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twisting Sliding Mode Control of an Electrostatic MEMS Micromirror for a Laser Scanning System

IEEE/CAA Journal of Automatica Sinica 2019年第4期6卷 1060-1067页

作者： Hui Chen Zhendong Sun Weijie Sun John Tze Wei Yeow the School of Computer and Information Engineering Henan UniversityKaifeng 475000China the Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190 China the College of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China the Systems Design Engineering University of WaterlooWaterloo N2L3G1Canada IEEE

In this paper,we present a twisting control scheme with proportional-integral-derivative(PID)sliding surface for a two-axis electrostatic torsional micromirror,and the utilization of the proposed scheme in a laser scanning *** experimental results of set-point regulation verify that the proposed scheme provides enhanced transient response and positioning performance as compared to traditional sliding mode *** evaluate the tracking performance of the closed-loop system,triangular waves with different frequencies are used as desired *** the proposed scheme the experimental results verified that the closed-loop controlled micromirror follows the given triangular trajectories precisely.A micromirror-based laser scanning system is developed to obtain *** compared with open-loop control,the experimental results demonstrated that the proposed scheme is able to reduce the distortion of the raster scan,and improve the imaging performance in the presence of cross-coupling effect.

关键词： Electrostatic micromirror imaging microelectromechanical system(MEMS) twisting algorithm

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A differentiator based second-order sliding-mode control of a pressurized water nuclear research reactor considering Xenon concentration feedback

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ANNALS OF NUCLEAR ENERGY 2021年 156卷 108193-108193页

作者： Abdulraheem, Kamal Kayode Korolev, Sergei Andreevich Laidani, Zaher Natl Res Nucl Univ Moscow Engn Phys Inst MEPHI Automat Dept Moscow Russia Nigeria Atom Energy Commiss Abuja Nigeria

This paper presents the twisting control algorithm with a differentiator to extend the applicability of the second-order sliding-mode control scheme in a nuclear reactor power control and regulation. Application of the second-order sliding-mode control in the power tracking control of a nuclear reactor is vital because it addresses the challenges of chattering and relative degree restriction faced in conventional-sliding mode control. A differentiator is designed to realize the exact robust differentiation of the sliding variable required in the second-order sliding-mode control. The nuclear reactor core is simulated based on the point kinetics equation with a single delayed neutron group. Using the twisting algorithm, the simulation results show that the closed-loop control system is stable, robust against external disturbance, insensitive to parametric variation, and achieved the desired performance specifications. Moreover, it is found that the twisting controller can adequately replace the super-twisting controller without compromising any of the performance indices. (C) 2021 Elsevier Ltd. All rights reserved.

关键词： Second-order sliding-mode control twisting algorithm Point Kinetics equation Load-following Nuclear reactor Lyapunov stability

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Pose overshoot analysis of the marine spherical double plugging in twisting process

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART M-JOURNAL OF ENGINEERING FOR THE MARITIME ENVIRONMENT 2018年第2期232卷 245-252页

作者： Wang, Wenming Liu, Xu Wang, Hao Fan, Jinchao Zhu, Xiaoxiao China Univ Petr Coll Mech & Transportat Engn 18 Fuxue Rd Beijing 102249 Peoples R China

Marine spherical double plugging is a novel plugging device, which can achieve the initiative plugging in the oil and gas pipeline. In order to ensure that the plugging head will not collide with the pipeline wall and not be scratched by the drill cuttings, the analysis of twisting process is necessary to assure reliable operation. In this article, we designed the overall scheme of marine spherical double plugging and established the mathematic model of spherical double plugging. Through studying the twisting algorithm of plugging head and trajectory algorithm of plugging head contour, four dangerous points were obtained. The multi-body dynamic of the structure was built using ADAMS, and the twisting process and motion analysis of four points were analyzed. The twisting error of the plugging head between the four points and the inner wall of the pipeline was analyzed in overshoot states to obtain the maximum allowable overshoot of inserting hydraulic cylinder and twisting hydraulic cylinder. Simulation results show that overshoot of inserting hydraulic cylinder needs to be controlled within 11.5mm and overshoot of twisting hydraulic cylinder needs to be controlled within 5.3mm to avoid the unpredictable danger. This article will provide theoretical and technical support for the optimization design of control system and the plugging head.

关键词： Marine spherical double plugging twisting algorithm trajectory algorithm pose overshoot

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Higher order sliding mode controller of three-phase asynchronous motor

Higher order sliding mode controller of three-phase asynchro...

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Signal, Control and Communication (SCC), International Conference on

作者： Yousra Yahia Anis Sellami Laboratory for Engineering of Industrial Systems and Renewable Energies (LISIER) University of Tunisia ENSIT Tunisia

In this paper, higher order sliding mode controller is applied to control a three asynchronous motor which is a nonlinear Multi-Input, Multi-Output (MIMO) system. The performance, robustness and effectiveness of this ... 详细信息

ISBN: (数字)9781728135960

ISBN: (纸本)9781728135977

关键词： Nonlinear system higher order sliding mode controller twisting algorithm asynchronous motor Asynchronous motors three-phase asynchronous motor Nonlinear systems Controllers Sliding mode higher-order

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Design and Robust Control of a 2 DOFs Lower Limb Exoskeleton

Design and Robust Control of a 2 DOFs Lower Limb Exoskeleton

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International Conference on Communications and Electrical Engineering (ICCEE)

作者： Ghezal, Mohamed Guiatni, Mohamed Boussioud, Ismail Renane, Cherif Sofiane Ecole Mil Polytech Complex Syst Control & Simulators Lab Algiers Algeria

ISBN: (纸本)9781728101125

For the past few decades, robotic exoskeletons have been the subject of extensive research in research laboratories. The level of performance and reliability of these systems has steadily increased. Today, these applications involve neuromotor rehabilitation and, more marginally, support for patients suffering from motor impairments. In this context, we designed and built a motorized exoskeleton with two degrees of freedom for the functional support of the lower limbs. The design was developed taking into account the different constraints related to the anatomy of the human being lower limb and the kinematicstatic compatibility and the transparency of the structure. Elastic actuators, which combine deformable elements and conventional DC motors have been produced and associated with the mechanical structure. The electronic part was also developed to instrument and control the joints of the exoskeleton. After the modeling, we have synthesized and implemented several control approaches, namely PID and twisting second order sliding mode. The results obtained showed the capacity of the exoskeleton to perform walking cycles and its robustness with regard to external disturbances.

关键词： Lower limb exoskeleton Rotary Series Elastic actuator Robust control Mechatronics design Motion control twisting algorithm

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Design of Second Order Sliding Mode and Sliding Mode algorithms:A Practical Insight to DC-DC Buck Converter

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 483-497页

作者： Seyed Mehdi RakhtAla Monazzahalsadat Yasoubi Hassan HosseinNia Department of Electrical Engineering Golestan University Department of Electrical and Computer Engineering Concordia University Department of Precision and Microsystem Engineering Delft University of Technology

This paper presents a simple and systematic approach to design second order sliding mode controller for buck *** second order sliding mode control(SOSMC)based on twisting algorithm has been implemented to control buck switch mode *** idea behind this strategy is to suppress chattering and maintain robustness and finite time convergence properties of the output voltage error to the equilibrium point under the load variations and parametric *** addition,the influence of the twisting algorithm on the performance of closed-loop system is investigated and compared with other algorithms of first order sliding mode control such as adaptive sliding mode control(ASMC),nonsingular terminal sliding mode control(NTSMC).In comparative evaluation,the transient response of the output voltage with the step change in the load and the start-up response of the output voltage with the step change in the input voltage of buck converter were *** results were obtained from a hardware setup constructed in ***,for all of the surveyed control methods,the theoretical considerations,numerical simulations,and experimental measurements from a laboratory prototype are compared for different operating *** is shown that the proposed twisting method presents an improvement in steady state error and settling time of output voltage during load changes.

关键词： DC-DC buck converter non-singular-terminal sliding mode second order sliding mode twisting algorithm

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Adaptive Twist Sliding Mode Control based Chatter Reduction for Pneumatic Artificial Muscles robot arm 8

Adaptive Twist Sliding Mode Control based Chatter Reduction ...

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8th International Conference on Modelling, Identification and Control (ICMIC)

作者： Boudoua, S. Fehag, R. Hamerlain, M. CDTA Baba Hassen Algeria

ISBN: (纸本)9780956715777

In this note we present an adaptive gain twisting sliding mode control strategy achieving chatter alleviation for the control of pneumatic artificial muscles robot arm. The key-point of the paper relies on a simple modification of the twisting algorithm where the control action is proportional to the desired sliding surface and its derivative instead of the sign of it, then the adaptive gain twist control law, continuously drives the sliding surface and its derivative to a predefined domain in finite time in the presence of bounded disturbance with unknown boundary. The derivation and the proof of the adaptation algorithm are derived from the proposed lyapunov function, and the adaptation law doesn't overestimate the values of the control gain. The efficiency of the controller is evaluated through simulation results.

关键词： sliding mode control twisting algorithm parameter adaptation Lyapunov Function design pneumatic artificial muscle robot arm

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Adaptive Twist Sliding Mode Control based Chatter Reduction for Pneumatic Artificial Muscles robot arm

Adaptive Twist Sliding Mode Control based Chatter Reduction ...

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International Conference on Modelling, Identification and Control

作者： S. Boudoua R. Fellag M. Hamerlain Centre de développement des technologies avancées (CDTA) Algeria

ISBN: (纸本)9781509015948

关键词： Sliding mode control twisting algorithm Parameter adaptation Lyapunov Function design Pneumatic artificial muscle robot arm

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Smooth integral sliding mode controller for the position control of Stewart platform

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ISA TRANSACTIONS 2015年 58卷 543-551页

作者： Kumar, Ramesh P. Chalanga, Asif Bandyopadhyay, B. Indian Inst Technol Interdisciplinary Programme Syst & Control Engn Bombay 400076 Maharashtra India

This paper proposes the application of a new algorithm for the position control of a Stewart platform. The conventional integral sliding mode controller is a combination of nominal control and discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in the feedback control is undesirable for practical applications due to chattering which causes the wear and tear of the mechanical actuators. In this paper the existing integral sliding mode control law for systems with matched disturbances is modified by replacing the discontinuous part by a continuous modified twisting control. This proposed controller is continuous in nature due to the combinations of two continuous controls. The desired position of the platform has been achieved using the proposed controller even in the presence of matched disturbances. The effectiveness of the proposed controller has been proved with the simulation results. (C) 2015 ISA. Published by Elsevier Ltd. All rights, reserved.

关键词： Stewart platform Super twisting observer twisting algorithm Integral sliding mode control

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Second-order Sliding Mode Approaches for the Control of a Class of Underactuated Systems

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International Journal of Automation and computing 2015年第2期12卷 134-141页

作者： Sonia Mahjoub Faical Mnif Nabil Derbel Advanced Control and Energy Management Laboratory University of SfaxSfax Engineering School Department of Electrical and Computer Engineering Sultan Qaboos University

In this paper, first-order and second-order sliding mode controllers for underactuated manipulators are proposed. Sliding mode control(SMC) is considered as an effective tool in different studies for control systems. However, the associated chattering phenomenon degrades the system performance. To overcome this phenomenon and track a desired trajectory, a twisting, a supertwisting and a modified super-twisting algorithms are presented respectively. The stability analysis is performed using a Lyapunov function for the proposed controllers. Further, the four different controllers are compared with each other. As an illustration, an example of an inverted pendulum is considered. Simulation results are given to demonstrate the effectiveness of the proposed approaches.

关键词： Underactuated manipulator sliding mode control twisting algorithm super-twisting algorithm inverted pendulum.

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