Chattering-free sliding mode synchronization control for a hybrid mechanism

被引：9
|
作者：
Cao, Yuanyuan [1 ]
Gao, Guoqin [1 ]
Wu, Xintong [1 ]
机构：
[1] Jiangsu Univ, Sch Elect & Informat Engn, Zhenjiang 212013, Peoples R China
来源：
ADVANCES IN MECHANICAL ENGINEERING | 2017年 / 9卷 / 07期
基金：
中国国家自然科学基金;
关键词：
Hybrid mechanism; synchronization error; synchronization control; sliding mode control; chattering free; DYNAMICAL-SYSTEMS; TRACKING CONTROL; MANIPULATOR; OBSERVER;
D O I：
10.1177/1687814017715982
中图分类号：
O414.1 [热力学];
学科分类号：
摘要：
For a hybrid mechanism used for automobile electro-coating conveying, a chattering-free sliding mode synchronization controller is proposed to improve the synchronization performance during motion process. The Jacobi matrix of the mechanism is calculated according to kinematic analysis, and the dynamic model is established by Lagrange method. Since the mechanism consists of two sets of hybrid mechanisms bilaterally, a novel synchronization error including the synchronization error between two ends of the end-effector is designed. By combining cross-coupling control with chattering-free sliding mode control, a novel chattering-free sliding mode synchronization controller is proposed. The stability of the proposed algorithm is proved by Lyapunov stability theorem. The simulation and experimental results show that the proposed controller can effectively reduce the chattering of driving forces and further improve the synchronization performance and tracking accuracy of the system.
引用
收藏
页数：11
相关论文
共 50 条
  • [1] On Chattering-Free Sliding-Mode Control
    Dorel , Lela
    Levant, Arie
    [J]. 47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), 2008, : 2196 - 2201
  • [2] Chattering-free adaptive fuzzy sliding mode control
    Sadati, N
    Talasaz, A
    [J]. 2004 IEEE CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS, VOLS 1 AND 2, 2004, : 29 - 34
  • [3] A chattering-free fuzzy hybrid sliding mode control of an electrohydraulic active suspension
    Shaer, Bassel
    Kenne, Jean-Pierre
    Kaddissi, Claude
    Fallaha, Charles
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40 (01) : 222 - 238
  • [4] Chattering-free discrete-time sliding mode control
    Du, Haibo
    Yu, Xinghuo
    Chen, Michael Z. Q.
    Li, Shihua
    [J]. AUTOMATICA, 2016, 68 : 87 - 91
  • [5] Chattering-Free LS-SVM Sliding Mode Control
    Li, Jianning
    Zhang, Yibo
    Pan, Haipeng
    [J]. ADVANCES IN NEURAL NETWORKS - ISNN 2008, PT I, PROCEEDINGS, 2008, 5263 : 701 - 708
  • [6] Simple Adaptive Methodology for Chattering-free Sliding Mode Control
    Cho, Hancheol
    Kerschen, Gaetan
    [J]. 2016 14TH INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS (VSS), 2016, : 280 - 285
  • [7] Design of sliding mode for chattering-free variable structure control
    Pan, YD
    Furuta, K
    Hatakeyama, S
    Suzuki, S
    [J]. IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4: 21ST CENTURY TECHNOLOGIES AND INDUSTRIAL OPPORTUNITIES, 2000, : 1117 - 1122
  • [8] Chattering-Free Support Vector Regression Sliding Mode Control
    Li, Linsheng
    Li, Jianning
    [J]. 2008 INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE AND SECURITY, VOLS 1 AND 2, PROCEEDINGS, 2008, : 231 - +
  • [9] A New Direction of the Chattering-free Sliding Mode Control Methods
    Fu Jian
    Wang Liangming
    Du Yanli
    Chang Sijiang
    [J]. 2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 83 - 87
  • [10] Chattering-Free Sliding Mode Control for the Parallel Mechanism of a Virtual Axis machine Tool
    Gao Guoqin
    Luo Yan
    Liu Xinjun
    Jiang Daogen
    [J]. PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 5670 - 5675
12345