Open Access. Powered by Scholars. Published by Universities.®
- Discipline
-
- Computer Sciences (8)
- Physical Sciences and Mathematics (8)
- Artificial Intelligence and Robotics (6)
- Computer Engineering (6)
- Numerical Analysis and Scientific Computing (4)
-
- Operations Research, Systems Engineering and Industrial Engineering (4)
- Systems Science (4)
- Electrical and Computer Engineering (3)
- Mechanical Engineering (3)
- Acoustics, Dynamics, and Controls (1)
- Biomedical Engineering and Bioengineering (1)
- Mathematics (1)
- Ocean Engineering (1)
- Other Mathematics (1)
- Institution
- Publication
- Publication Type
Articles 1 - 10 of 10
Full-Text Articles in Engineering
Trajectory Tracking Control Of Planetary Entry Phase Based On Neural Network And Fractional Sliding Mode, Cunli Fan, Dai Juan, Haitao Liu, Su Zhong, Zhu Cui, Wenting Xu
Trajectory Tracking Control Of Planetary Entry Phase Based On Neural Network And Fractional Sliding Mode, Cunli Fan, Dai Juan, Haitao Liu, Su Zhong, Zhu Cui, Wenting Xu
Journal of System Simulation
Abstract: A fractional order sliding mode control method based on Radial Basis Function (RBF) neural network is proposed to solve the landing accuracy being affected by the interference during the landing process of planetary probe. Based on sliding mode control, a trajectory tracking control method for the entry phase of the probe is designed. Fractional calculus is introduced to alleviate the chattering caused by sliding mode control. RBF neural network is used to estimate and compensate the atmospheric density uncertainty. The method is applied to Mars landing scene simulation. The simulation results show that the proposed control method can accurately …
Sliding Mode Control Of A Nonlinear Wave Energy Converter Model, Tania Demonte Gonzalez, Gordon Parker, Enrico Anderlini, Wayne Weaver
Sliding Mode Control Of A Nonlinear Wave Energy Converter Model, Tania Demonte Gonzalez, Gordon Parker, Enrico Anderlini, Wayne Weaver
Michigan Tech Publications
The most accurate wave energy converter models for heaving point absorbers include nonlinearities, which increase as resonance is achieved to maximize the energy capture. Over the power production spectrum and within the physical limits of the devices, the efficiency of wave energy converters can be enhanced by employing a control scheme that accounts for these nonlinearities. This paper proposes a sliding mode control for a heaving point absorber that includes the nonlinear effects of the dynamic and static Froude‐Krylov forces. The sliding mode controller tracks a reference velocity that matches the phase of the excitation force to ensure higher energy …
Development Of A 7 Dof Exoskeleton Robot For Rehabilitation Of Lower Extremity, Sk Hasan
Development Of A 7 Dof Exoskeleton Robot For Rehabilitation Of Lower Extremity, Sk Hasan
Theses and Dissertations
The World Health Organization reports that worldwide about 1 billion people have some form ofdisability. Of these, 110-190 million people have significant difficulties in functioning (mainly upper and lower extremity disability) independently. The major causes of human lower extremity disability include stroke, trauma, spinal cord injuries, and muscular dystrophy. Every 40 seconds, someone in the United States has a stroke. A statistic shows that approximately 65% of post-stroke patients suffer lower extremity impairment. Rehabilitation programs are the main method to promote functional recovery in disabled individuals. The conventional therapeutic approach requires a long commitment from a therapist or a clinician. …
Trajectory Tracking Control Of Robotic Manipulators Based On Smooth Second-Order Sliding Mode, Ruimin Zhang, Qiaoyu Chen
Trajectory Tracking Control Of Robotic Manipulators Based On Smooth Second-Order Sliding Mode, Ruimin Zhang, Qiaoyu Chen
Journal of System Simulation
Abstract: The robotic manipulators have characteristics of strong nonlinearity, strong coupling, multiple input and output, uncertainties, and so on. It is necessary to proposed a multivariable smooth second-order sliding mode trajectory tracking control method. The method can eliminate the chattering in the conventional sliding mode control and increase convergence speed. The property of finite time convergency is proved by the Lyapunov stability theory. Furthermore, the method is applied for the tracking control of two-joint robotic manipulators with model uncertainty and external disturbances. The simulation results show that the proposed method is effective and has high control precision and strong robustness.
Development Of Novel Compound Controllers To Reduce Chattering Of Sliding Mode Control, Mehran Rahmani
Development Of Novel Compound Controllers To Reduce Chattering Of Sliding Mode Control, Mehran Rahmani
Theses and Dissertations
The robotics and dynamic systems constantly encountered with disturbances such as micro electro mechanical systems (MEMS) gyroscope under disturbances result in mechanical coupling terms between two axes, friction forces in exoskeleton robot joints, and unmodelled dynamics of robot manipulator. Sliding mode control (SMC) is a robust controller. The main drawback of the sliding mode controller is that it produces high-frequency control signals, which leads to chattering. The research objective is to reduce chattering, improve robustness, and increase trajectory tracking of SMC. In this research, we developed controllers for three different dynamic systems: (i) MEMS, (ii) an Exoskeleton type robot, and …
Compensation Sliding Cross Coupling Control Research Of Cartesian Coordinate Robot, Wang Wei, Zhimei Chen, Zhenyan Wang
Compensation Sliding Cross Coupling Control Research Of Cartesian Coordinate Robot, Wang Wei, Zhimei Chen, Zhenyan Wang
Journal of System Simulation
Abstract: For a typical Cartesian coordinate robot controls precision is low, based on a single-axis mathematical model, a contour error model for a typical robot whose axes are orthogonal to each other is established. An improved double-power approach law is used to design a terminal sliding mode controller to improve the robot. The integral compensation terms are added to stably compensate the position accuracy of each axis to improve the overall trajectory tracking accuracy, and the cross-coupling control between the axes is used to eliminate the contour error between the axes. It not only weakens the chattering of traditional sliding …
Three-Dimensional Adaptive Neural Network Guidance Law Against Maneuvering Targets, Yujie Si, Xiong Hua, Zhe Li
Three-Dimensional Adaptive Neural Network Guidance Law Against Maneuvering Targets, Yujie Si, Xiong Hua, Zhe Li
Journal of System Simulation
Abstract: The problem of designing a three-dimensional nonlinear guidance law accounting for saturation nonlinearity is concentrated to attack maneuvering targets. To solve the physical constraints of missile actuators, an anti-disturbance and anti-saturation terminal sliding mode guidance law is provided based on radial basis functions neural networks and adaptive method. The guidance law is bounded and ensures that the system state is uniformly ultimately bounded. Compared with the traditional anti-saturation guidance law, it has the advantages of fast convergence speed and high precision. Numerical simulations are introduced to demonstrate the effectiveness and superiority of the designed composite guidance law in theory.
Robust Model Reference Adaptive Pi Controller Based Sliding Mode Control Forthree-Phase Grid Connected Photovoltaic Inverter, Mojtaba Moeti, Mehdi Asadi
Robust Model Reference Adaptive Pi Controller Based Sliding Mode Control Forthree-Phase Grid Connected Photovoltaic Inverter, Mojtaba Moeti, Mehdi Asadi
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, the design of a new robust model reference adaptive PI (MRAC-PI) current controller is proposed for a two-stage grid connected photovoltaic (PV) inverter. Perturb & observe (P&O) algorithm is implemented in the boost part in order to extract the maximum power from the PV array. Firstly, the current dynamics with considering the system uncertainties are written in dq frame and are simplified by employing a decoupling system. Then, the MRAC-PI controller is designed based on a sliding mode control (SMC) to improve the robustness of the controller under system uncertainties. The parameters of PI controller are tuned …
Sliding Mode Control Of A Nonlinear Wave Energy Converter Model, Tania Demonte Gonzalez
Sliding Mode Control Of A Nonlinear Wave Energy Converter Model, Tania Demonte Gonzalez
Dissertations, Master's Theses and Master's Reports
The most accurate wave energy converter models for heaving point absorbers include nonlinearities, which increase as resonance is achieved to maximize energy capture. The efficiency of wave energy converters can be enhanced by employing a control scheme that accounts for these nonlinearities. This project proposes a sliding mode control for a heaving point absorber that includes the nonlinear effects of the Froude-Krylov force. The sliding mode controller tracks a reference velocity that matches the phase of the excitation force to ensure higher energy absorption. This control algorithm is tested in regular linear waves and is compared to a complex-conjugate control …
Sliding Mode Pll-Pdm Controller For Induction Heating System, Harun Özbay, Aki̇f Karafi̇l, Seli̇m Öncü
Sliding Mode Pll-Pdm Controller For Induction Heating System, Harun Özbay, Aki̇f Karafi̇l, Seli̇m Öncü
Turkish Journal of Electrical Engineering and Computer Sciences
In this study, a sliding mode controlled phase locked loop (SMC-PLL) was developed for induction heating(IH) applications with a resonant inverter. PLL applications are widely used in induction heating applications to achievezero voltage switching and zero current switching. In many PLL applications, the frequency tracking is too slow andunreliable. Therefore, a sliding mode controller was developed to provide robust and fast PLL. Furthermore, a pulsedensity modulation (PDM) control strategy was developed to work at the resonant frequency for all power levels. ThePDM power control is a good solution for the design of high-frequency inverters because of a great reduction of …