Integral Sliding Mode Control Based on Barrier Function for Servo Actuator with Friction

Anmar, F.; Al-Samarraie, Shibly Ahmed

doi:10.30684/etj.v39i2a.1826

Cited by 11 publications

(13 citation statements)

References 7 publications

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“…For both possible FOSMC gains designs, the following theorem holds: 𝑘 𝐵 (𝑠(𝑡)) = 𝑘 𝑃𝐵𝐹 (𝑠(𝑡)) and 𝑘 𝐵 (𝑠(𝑡)) = 𝑘 𝑃𝑆𝐵𝐹 (𝑠(𝑡)) are the same things [26], [27]. Theorem.…”

Section: Adaptive First-order Smc (Fosmc) With Barrier Functionmentioning

confidence: 99%

A novel multiple access communication protocol for LoRa networks without LoraWAN

Rakan¹,

Subhi²,

Mhmood³

2023

IJEECS

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Exoskeletons and wearable robots are mechatronic devices that are worn by an operator and fit closely to the body to improve daily activities. The adaptive sliding mode control (ASMC) based on the barrier function is proposed in this study to regulate the movement of the knee joint exoskeleton with friction. This controller is implemented without the requirement to know the system model uncertainty and disturbance bounded and does not require the use of the low pass for chattering elimination with keeping the controller’s performance. The suggested barrier method can be guaranteed the output variable’s convergence and keep it in a preset neighborhood of zero regardless of the disturbance’s upper bound, without overestimating the control gain. The simulation results show that the proposed performs well, the system angle following the target angular position with a modest pre-adjusted steady-state error. Furthermore, when compared to a typically strong and stable ASMC developed with the identical actuator; the obtained results reveal superior features. Concluded from the above this control method indicates the robustness of the proposed adaptive controller with barrier function against uncertainties and disturbances elimination.

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Section: Adaptive First-order Smc (Fosmc) With Barrier Functionmentioning

confidence: 99%

A novel multiple access communication protocol for LoRa networks without LoraWAN

Rakan¹,

Subhi²,

Mhmood³

2023

IJEECS

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“…This section discusses the design methodology and implementation of ISMC based on barrier function [37,38] for angular tracking and vibration control of FJRs. The controller's design methodology involves dividing Eq.…”

Section: Controller Designmentioning

confidence: 99%

“…The problem with the robustness of the conventional SMC is that it is not guaranteed during the reaching phase, although the parametric variations and external disturbances during the sliding mode alone can be achieved. However, this problem is addressed via the proposed controller in this research, which is ISMC based on the barrier function approach previously proposed in the researches of Abd and Al-Samarraie [38] and Mohammadridha and Al-Samarraie [40]. This controller was able to eliminate the reaching phase and all parameter uncertainties from the first instant to ensure robustness from the beginning of a process.…”

Section: Ismc Design Based On Barrier Functionmentioning

confidence: 99%

Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot

Mohammad,

AL-Samarraie,

Jaber

2024

International Journal on Smart Sensing and Intelligent Systems

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This paper proposes and evaluates a novel control approach for trajectory tracking, stability enhancement, and vibration reduction of a flexible joint robot (FJR). The FJR is a 2-degree-of-freedom underactuated nonlinear system that is challenging to control due to vibration, underactuation, uncertainties, and external disturbances. The control objectives are high trajectory tracking performance together with suppressing vibration. The proposed control approach uses integral sliding mode control (ISMC) combined with a barrier function based on back-stepping. This ensures robust and smooth performance by eliminating the reaching phase where sliding mode control (SMC) is typically not robust. Robustness is thus guaranteed from the start. The FJR is modeled as a 4th-order system using Lagrangian mechanics and decomposed into two 2nd-order subsystems for control design. Sliding variables are defined for each subsystem. Using these variables, the proposed control achieves robust trajectory tracking, stability, and vibration reduction. Numerical simulations in MATLAB validate the superior performance of the proposed ISMC-barrier function control compared to conventional ISMC for the FJR. This novel control approach addresses the challenges of controlling this FJR.

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“…In this work, ISMC based on barrier function (ISMCbf) is designed for the first time to control HR during treadmill exercise. Barrier function based SMC and ISMC was successfully applied in several applications and proved its efficiency [17][18][19]. The main contributions of this work are: 1.…”

Section: Introductionmentioning

confidence: 99%

A Barrier Function-Based Integral Sliding Mode Control of Heart Rate During Treadmill Exercise

MohammadRidha¹,

Al-Samarraie²

2023

MMEP

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The objective of this work is to design an Integral Sliding Mode Controller based on barrier function (ISMCbf) for a human Heart Rate (HR) during a treadmill exercise. ISMCbf commands the speed of the treadmill such that the individual HR follows a time-varying profile. This profile is pre specified as part of rehabilitation exercises for patients with cardiovascular diseases. ISMCbf is chosen due to its well-known robustness properties as well as to its simple design procedure as compared to classic SMC and ISMC. It does not require the upper bounds of the uncertainties and perturbations in its design. Moreover, it does not have discontinuous function, hence it is a chattering-free controller. ISMCbf designed in this work for the first time for this system and its performance is compared to Quasi SMC (QSMC) and Super Twisting SMC (STSMC) from previous studies. The simulated exercises were conducted on a nonlinear model describing HR response to the walking speed of a treadmill. For ISMCbf, the model parameters and their upper bound of uncertainties are considered unknown. During two different exercise scenarios, the three controllers guided HR to follow the time-varying reference profile. However, ISMCbf showed higher quantitative performance by recording less Integral Squared Error (ISE) and Integral Time Absolute Error (ITAE) indices as compared to the other controllers.

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Integral Sliding Mode Control Based on Barrier Function for Servo Actuator with Friction

Cited by 11 publications

References 7 publications

A novel multiple access communication protocol for LoRa networks without LoraWAN

A novel multiple access communication protocol for LoRa networks without LoraWAN

Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot

A Barrier Function-Based Integral Sliding Mode Control of Heart Rate During Treadmill Exercise

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