Regulated sliding mode control of satellite rotation

Moosavian, S. Ali A.; Homaeinejad, M. Reza

doi:10.1016/s1474-6670(17)30815-7

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…(31); however, the regulating function is continuous in this case. The sliding mode controller equipped with the new proposed ERP has a broad margin of stability against parametric uncertainties, variation of controller parameters, and actuators limitations [14].…”

Section: Regulated Smc Lawmentioning

confidence: 99%

“…Although the steady-state response of this controller is acceptable, this method is not very efficient for systems with time varying desired states. For multi-input nonlinear systems, where the equations are completely coupled, the selection of controller parameters to reach acceptable response is not straightforward [14][15][16][17]. A serious problem in the model-based control of robotic systems is that the computational burden imposed on the robot computer is heavy, causing the real-time exploitation of the control algorithm to take high costs [18].…”

Section: Introductionmentioning

confidence: 99%

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Real-time regulated sliding mode controller design of multiple manipulator space free-flying robot

Khaloozadeh

Homaeinejad

2010

J Mech Sci Technol

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The problem of controlling Space Free-flying Robots (SFFRs), which have many degrees of freedom caused by their mechanical manipulators, is challenging because of the strong nonlinearities and their heavy computational burden for the implementation of modelbased control algorithms. In this paper, a chattering avoidance sliding mode controller is developed for SFFR as highly nonlinear-coupled systems. To fulfill stability requirements, robustness properties, and chattering elimination, a regulating routine is proposed to determine the proper positive values for the coefficient of sliding condition. To solve the run-time problem, an explicit direct relationship between the SFFR's output of actuators (force/torque) and the measurement of distances from the corresponding sliding surfaces is also assumed. To reach perfect performance, the parameters are estimated recursively using the Kalman filter as a parameter estimator. The explicit dynamics of a 14-DOF SFFR is derived using SPACEMAPLE, and the recursive prediction error method (RPEM) is used to parameterize the SFFR model. To alleviate the chattering trend, a multi-input sliding mode control law is proposed and applied to the given SFFR based on the online estimated dynamics to control its orientation and position to catch a moving target. To evaluate the new proposed algorithm in a more complicated condition, only on-off actuators are assumed for controlling the base of SFFR because it is the case in real systems. The obtained results show that the proposed regulated sliding mode controller can significantly reduce the chattering trend. Consequently, energy consumption will be substantially decreased, and running the control algorithm will be within a reasonable time duration.

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Section: Regulated Smc Lawmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Real-time regulated sliding mode controller design of multiple manipulator space free-flying robot

Khaloozadeh

Homaeinejad

2010

J Mech Sci Technol

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“…It should be mentioned that the expression similar to Eq. (11) has been successfully employed to regulate sliding mode controllers in [20], for chattering elimination.…”

Section: Mtj Control Lawmentioning

confidence: 99%

Learning-based Modified Transpose Jacobian control of robotic manipulators

Karimi

Moosavian

2008

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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The Modified Transpose Jacobian (MTJ) algorithm has been proposed, based on an approximated feedback linearization approach, in which there is no need to a priori knowledge of the plant dynamics. In this paper, a Learning-based Modified Transpose Jacobian (LMTJ) control algorithm is presented for trajectory tracking of robotic manipulators in an iterative operation mode. In this new control method, the MTJ control scheme is integrated into a learning procedure; as such, the trajectory tracking converges very fast and the bettering performance is achieved after a few iterations. Unlike conventional learning techniques, control gains selection in LMTJ is easily performed. The LMTJ method possesses both MTJ and learning capabilities with a simple control structure. Obtained results show the merits of the new proposed LMTJ controller that its performance is comparable to that of modelbased algorithms in terms of tracking error elimination, even in the presence of nonidentical initializations and un-repetitive disturbances.

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Tuned Modified Transpose Jacobian Control of Robotic Systems

Moosavian¹,

Karimi²

2013

Interdisciplinary Mechatronics

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Regulated sliding mode control of satellite rotation

Cited by 4 publications

References 9 publications

Real-time regulated sliding mode controller design of multiple manipulator space free-flying robot

Real-time regulated sliding mode controller design of multiple manipulator space free-flying robot

Learning-based Modified Transpose Jacobian control of robotic manipulators

Tuned Modified Transpose Jacobian Control of Robotic Systems

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