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Robust Control for Seeker Scan Loop using Sliding Modes
Dharmveer,Shailaja Kurode,Prasad Parkhi,Bhagyashri Tamhane 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper presents robust control of seeker system used in missile target scanning and tracking. The mathematical model for seeker system is considered. A sliding mode controller (SMC) is designed to compensate uncertain coupling effect and external disturbances during scan phase. The model of the plant is based on first-principle method. The dynamic equations of motion are formulated with the assumption that the seeker system is a rigid body with no mass imbalance. These equations of motion are considered in cascade with DC motor equations which provides the actuating torque to the gimbal axes of the seeker system. The performance of the controller is validated in simulations.
Simultaneous State and Disturbance Estimation for Seeker System using Sliding Modes
Bhagyashri Tamhane,Shailaja Kurode,Prasad Parkhi,Dharmveer 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
In this paper simultaneous estimation of states and disturbance for seeker system of a missile using sliding mode observer (SMO) has been proposed. The modeling of the plant is done by classical method and the complete seeker system has been simulated for generation of spiral scan loop with control input provided by a simple state feedback controller. An extended state observer using sliding modes is designed to estimate the system states and the total lumped disturbances acting on the system. The estimated disturbance takes into account the disturbance due to cross coupling in the gimbal system and externally added sinusoidal disturbance in input channel. Simulations verify that the output estimation error is made zero in finite time due to sliding modes and the estimated disturbance is in close agreement with actual disturbance.
Robust Motion Control using Novel First Order Sliding Modes
Akash Panhale,Shailaja Kurode 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
Sliding Mode Control (SMC) assures finite time convergence of sliding variables and constrains it to zero thereafter leading to robustness with respect to internal and external disturbances during sliding. This is achieved by discontinuous term in the control. The discontinuity in the control leads to undesirable chattering which limits its practical applicability. This paper proposes novel simple chatter-free first order sliding mode control philosophy. The mathematical proof of the proposed algorithm is illustrated. The investigated algorithm is validated in simulation for the motion control system.
Modeling and Sliding Mode Control of Flexible Structure
Sanket Kailas Gorade,Shailaja R. Kurode,Prasanna S. Gandhi 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Modeling of flexible structure and its control using sliding modes is investigated in this paper. A system of Flexible Inverted Pendulum(FIP) with bobmass on its tip, cantilevered vertically on a cart, is taken as a representative case of flexible structures. Mechanical modeling of this system is proposed using a new approach. The pendulum is assumed to be made up of chain of multiple small sub-links. Torsional springs of different stiffnesses are then assumed at each joint (between successive links) in its structure. The flexibility of pendulum is accounted by specifying definite stiffness value to each torsional spring, in decreasing order from bottom to top. Complete mathematical model is derived considering multibody mechanical system using energy approach. The proposed model is validated with experimental data obtained from actual plant behavior. Sliding Mode Control (SMC) is then developed for this system. A stable sliding surface is designed. Controller is then synthesized using Gao’s power rate reaching law. Performance of this controller is tested in simulation. Robustness of this sliding mode controlled system, against disturbances, is confirmed from simulation results.
A Third Order Sliding Modes based Output-Feedback Control for Stabilization of Container-Slosh
Jyoti Prakash Mishra,Shailaja R. Kurode,Sanket K. Gorade 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper describes about lateral container-slosh dynamical model, which represents an under-actuated system. The dynamics is highly coupled and non-linear, moreover it is difficult to measure the slosh states. Hence an output-feedback control is proposed, which depends only on measurable states. Third order sliding mode (TOSM) based on nested controller algorithm is applied while developing the control. The stability of the system during sliding is analyzed. Finally the proposed method is validated in simulations.