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In this study, the implementation of the sliding mode control method regarding a varying sliding surface on a electromechanical fin actuation system is dealt with. First, the mathematical model of the considered control actuation system is derived and then a control system considering the sliding mode control approach is designed upon the mentioned model. In this extent, the sliding mode controllers with both constant and varying sliding surfaces are evaluated individually. For the varying sliding surface case, the variation of the surface is described by means of a time dependent first order linear function. Moreover, the ajdustment is tried to be done regarding appropriately-constructed fuzzy functions, too. For comparison purpose, a classical control system accounting the PID (proportional plus integral plus derivative) control action is also designed. At the end of the study, the responses of all the proposed control schemes are evaluated altogether. [ABSTRACT FROM AUTHOR]

Direct current (DC) motors are often used in application that position and speed control require. During operation of DC motors, while parameters such as resistance and inductance varies with time, motors may be exposed to the uncertainties loads. For this reason, especially the control method applied in the high-accuracy systems must be best selected. In this study, a method which more durable based on fuzzy control has been developed synthesizing sliding mode control with fuzzy control methods. Parameter variations and uncertainties is carry out using Matlab/Simulink/Robust Control Toolbox. Resistance and inductance is given tolerance, load is offer uncertainly. By looking at the results of the simulation sliding mode fuzzy control method based on fuzzy control method has been concluded that is more stable against load variations and uncertainties, settling time is shorter than, and the system reaches a faster reference signal. [ABSTRACT FROM AUTHOR]

In this study, Sliding Mode Control (SMC) and High Order Sliding Mode Control (HOSMC) methods are applied to a single Flexible Link Robot Arm (FLA) with payload. A sliding mode and high order sliding mode controllers are designed to achieve set point precision positioning control and trajectory tracking control for a FLA. Flexible robot arms have structural flexibilities and resulting high number of passive degrees-of-freedom. They cannot be decoupled due to the highly nonlinear structure. Since the flexible systems have highly nonlinear structure and coupled dynamics, the sliding mode based control approach is chosen a powerful method to overcome the unmodeled and parametric uncertainties. One of the proposed controllers is 2nd order HOSMC method is compared with classical SMC method. Comparison of the methods is experimentally fulfilled using HIL simulator, and additionally torque ripple analysis is made to evaluate of the methods aspect from system harmonics. Direct drive motors are used as actuator in controlled systems. Of all system dynamics affect system harmonics via motor shaft due to the direct drive system that is no gear box. Therefore, harmonics analysis is crucial to investigate of designed controllers effects on system harmonics. To precise set-point and trajectory tracking control of 1-DOF DD FLA has been derived SMC and HOSMC. Sliding Mode Controllers (SMCs) have the robustness properties, while also increasing accuracy by reducing chattering effects. The performance of the designed control methods are tested for the precise position and targeting control of a 1- DOF-DD-FLA system under heavy uncertainties. Comparative results of both methods have been evaluated in real-time using a Hardware-in-the- Loop (HIL) simulator designed for robotics. Especially, HIL simulator for this system includes DD motors and obtained results can be evaluated more realistically according to pure computer simulations Additionally, torque ripples of whole system with HIL simulator have been determined and their eliminations using for both methods are introduced. HIL simulator is used to implement designed controller for a flexible-link arm. Direct drive joint motors are important parts of the direct drive underactuated robot manipulators. Therefore two DD motors take part in HIL simulator and couple through their shaft. One of the motors represents joint actuator, while the other motor is used for generation of the dynamics of the controlled system via the torque applied to the shaft. The two motors acting as "actuator" and "load torque simulator" are driven separately by a high performance controller board. HIL Simulator is expressed briefly as software that is modeled control algorithm and system dynamic model via controller board is integrated with hardware. HIL simulation differs from computer simulation as it involves actual hardware and is not limited with a software-based representation of the system.… [ABSTRACT FROM AUTHOR]

This study includes altitude stabilization, hovering control and attitude control of quadrotor. Classically PD controller derived and applied to this system. Inverse dynamic control, feedback linearization control and sliding mode control methods have used to derive as nonlinear controllers. Linear and nonlinear control techniques applied to mathematical model as simulation and applied to quadrotor platform for experimental results. Derived control methods have been performed using computer simulations and compared the results according to this study objectives. [ABSTRACT FROM AUTHOR]