Download or read book A Model free Control Algorithm Based on the Sliding Mode Control Method with Applications to Unmanned Aircraft Systems written by Adarsh Raj Kadungoth Sreeraj and published by . This book was released on 2019 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Control methods require the use of a system model for the design and tuning of the controllers in meeting and/or exceeding the control system performance objectives. However, system models contain errors and uncertainties that also may be complex to develop and to generalize for a large class of systems such as those for unmanned aircraft systems. In particular, the sliding control method is a superior robust nonlinear control approach due to the direct handling of nonlinearities and uncertainties that can be used in tracking problems for unmanned aircraft system. However, the derivation of the sliding mode control law is tedious since a unique and distinct control law needs to be derived for every individual system and cannot be applied to general systems that may encompass all classifications of unmanned aircraft systems. In this work, a model-free control algorithm based on the sliding mode control method is developed and generalized for all classes of unmanned aircraft systems used in robust tracking control applications. The model-free control algorithm is derived with knowledge of the system’s order, state measurements, and control input gain matrix shape and bounds and is not dependent on a mathematical system model. The derived control law is tested using a high-fidelity simulation of a quadrotor-type unmanned aircraft system and the results are compared to a traditional linear controller for tracking performance and power consumption. Realistic type hardware inputs from joysticks and inertial measurement units were simulated for the analysis. Finally, the model-free control algorithm was implemented on a quadrotor-type unmanned aircraft system testbed used in real flight experimental testing. The experimental tracking performance and power consumption was analyzed and compared to a traditional linear-type controller. Results showed that the model-free approach is superior in tracking performance and power consumption compared to traditional linear-type control strategies."--Abstract.

Download or read book Model free Control of an Unmanned Aircraft Quadcopter Type System written by Christian Monti and published by . This book was released on 2020 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: "A model-free control algorithm based on the sliding mode control method for unmanned aircraft systems is proposed. The mathematical model of the dynamic system is not required to derive the sliding mode control law for this proposed method. The knowledge of the system’s order, state measurements and control input gain matrix shape and bounds are assumed to derive the control law to track the required trajectories. Lyapunov’s Stability criteria is used to ensure closed-loop asymptotic stability and the error estimate between previous control inputs is used to stabilize the system. A smoothing boundary layer is introduced into the system to eliminate the high frequency chattering of the control input and the higher order states. The [B] matrix used in the model-free algorithm based on the sliding mode control is derived for a quadcopter system. A simulation of a quadcopter is built in Simulink and the model-free control algorithm based on sliding mode control is implemented and a PID control law is used to compare the performance of the model-free control algorithm based off of the RMS (Root-Mean-Square) of the difference between the actual state and the desired state as well as average power usage. The model-free algorithm outperformed the PID controller in all simulations with the quadcopter’s original parameters, double the mass, double the moments of inertia, and double both the mass and the moments of inertia while keep both controllers exactly the same for each simulation."--Abstract.

Download or read book Investigations of Model free Sliding Mode Control Algorithms Including Application to Autonomous Quadrotor Flight written by Eric Schulken and published by . This book was released on 2017 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Sliding mode control is a robust nonlinear control algorithm that has been used to implement tracking controllers for unmanned aircraft systems that are robust to modeling uncertainty and exogenous disturbances, thereby providing excellent performance for autonomous operation. A significant advance in the application of sliding mode control for unmanned aircraft systems would be adaptation of a model-free sliding mode control algorithm, since the most complex and time-consuming aspect of implementation of sliding mode control is the derivation of the control law with incorporation of the system model, a process required to be performed for each individual application of sliding mode control. The performance of four different model-free sliding mode control algorithms was compared in simulation using a variety of aerial system models and real-world disturbances (e.g. the effects of discretization and state estimation). The two best performing algorithms were shown to exhibit very similar behavior. These two algorithms were implemented on a quadrotor (both in simulation and using real-world hardware) and the performance was compared to a traditional PID-based controller using the same state estimation algorithm and control setup. Simulation results show the model-free sliding mode control algorithms exhibit similar performance to PID controllers without the tedious tuning process. Comparison between the two model-free sliding mode control algorithms showed very similar performance as measured by the quadratic means of tracking errors. Flight testing showed that while a model-free sliding mode control algorithm is capable of controlling realworld hardware, further characterization and significant improvements are required before it is a viable alternative to conventional control algorithms. Large tracking errors were observed for both the model-free sliding mode control and PID based flight controllers and the performance was characterized as unacceptable for most applications. The poor performance of both controllers suggests tracking errors could be attributed to errors in state estimation, which effectively introduce unknown dynamics into the feedback loop. Further testing with improved state estimation would allow for more conclusions to be drawn about the performance characteristics of the model-free sliding mode control algorithms."--Abstract.

Download or read book Implementation of a Model free Sliding Mode Control on a Multi input Multi output System written by Walker Hare and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Bioinspired flight serves to balance the advantages of fixed-wing flight as well as traditional rotary systems. A flapping wing aerial system exhibits high maneuverability at low speeds like a rotary system and the higher efficiency that fixed-wing systems exhibit in forward flight. A method to actuate a flapping wing structure is using piezoelectric elements. Using flapping wings to perform aerial maneuvers and facilitate stable flight will require precise control of the piezoelectric elements and control surfaces. The focus of the research is the construction of a feedback control platform for the flapping wing aerial system. For any type of feedback control architecture, an accurate way of estimating the current state of the system is required for precise tracking control. Since the control system will be implemented in an aerial vehicle, the system must be lightweight to allow for a larger payload capacity for the aircraft. Nonlinearities arising from uncertainties and unmodeled environmental effects lead to changes in the system model and a linear control scheme will exhibit suboptimal performance and instability. The desire of this aircraft to be able to perform under different flight conditions make determination of an accurate system model a time-consuming and vast undertaking. These flight conditions include take off, gliding, and landing under different wind, pressure, temperature, and payload specifications. Sliding Mode Control and Lyapunov-based methods have been explored extensively due to their capability of handling nonlinear systems directly while guaranteeing stable tracking control. However, determining an appropriate model to approximate the system dynamics is difficult and can lead to undesirable results. These variations can be accounted for by using a model-free control approach. In this work, a model-free controller based on the Sliding Mode Control method implemented for a flapping wing aerial system is considered. The model-free control algorithm only requires knowledge of the system parameters such as the order of the system and state measurements. The algorithm has been implemented successfully in traditional unmanned aerial systems achieving adequate control of system states. While the goal is for the Model-free algorithm to be implemented on a flapping-wing unmanned aerial system, at the time of this thesis, the construction is still in progress. Therefore, an analogous system was built to test the algorithms. A balancing system consisting of a DC motor and propeller mounted to a servo motor for thrust vectoring was constructed. A linear controller derived from the system model was compared in simulation and testing to the Model-Free Sliding Mode Control algorithm."--Abstract.

Download or read book Sliding Mode Control Using MATLAB written by Jinkun Liu and published by Academic Press. This book was released on 2017-05-25 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sliding Mode Control Using MATLAB provides many sliding mode controller design examples, along with simulation examples and MATLAB® programs. Following the review of sliding mode control, the book includes sliding mode control for continuous systems, robust adaptive sliding mode control, sliding mode control for underactuated systems, backstepping, and dynamic surface sliding mode control, sliding mode control based on filter and observer, sliding mode control for discrete systems, fuzzy sliding mode control, neural network sliding mode control, and sliding mode control for robot manipulators. The contents of each chapter are independent, providing readers with information they can use for their own needs. It is suitable for the readers who work on mechanical and electronic engineering, electrical automation engineering, etc., and can also be used as a teaching reference for universities. Provides many sliding mode controller design examples to help readers solve their research and design problems Includes various, implementable, robust sliding mode control design solutions from engineering applications Provides the simulation examples and MATLAB programs for each sliding mode control algorithm

Download or read book Application of Sliding Mode Methods to the Design of Reconfigurable Flight Control Systems written by Scott R. Wells and published by . This book was released on 2002 with total page 624 pages. Available in PDF, EPUB and Kindle. Book excerpt: Observer-based sliding mode control is investigated for application to aircraft reconfigurable flight control. An overview of reconfigurable flight control is given, including a review of the current state-of-the-art within the subdisciplines of fault detection parameter identification, adaptive control schemes, and dynamic control allocation. Of the adaptive control methods reviewed, sliding mode control (SMC) appears promising due its property of invariance to matched uncertainty. An overview of SMC is given and its properties are demonstrated. Sliding mode methods, however, are difficult to implement because unmodeled parasitic dynamics cause immediate and severe instability. This presents a challenge for all practical applications with limited bandwidth actuators. One method to deal with parasitic dynamics is the use of an asymptotic observer. Observer-based SMC is investigated, and a method for selecting observer gains is offered. An additional method for shaping the feedback loop using a filter is also developed. It is shown that this SMC prefilter is equivalent to a form of model reference hedging. A complete design procedure is given which takes advantage of the sliding mode boundary layer to recast the SMC as a linear control law. Frequency domain loop shaping is then used to design the sliding manifold. Finally, three aircraft applications are demonstrated. An F-18/HARV is used to demonstrate SISO and MIMO designs. The third application is a linear six degree-of-freedom advanced tailless fighter model. The observer-based SMC is seen to provide excellent tracking with superior robustness to parameter changes and actuator failures.

Download or read book A Model free Control Algorithm Derived Using the Sliding Model Control Method written by Arielle Mizov and published by . This book was released on 2015 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: "In this work, a model-free sliding mode control scheme is derived and applied to linear and nonlinear systems that is solely based on observable measurements and therefore does not require a theoretical system model in developing the controller form. The general sliding mode controller form is derived for an nth-order system and is strictly limited to a single-input unit input influence gain case for this work. The controller form is based solely on system measurements assuming the order of the system is known. The switching gain form is developed so that stability of the closed-loop sliding mode controller system is guaranteed using Lyapunov's Direct Method. The controller form is reformulated using a smoothing moving boundary layer to eliminate chattering of the control effort. A simulation study is presented for a single-input unit input influence gain case applied to both a linear and nonlinear system with and without a smoothing boundary layer. The measurement based controller form is shown to be identical regardless of the system's kinematics to be controlled assuming the order is known. Results of the simulation efforts show good state tracking performance is achieved with stable convergence for the tracking performance regardless of the system to be controlled."--Abstract.

Download or read book Model free Sliding Mode Control in the Lateral and Direction Dynamics of an Aircraft written by Nicholas Hutson and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Traditional control methods require extensive tuning or a derivation of a system model making them increasingly antiquated for use on new, more complex systems. Sliding Mode Control has emerged as a more effective alternative as a control method that can directly handle nonlinear systems with increased robustness while guaranteeing stability. However, it is still limited by the need for a system model for the derivation of the controller form. This work proposes a new model-free control method based on Sliding Mode Control referred to as Model-Free Sliding Mode Control where the form of the controller is only dependent on system order, state measurements, and previous control inputs. Lyapunov’s stability theorem is used to ensure global asymptotic stability and a boundary layer is incorporated to reduce chattering. The model-free properties of the controller are enabled by a least-squares online parameter estimation method used to estimate the control input influence gain matrix of the system directly. The estimation process is essential as previous work was limited by assuming the bounds of the control input influence gain matrix are known or the assumption it was unitary. The estimation method also incorporated exponential forgetting to only include updated data for parameter estimation, increasing the speed of convergence. Another addition was a bounded gain forgetting factor to ensure that the magnitude of the control input influence gain was upper bounded. The performance of this controller was simulated on various example systems to test its performance. These included single-input, single-output and multi-input, multi-output first and second order systems. Principally, the controller was implemented to control a lateral-directional state space model of an aircraft with a shaped input characterizing aircraft roll and yaw dynamics. The controller proved to exhibit outstanding tracking performance, convergence of estimated parameters, smooth and acceptable control input, and increased robustness to parameter uncertainty. Therefore, the controller was proven to be a feasible method to control the lateral and directional dynamics of an aircraft."--Abstract.

Download or read book Recent Developments in Sliding Mode Control written by Andrzej Bartoszewicz and published by BoD – Books on Demand. This book was released on 2017-06-28 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main purpose of control engineering is to steer the regulated plant in such a way that it operates in a required manner. The desirable performance of the plant should be obtained despite the unpredictable influence of the environment on the control system and no matter if the plant parameters are precisely known. Even though the parameters may change with time and load, still the system should preserve its nominal properties and ensure the required behavior of the plant. In other words, the principal objective of control engineering is to design systems that are robust with respect to external disturbances and modeling uncertainty. This objective may be very well achieved using the sliding mode technique, which is the subject of this book.

Download or read book Proceedings of 2022 International Conference on Autonomous Unmanned Systems ICAUS 2022 written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.

Download or read book Sliding Mode Control Using Novel Sliding Surfaces written by B. Bandyopadhyay and published by Springer. This book was released on 2009-10-14 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt: AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel’yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system’s closed-loop damping ratio from its initial low value to a ?nal high value.

Download or read book Advances in Motion Sensing and Control for Robotic Applications written by Farrokh Janabi-Sharifi and published by Springer. This book was released on 2019-06-15 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on advances in sensing, modeling and control methods for different robotic platforms such as multi-degree of freedom robotic arms, unmanned aerial vehicles and autonomous mobile platforms. Based on 2018 Symposium on Mechatronics, Robotics, and Control (SMTRC’18), held as part of the 2018 CSME International Congress, in York University, Toronto, Canada, the book covers a variety of topics, from filtering and state estimation to adaptive control of reconfigurable robots and more. Next-generation systems with advanced control, planning, perception and interaction capabilities will achieve functionalities far beyond today’s technology. Two key challenges remaining for advanced robot technologies are related to sensing and control in robotic systems. Advanced perception is needed to navigate changing environments. Adaptive and intelligent control systems must be developed to enable operation in unstructured and dynamic environments. The selected chapters in this book focus on both of the aforementioned areas and highlight the main trends and challenges in robot sensing and control. The first part of the book introduces chapters which focus on advanced perception and sensing for robotics applications. They include sensor filtering and state estimation for bipedal robots and motion capture systems analysis. The second part focuses on different modeling and control methods for robotic systems including flight control for UAVs, multi-variable robust control for modular and reconfigurable robotics and control for precision micromanipulation.

Download or read book A Model free Control System Based on the Sliding Mode Control with Automatic Tuning Using as On line Parameter Estimation Approach written by Md Sariful Islam and published by . This book was released on 2020 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: "The sliding mode control algorithm and Lyapunov-based methods, have received much attention recently due to their ability to directly handle nonlinear systems while guaranteeing closed-loop tracking stability. In this work, a unique model-free sliding mode control technique has developed solely based on previous control inputs. The new method requires only knowledge of the system order and state measurements and does not require a theoretical model of the dynamic system. Lyapunov’s stability theorem is used in the controller formulation process to ensure closed-loop asymptotic stability. High frequency chattering of the control effort is reduced by using a smoothing boundary layer into the control law. Parameters variation during control operating and noise effect cannot be handled by the model-free controller if the controller tuning parameters are chosen arbitrarily since tracking performance becomes unacceptable. In addition, in previous work, the bounds of the input influence gain parameters were assumed to be known to derive the model-free controller. Therefore, in this work, a new approach is proposed for estimating the increment to the switching gain in real-time to ensure the sliding condition (which guarantees closed-loop tracking stability) is satisfied using a control law form that assumes a strictly unitary input influence gain. In formulation of estimation law, an exponential forgetting factor is combined with the least-squares estimator to ensure the updated data are used and past data are excluded. An automatic bounded forgetting tuning technique is developed to maintain the benefits of data forgetting while avoiding the possibility of gain unboundedness in absence of persistent excitation. The tuning estimator is assured that the resulting gain matrix is upper bounded regardless of the persistent excitation by suspending the data forgetting if the gain matrix reaches the specified upper bound. Simulations are performed on a series of linear and nonlinear SISO and MIMO systems with and without including actuator time-delay effects. Finally, a model is developed to simulate a quadcopter as a real-world application case. In all cases, the controller achieved perfect or near-perfect tracking performance using updated controller and on-line estimator tuning process."--Abstract.

Download or read book A New Model free Sliding Mode Control Method with Estimation of Control Input Error written by Raul Mittmann Reis and published by . This book was released on 2016 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: "A new type of sliding mode controller scheme, which requires no knowledge of system model, is derived in this work. The controller is solely based on previous control inputs and state measurements to generate the updated control input effort. The only knowledge required to derive the controller is the system order and the bounds of the control input gain, if one exists. The switching gain, which is required to drive the system states onto the sliding surface in the presence of disturbances and uncertainties, is derived using Lyapunov’s stability theorem, ensuring closed-loop asymptotic stability. The chattering effect, which is excited by the switching gain due to high activity of the control input, is reduced by using a smoothing boundary layer into the control law form. Simulations are performed, using first and second-order, linear and nonlinear systems, to test the performance of the new control law. In the last part of this work, the problem with state measurement noise is addressed. Results of the simulations validates the feasibility of the proposed control scheme."--Abstract.

Download or read book Sliding Mode Control of a Nonlinear Ducted fan UAV Model written by Maryam Bakhtiari-Nejad and published by . This book was released on 2006 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Frequency Shaped and Observer Based Discrete time Sliding Mode Control written by Axaykumar Mehta and published by Springer. This book was released on 2015-01-05 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is well established that the sliding mode control strategy provides an effective and robust method of controlling the deterministic system due to its well-known invariance property to a class of bounded disturbance and parameter variations. Advances in microcomputer technologies have made digital control increasingly popular among the researchers worldwide. And that led to the study of discrete-time sliding mode control design and its implementation. This brief presents, a method for multi-rate frequency shaped sliding mode controller design based on switching and non-switching type of reaching law. In this approach, the frequency dependent compensator dynamics are introduced through a frequency-shaped sliding surface by assigning frequency dependent weighing matrices in a linear quadratic regulator (LQR) design procedure. In this way, the undesired high frequency dynamics or certain frequency disturbance can be eliminated. The states are implicitly obtained by measuring the output at a faster rate than the control. It is also known that the vibration control of smart structure is a challenging problem as it has several vibratory modes. So, the frequency shaping approach is used to suppress the frequency dynamics excited during sliding mode in smart structure. The frequency content of the optimal sliding mode is shaped by using a frequency dependent compensator, such that a higher gain can be obtained at the resonance frequencies. The brief discusses the design methods of the controllers based on the proposed approach for the vibration suppression of the intelligent structure. The brief also presents a design of discrete-time reduced order observer using the duality to discrete-time sliding surface design. First, the duality between the coefficients of the discrete-time reduced order observer and the sliding surface design is established and then, the design method for the observer using Riccati equation is explained. Using the proposed method, the observer for the Power System Stabilizer (PSS) for Single Machine Infinite Bus (SMIB) system is designed and the simulation is carried out using the observed states. The discrete-time sliding mode controller based on the proposed reduced order observer design method is also obtained for a laboratory experimental servo system and verified with the experimental results.

Download or read book Sliding Mode in Intellectual Control and Communication Emerging Research and Opportunities written by Mkrttchian, Vardan and published by IGI Global. This book was released on 2017-03-24 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt: The integration of sliding mode in engineering systems has been a focus of research for many years. However, the use of this method in non-engineering systems still requires a better understanding. Sliding Mode in Intellectual Control and Communication: Emerging Research and Opportunities is a pivotal reference source that intends to fill the gap of available knowledge on characteristics of sliding mode in non-engineering contexts. Highlighting a range of pertinent topics such as information processing, intelligent agents, and virtual communications, this book is ideally designed for researchers, academics, students, and professionals interested in the latest developments in sliding mode techniques and applications.