Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

Nguyen, Van Hong; Huynh, Xuan-Dung; Nguyen, Minh Tam; Vladu, Ionel Cristian; Ivănescu, Mircea

doi:10.1155/2017/6348980

Cited by 4 publications

(3 citation statements)

References 24 publications

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“…Te system mathematical modelling was derived using the Euler-Lagrange equation due to modelling complex, nonlinearity, and strong-coupling systems such as [19,26]. Tis method ofers a simple approach to determining a complex systems model [18].…”

Section: Mathematical Modellingmentioning

confidence: 99%

Robust Hybrid Controller Design to Stabilise an Underactuated Robot Vehicle under Various Input

Hussein

Kamil

Al-Moadhen

2022

Journal of Robotics

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This paper presents the design of the control system for a robot vehicle with two wheels that mimics a double Inverted Pendulum (IP) system with an extendable payload. By expanding the degrees of freedom, the system is more flexible. Still, this model posed challenges for control of parts of the system, including the proper balancing of the intermediate body and angular displacement of both wheels and lifting the payload to the demanded height. In this paper, a hybrid control system that incorporates more than one type of controller which combined proportional integral derivative (PID), proportional derivative (PD), and fuzzy logic control (FLC) these controllers are designed for stabilising the aforementioned system. The controller was validated by applying different input signals to the payload actuator to prove the control system’s stability and analyse the system's behaviour. The simulation results were satisfactory for the hybrid control technique. The wheels successfully stabilised within 1.2682 s. Further, the first and second links stabilised at 9.5953 s and 9.6467 s, respectively. The payload approximately produces the same input signal applied to the payload actuator. The model was derived using the Euler–Lagrange equation. The equations are solved using kinetic energy and potential energy which employs for motion. Simulation results of the two-wheeled robot vehicle with extendable payload designed with hybrid control systems are implemented using MATLAB/Simulink environment.

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Section: Mathematical Modellingmentioning

confidence: 99%

Robust Hybrid Controller Design to Stabilise an Underactuated Robot Vehicle under Various Input

Hussein

Kamil

Al-Moadhen

2022

Journal of Robotics

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show abstract

“…For a large‐scale system that consists of many coupled subsystems like train system, the sliding surface is constituted in two layers [30]. In the first layer, the sliding surface variable of i th vehicle

s_{i} ϵ ℜ^{1}

is constructed as

s_{i} = α_{1, i} e_{2 i} + α_{2, i} e_{2 i - 1}

By assuming

x_{2 i} = {\dot{x}}_{2 i - 1}

for i th vehicle dynamics,

s_{i}

can be rewritten using

e_{2 i} = {\dot{e}}_{2 i - 1}

s_{i} = α_{1, i} {\dot{e}}_{2 i - 1} + α_{2, i} e_{2 i - 1}

The dynamics of the sliding surface is decided by

α_{1, i} > 0

and

α_{2, i} > 0

.…”

Section: Composite Model Reference Adaptive Sliding Mode Controllermentioning

confidence: 99%

“…In the first layer, the sliding surface variable of i th vehicle

s_{i} ϵ ℜ^{1}

is constructed as

s_{i} = α_{1, i} e_{2 i} + α_{2, i} e_{2 i - 1}

By assuming

x_{2 i} = {\dot{x}}_{2 i - 1}

for i th vehicle dynamics,

s_{i}

can be rewritten using

e_{2 i} = {\dot{e}}_{2 i - 1}

s_{i} = α_{1, i} {\dot{e}}_{2 i - 1} + α_{2, i} e_{2 i - 1}

The dynamics of the sliding surface is decided by

α_{1, i} > 0

and

α_{2, i} > 0

. The second layer sliding surfaces [30] are constructed as

S_{i} = a_{i - 1} S_{i - 1} + s_{i}

where

a_{i - 1} = constant

and

a_{0} = S_{0} = 0

. From the definition of second layer sliding surface, it can be easily shown that if

s_{1}

is made as zero by applying the appropriate control signal, then

s_{2}

also becomes zero through the control signal which is transmitted from the locomotive, then

s_{n - 1}

due to control transmitted from

(n - 2)

…”

Section: Composite Model Reference Adaptive Sliding Mode Controllermentioning

confidence: 99%

Composite model reference adaptive sliding mode controller for automatic train operation

Muniandi

Ezhilarasi²

2019

IET Control Theory & Applications

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Performance Comparison Between Higher-Order Sliding Mode and Fixed Boundary Layer Sliding Mode Controller for a 10-DoF Bipedal Robot

Cherfouh

Farooq

Asad

et al. 2021

Smart Innovation, Systems and Technologies

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Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

Cited by 4 publications

References 24 publications

Robust Hybrid Controller Design to Stabilise an Underactuated Robot Vehicle under Various Input

Robust Hybrid Controller Design to Stabilise an Underactuated Robot Vehicle under Various Input

Composite model reference adaptive sliding mode controller for automatic train operation

Performance Comparison Between Higher-Order Sliding Mode and Fixed Boundary Layer Sliding Mode Controller for a 10-DoF Bipedal Robot

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