Sliding mode control of active suspension system

The purpose of this paper is to present a new approach in controlling an active suspension system. This approach utilized the proportional integral sliding mode control scheme. Using this type of sliding surface, the asymptotic stability of the system during sliding mode is assured compared to the conventional sliding surface. The proposed control scheme is applied in designing an automotive active suspension system for a quarter-car model and its performance is compared with the existing passive suspension system. A simulation study is performed to prove the effectiveness of this control design

Integrated model of industrial robot for control applications

This paper deals with the development of an intergrated mathematical model of a robot manipulator. The model of the system comprises the mechanical part of the robot as well as the actuators and the gear trains. Two different approaches of deriving the integrated model are presented which results in two different forms of the integrated dynamic model of the robot manipulator in state space description. Both types of the integrated model are highly nonlinear, time varying, and represent a more realistic model of the robotic system. The integrated model and the approach are useful and suitable for dynamic analysis and control synthesis purposes, and will provide a more efficient approach to the real situation

Sliding Mode Control Of A Hydraulically Actuated Active Suspension

The objective of this paper is to present a new mathematical model and robust control technique for modeling and control of an active suspension system with hydraulic dynamics for a quarter car model. The purpose of a car suspension system is to improve the riding quality while maintaining good handling characteristics subject to different road profiles. The objective of designing a controller for a car suspension system is to improve the riding quality without compromising the handling characteristic by directly controlling the suspension forces to suit the road and driving conditions. In this paper, a new mathematical model is presented which will give a much more complete mathematical representation of a hydraulically actuated suspension system for the quarter car model. However, the mathematical model obtained suffers from mismatched condition. In order to achieve the desired ride comfort and road handling and to solve the mismatched condition, a proportional integral sliding mode control technique is presented to deal with the system and uncertainties. The effect of boundary layer thickness selection in the proposed controller is also presented. Extensive simulations are performed and the results showed that the proposed controller performed well in improving the ride comfort and road handling for the quarter car model using the hydraulically actuated suspension system

Proportional-integral sliding mode control of a hydraulically actuated active suspension system: force tracking and disturbance rejection control on non-linear quarter car model

This paper deals with a robust strategy for controlling a hydraulically actuated active suspension system for a quarter car model. The system consists of an inner loop for force tracking control of the hydraulic actuator and an outer loop controller to reject the effects of road induced disturbances. The Proportional Integral Sliding Mode Control (PISMC) scheme is proposed for the outer loop and the Proportional Integral (PI) control is utilised for the inner loop. The performance of the proposed controller is compared to the LQR controller and the passive suspension system through computer simulation

Robust controller for active suspension with hydraulic dynamics

The objective of this paper is to present a new control technique for controlling of an active suspension system with hydraulic dynamics for a quarter car model. The purpose of a car suspension system is to improve the riding quality while maintaining good handling characteristics subject to different road profiles. The objective of designing a controller for a car suspension system is to improve the riding quality without compromising on the handling characteristic by directly controlling the suspension forces to suit the road and driving conditions. In order to achieve the desired ride comfort and road handling and to solve the mismatched condition in the system modeling, a proportional-integral sliding mode control technique is presented to deal with the system and uncertainties. Extensive simulations are performed for different road profiles and the results showed that the proposed controller performed well in improving the ride comfort and road handling for the quarter car model using the hydraulically actuated suspension system

Real-time control system for a two-wheeled inverted pendulum mobile robot

The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world (Solerno & Angeles, 2003;Grasser et al., 2002; Solerno & Angeles, 2007;Koyanagi, Lida & Yuta, 1992;Ha & Yuta, 1996; Kim, Kim & Kwak, 2003). This chapter describes the hardware design of such a robot. The objective of the design is to develop a T-WIP mobile robot as well as MATLABTM interfacing configuration to be used as flexible platform which comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLABTM Real Time Workshop coding, modeling and control scheme is addressed and discussed. The system is then tested using a well-known state feedback controller to verify its functionality

Modeling and proportional integral sliding mode control of hydraulic manipulators

This paper is concerned with the mathematical modeling and the application of a new position tracking control technique for hydraulic manipulators. The integrated model takes into account both the manipulator linkage as well as the actuator dynamics to represent a closer dynamic behaviour of the real system, thus providing a more suitable model for the purpose of advanced controller synthesis and analysis. Although hydraulic manipulators provide large torque and fast response, they possess highly nonlinear dynamics, parameter variations, uncertain load disturbances and strong couplings among various joints. Therefore, a robust control approach based on proportional integral sliding mode control (PISMC) technique is adopted to provide position tracking for the system. It will be shown that the proposed controller is practically stable and is successful in forcing the robotic system to track the predefined desired trajectory at all time. A 3 DOF revolute robot manipulator is used in this study

A full order sliding mode tracking controller for direct drive robot manipulators

This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered

A class of proportional-integral sliding mode control with application to active suspension system

The purpose of this paper is to present a new robust strategy in controlling the active suspension system. The strategy utilized the proportional-integral sliding mode control scheme. A quarter-car model is used in the study and the performance of the controller is compared to the linear quadratic regulator and with the existing passive suspension system. A simulation study is performed to prove the effectiveness and robustness of the control approach