Johari Halim Shah Osman

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.

Development of 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. This paper describes the hardware design of such a robot. The objective of the design is to develop a T-WIP mobile robot to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, modeling and control scheme was addressed and discussed. The system is then tested using a well-known pole-placement state feedback controller to verify its functionality.

Active suspension control: performance comparison using proportional integral sliding mode and linear quadratic regulator methods

The purpose of this paper is to compare the performance of the active suspension system using two different control strategies. The first strategy utilized the proportional integral sliding mode control scheme and the second one using the linear quadratic regulator method. 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.

Controller Design for Two-wheels Inverted Pendulum Mobile Robot Using PISMC

The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade in a number of robotic laboratories around the world. This paper deals with the modeling of 2-wheels Inverted Pendulum and the design of proportional integral sliding mode control (PISMC) for the system. The mathematical model of 2-wheels inverted pendulum system which is highly nonlinear is derived. The final model is then represented in state-space form and the system suffers from mismatched condition. A robust controller based on sliding mode control is proposed to perform the robust stabilization and disturbance rejection of the system. A computer simulation study is carried out to access the performance of the proposed control law.

Proportional-integral sliding mode control of a quarter car active suspension

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.

A two-level control strategy for robot manipulators

This paper deals with the hierarchical control of a class of robot manipulators. A two-level hierarchical control concept for robot manipulators is proposed. The controller is formulated based on a deterministic approach. In synthesizing the controller, it is assumed that the upper bounds on the nonlinearities, couplings and uncertainties present in the system are available. It is shown through computer simulations that the proposed control strategy is capable of withstanding the expected variations and uncertainties in the system, and will render the robot manipulator able to track a prescribed trajectory to within a small ultimate boundedness set.

Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface

This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proportional-integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is presented.

Application of Proportional-Integral sliding mode tracking controller to robot manipulators

This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly nonlinear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches. The proportional-integral sliding mode 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 two-link planar robot manipulator is considered.

Proportional-Integral sliding mode tracking controller with application to a robot manipulator

This paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. The controller is applied to the control of a two-link planar robot manipulator.

A PI sliding mode tracking controller with application to a 3 DOF direct-drive robot manipulator

This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors.