Real-time implementation of a multivariable sliding mode nonlinear position control system

Authors

  • Arturo Rojas Moreno Facultad de Ingeniería Eléctrica y Electrónica, Universidad Nacional de Ingeniería, Lima, Perú
  • Ricardo Rodríguez Bustinza Facultad de Ingeniería Mecánica, Universidad Nacional de Ingeniería, Lima - Perú

DOI:

https://doi.org/10.21754/tecnia.v15i1.448

Keywords:

Advanced control, Implementation and design, Modeled, Controller, Sliding mode, MRTM system of 2DOF

Abstract

This research work deals with the real-time implementation of a nonlinear multivariable position control system which uses a sliding mode controller to generate the control forces. Such a control forces will be applied to  translational robot arm of 2 degrees of freedom that consist of a cart mounted on a pair of rails and a link mounted on a pivot point located on the cart. The cart and the link (the arm of the robot) are driven by DC servomotors. Experimental
results obtained from the designed nonlinear control system will demonstrate that the designed control inputs applied on the servomotors make the outputs (sliding motion of the cart and angular positions of the arm) capable of tracking arbitrary trajectorie.

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References

[1] Khalil H, K., "Nonlinear Systems", Prentice Hall, 1996. EE.UU

[2] Slotine, E., Li, W., "Applied Nonlinear Control", Prentice Hall, 1991. EE.UU

[3] Edwards, C., Spurgeon, S., "Sliding Mode Control", Taylor and Francis, 1998.

[4] Rojas Moreno, A., “Control Avanzado", Publicación independiente, ISBN 9972-9318-0-3, 2001. Lima, Perú

[5] Bailey, E., Araposthatis, A., "Simple Mode Sliding Control", 1996. EE.UU

[6] Koditschek D.E, Proc. 23rd I.E.E.E. Conf. On Decision and Control, Las Vegas, pp. 733, 1984. EE.UU

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Published

2005-06-01

How to Cite

[1]
A. Rojas Moreno and R. Rodríguez Bustinza, “Real-time implementation of a multivariable sliding mode nonlinear position control system”, TEC, vol. 15, no. 1, Jun. 2005.

Issue

Vol. 15 No. 1 (2005)

Section

Articles

License

Copyright (c) 2005 TECNIA

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