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Sliding Mode Control of a Non-Collocated Flexible System

Sliding Mode Control of a Non-Collocated Flexible System. Master’s Student Aimee Beargie Faculty Advisors Dr. Wayne Book Dr. Nader Sadegh Dr. Stephen Dickerson Sponsor CAMotion, Inc. Overview.

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Sliding Mode Control of a Non-Collocated Flexible System

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  1. Sliding Mode Control of aNon-Collocated Flexible System Master’s Student Aimee Beargie Faculty Advisors Dr. Wayne Book Dr. Nader Sadegh Dr. Stephen Dickerson Sponsor CAMotion, Inc.

  2. Overview • Develop an algorithm to control the tip position of a mechanism that is actuated at the base (non-collocated problem) • Recently developed algorithms generally deal with collocated problems • Sensors: Encoder, Accelerometer, Machine Vision • State Feedback Methods • Kalman Filter • Variable Structure Control (VSC)

  3. System Model • Linearized using small angle approximation

  4. Control Strategy Desired Trajectory RASID: internal PID control @ 10kHz System Dynamics VSC Control Algorithm RASID Motor & Amp Encoder Meas. Kalman Filter Accelerometer Meas. Vision Meas. Computer @ 1kHz

  5. Variable Structure Control (VSC) • Switched feedback control method that drives a system trajectory to a specified surface in the state space. • Switching Surface • s = SX • Regular Form • Reduced order system with dynamics of state feedback structure • Allows use of LQR or Pole Placement methods to determine S matrix

  6. Variable Structure Control (VSC) • Controller • Use Lyapunov stability theory • Linear State Feedback w/ Switched Gains

  7. Simulation ResultsFull State Feedback

  8. Simulation ResultsKalman Filter

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