Discrete-time sliding mode control of high precision linear drive using frictional model

The paper deals with high precision motion control of linear drive system. The accuracy and behavior of the linear drive system are highly affected by the non-linear frictional component compromising of stiction, viscous and stribeck effect present in the system especially in the vicinity of zero velocity. In order to achieve the high accuracy and motion it is mandatory to drive our system with low velocity resulting in many non linear phenomena like tracking error, limit cycles and undesired stick-slip motion etc. This paper discuss the design and implementation of discrete time sliding mode control along with the implementation of dynamic frictional model in order to estimate and compensate the disturbance arising due to frictional component. Experimental results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme

Evaluation of error bound for a DT sliding mode control with disturbance observer

In this paper an estimate of the upper bound of control error for discrete-time implementation of a Sliding Mode Control (DTSMC) combined with disturbance observer is investigated. Having in mind application to PZT high bandwidth actuators and since high accuracy is required the special attention is paid to avoid chattering. Selected structure of proposed SMC controller is proven to offer chattering-free motion. The proposed structure also avoids deadbeat poles that are the cause of large control action which is not desirable in practical applications. The proposed scheme is shown to allow a maximum error bound of O(T) for the system with disturbance. The main disturbances are represented by hysteresis and the time variation of the piezo stack parameters. The evaluation of the upper bound of error in such a system is shown and experimentally verified. Closed-loop experiments are presented using the proposed method to verify the theoretical results

Continuous time controller based on SMC and disturbance observer for piezoelectric actuators

Abstract – In this work, analog application for the Sliding Mode Control (SMC) to piezoelectric actuators (PEA) is presented. DSP application of the algorithm suffers from ADC and DAC conversions and mainly faces limitations in sampling time interval. Moreover piezoelectric actuators are known to have very large bandwidth close to the DSP operation frequency. Therefore, with the direct analog application, improvement of the performance and high frequency operation are expected. Design of an appropriate SMC together with a disturbance observer is suggested to have continuous control output and related experimental results for position tracking are presented with comparison of DSP and analog control application

Open loop control of a stepping motor with step loss detection and stall detection using back-EMF based load angle estimation

Stepping motors are the most used electrical machines for low power positioning. The drive controls the machine so that the rotor performs a fixed angular displacement after each step command pulse. Counting the step command pulses enables open-loop positioning. The vast majority of the stepping motor systems is driven in open-loop. When the rotor hits an obstacle stall occurs. Step loss due to overload is another typical problem with stepping motor driven systems. Both phenomena are not detected in open-loop which causes loss of synchronism. In this paper, a sensorless load angle estimator is used to detect step loss and stall. This algorithm is based on the typical stepping motor drive algorithms and does not depend on mechanical load parameters. The method therefore has a broad industrial relevance

Making Transport Safer: V2V-Based Automated Emergency Braking System

An important goal in the field of intelligent transportation systems (ITS) is to provide driving aids aimed at preventing accidents and reducing the number of traffic victims. The commonest traffic accidents in urban areas are due to sudden braking that demands a very fast response on the part of drivers. Attempts to solve this problem have motivated many ITS advances including the detection of the intention of surrounding cars using lasers, radars or cameras. However, this might not be enough to increase safety when there is a danger of collision. Vehicle to vehicle communications are needed to ensure that the other intentions of cars are also available. The article describes the development of a controller to perform an emergency stop via an electro-hydraulic braking system employed on dry asphalt. An original V2V communication scheme based on WiFi cards has been used for broadcasting positioning information to other vehicles. The reliability of the scheme has been theoretically analyzed to estimate its performance when the number of vehicles involved is much higher. This controller has been incorporated into the AUTOPIA program control for automatic cars. The system has been implemented in Citroën C3 Pluriel, and various tests were performed to evaluate its operation

Genetic programming for the automatic design of controllers for a surface ship

In this paper, the implementation of genetic programming (GP) to design a contoller structure is assessed. GP is used to evolve control strategies that, given the current and desired state of the propulsion and heading dynamics of a supply ship as inputs, generate the command forces required to maneuver the ship. The controllers created using GP are evaluated through computer simulations and real maneuverability tests in a laboratory water basin facility. The robustness of each controller is analyzed through the simulation of environmental disturbances. In addition, GP runs in the presence of disturbances are carried out so that the different controllers obtained can be compared. The particular vessel used in this paper is a scale model of a supply ship called CyberShip II. The results obtained illustrate the benefits of using GP for the automatic design of propulsion and navigation controllers for surface ships

Motion stabilization in the presence of friction and backlash: a hybrid system approach

In this paper a hybrid system approach is considered to deal with backlash and friction induced nonlinearities in mechanical control systems. To describe the low velocity frictional behaviour a linearized friction model is proposed. The novelty of this study is that based on the introduced friction model, the stability theorems developed for hybrid systems can directly be applied for controller design of mechanical systems in the presence of Stribeck friction and backlash. During the controller design it is assumed that the size of the backlash gap is unknown and the load side position and velocity cannot be measured. For motion control an LQ controller is applied. A condition is formulated for the control law parameters to guarantee the asymptotic stability of the control system. Simulation measurements were performed to confirm the theoretical results

Sliding mode control for robust and smooth reference tracking in robot visual servoing

[EN] An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks are considered as the discontinuous control action. Both sliding mode controls are extensively compared in a 3D-simulated environment with their equivalent well-known continuous controls, which can be found in the literature, to highlight their similarities and differences. The main advantages of the proposed method are smoothness, robustness, and low computational cost. 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Sliding-mode neuro-controller for uncertain systems

In this paper, a method that allows for the merger of the good features of sliding-mode control and neural network (NN) design is presented. Design is performed by applying an NN to minimize the cost function that is selected to depend on the distance from the sliding-mode manifold, thus providing that the NN controller enforces sliding-mode motion in a closed-loop system. It has been proven that the selected cost function has no local minima in controller parameter space, so under certain conditions, selection of the NN weights guarantees that the global minimum is reached, and then the sliding-mode conditions are satisfied; thus, closed-loop motion is robust against parameter changes and disturbances. For controller design, the system states and the nominal value of the control input matrix are used. The design for both multiple-input-multiple-output and single-input-single-output systems is discussed. Due to the structure of the (M)ADALINE network used in control calculation, the proposed algorithm can also be interpreted as a sliding-mode-based control parameter adaptation scheme. The controller performance is verified by experimental results