In this paper, the control problem of Multi-Input Multi-Output (MIMO) nonlinear Systems with unknown dynamics is proposed. A novel method based on the Sliding Mode with Time Delay Control (SMTDC) is proposed by combining a Sliding Mode Control (SMC) with saturation (sat) function and Time Delay Control (TDC). This method (SMTDC), allows chattering reduction on control inputs and estimates the amounts of unknown or unmodeled nonlinear dynamics and unexpected uncertainties and cancels them. This algorithm was simulated on the model of the ANAT robot arm system to demonstrate the effectiveness of the proposed design method.

Sliding Mode with Time Delay Control for MIMO nonlinear Systems With unknown dynamics

Variable Structure Systems: Survey

In this paper, the real-time position control of servo system is carried out using sliding mode control (SMC) method based on variable structure control (VSC). As DC Motors are commonly used in many industrial applications and robotics, studies in this paper have are tested on a DC servo system, which is designed and produced by Quanser Inc. Three different types of sliding mode controllers are designed for position control of servo system and, later, performance comparison of DC Motor on Servo system is made. According to results obtained from real-time servo system, it is shown that SMC method is robust against to disturbing effects, variabilities, and uncertainties on the systems. Outstanding part of this paper is that designed controllers are implemented to servo system in real-time with a variable loaded DC Motor. Moreover, this study shows that this control structure can be performed as high performance in the real-time motor control applications.

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Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

In this paper, real-time position control of rotary servo system is performed by using fuzzy logic. SRV-02 DC servo system produced by Quanser is equipped with a DC motor. Servo system is loading by using various metallic weights and performance analysis are made according to international performance criteria. When making comparison of performance, it is seen that controller which is designed via fuzzy logic shows better results on position control than PID control which is a conventional control method and commonly used industrial applications.

Position control by using PD type fuzzy logic: Experimental study on rotary servo system

Summary form only given. Time delay control (TDC) is a method using the past time delay terms to eliminate the current unknown dynamics and disturbance. Sliding mode control (SMC) uses discontinuous control inputs to be insensitive to parameter variations and disturbance. We propose modifications to TDC by adopting integral SMC which guarantees the robustness, and which decreases chattering. This algorithm is implemented to control positions of a DC servo motor with a seal installed at its main axis, which produces stick-slip friction.

Time-delay sliding mode control for a servo

In this paper, the design of sliding mode control strategy based on Time Delay Control (TDC) is presented. TDC is a control technique in which the time delayed signals of system variables are used to estimate and compensate the system uncertainties and external disturbances. This paper shows how TDC works when the plant have an external unmeasurable disturbance and with uncertain parameters. Finally, all the results are experimentally verified on the Quanser QET DCMCT kit.

D. D. Ray

Papers

Time delay controller combined with sliding mode for DC motor position control: Experimental validation on Quanser QET