aerial vehicles (UAVs) have witnessed immense popularity in various fields, ranging from surveillance, rescue, and fire fighting to other more sophisticated military and commercial applications. However, due to their highly nonlinear nature and dynamic operational environment, the control of UAVs is still a challenging task. Linear Quadratic-Gaussian Regulator (LQG), is an optimal control technique, which has been very popular for UAVs control. However, for robust performance, an accurate dynamic model of a system is required. In order, to overcome this limitation, the present work couples an integral sliding mode controller with the LQG controller to deal with the modelling inaccuracies. Experimental results of pitch control of the laboratory-based twin rotor MIMO system (TRMS), validate the performance of ISMC-LQG controller.

show abstract

“…6. Measured and simulated outputs an integral sliding mode element [15] and tested. The results were improved significantly as demonstrated in Figure 8.…”

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and Robust Control of Twin Rotor MIMO System

Shah

Khan

Iqbal

et al. 2019

2019 International Conference on Robotics and Automation in Industry (ICRAI)

Self Cite

View full text Add to dashboard Cite

show abstract

“…Classical control strategies, defined with a focus on the efficient output response of UAVs, are explained in [15,16]. The integration of nonlinear control with classical control techniques is demonstrated in [17]. To eliminate coupling effects, decoupling techniques, whether static or dynamic, are utilized.…”

Section: Introductionmentioning

confidence: 99%

A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An experimental study

Abbas,

Liu,

Iqbal

2024

PLoS ONE

View full text Add to dashboard Cite

This article introduces a cutting-edge H∞ model-based control method for uncertain Multi Input Multi Output (MIMO) systems, specifically focusing on UAVs, through a flexible mixed-optimization framework using the Method of Inequality (MOI). The proposed approach adaptively addresses crucial challenges such as unmodeled dynamics, noise interference, and parameter variations. Central to the design is a two-step controller development process. The first step involves Nonlinear Dynamic Inversion (NDI) and system decoupling for simplification, while the second step integrates H∞ control with MOI for optimal response tuning. This strategy is distinguished by its adaptability and focus on balancing robust stability and performance, effectively managing the intricate cross-coupling dynamics in UAV systems. The effectiveness of the proposed approach is validated through simulations conducted in MATLAB/Simulink environment. Results demonstrated the efficiency of the proposed robust control approach as evidenced by reduced steady-state error, diminished overshoot, and faster system response times, thus significantly outperforming traditional control methods.

show abstract

“…The efficiency of classical control is confirmed in [15,16] through its effective output response of the TRMS. Hybrid control as classical and nonlinear control is presented in [17,18]. The authors of [19] analyze the performance of a twin-rotor MIMO system using a linear quadratic regulator (LQR) and LQG control techniques and discuss the differences in the response of pitch and yaw angle control inputs.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Recursive Sliding Mode Control (ARSMC)-Based UAV Control for Future Smart Cities

Abbas

Liu

2023

Applied Sciences

View full text Add to dashboard Cite

The rapid expansion of the Internet and communication technologies is leading to significant changes in both society and the economy. This development is driving the evolution of smart cities, which utilize cutting-edge technologies and data analysis to optimize efficiency and reduce waste in their infrastructure and services. As the number of mobile devices and embedded computers grows, new technologies, such as fifth-generation (5G) cellular broadband networks and the Internet of Things (IoT), are emerging to extend wireless network connectivity. These cities are often referred to as unmanned aerial vehicles (UAVs), highlighting their innovative approach to utilizing technology. To address the challenges posed by continuously varying perturbations, such as unknown states, gyroscopic disturbance torque, and parametric uncertainties, an adaptive recursive sliding mode control (ARSMC) has been developed. The high computational cost and high-order nonlinear behavior of UAVs make them difficult to control. The controller design is divided into two steps. First, a confined stability analysis is performed using controllability and observability to estimate the system’s stability calculation. Second, a Lyapunov-based controller design analysis is systematically tackled using a recursive design procedure. The strategy design aims to enhance robustness through Lyapunov stability-based mathematical analysis in the presence of considered perturbations. The ARSMC introduces new variables that depend on state variables, controlling parameters, and stabilizing functions to minimize unwanted signals and compensate for nonlinearities in the system. The paper’s significant contribution is to improve the controlled output’s rise time and stability time while ensuring efficient robustness.

show abstract

Compliance Control of Robotic Walk Assist Device via Integral Sliding Mode Control

Cited by 13 publications

References 20 publications

Modeling and Robust Control of Twin Rotor MIMO System

Modeling and Robust Control of Twin Rotor MIMO System

A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An experimental study

Adaptive Recursive Sliding Mode Control (ARSMC)-Based UAV Control for Future Smart Cities

Contact Info

Product

Resources

About