Sliding Mode Control of a Non-Collocated Flexible System

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Sliding Mode Control of aNon-Collocated Flexible
System

• Masters Student
• Aimee Beargie
• Faculty Advisors
• Dr. Wayne Book
• Dr. Nader Sadegh
• Dr. Stephen Dickerson
• Sponsor
• CAMotion, Inc.

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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)

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System Model

• Linearized using small angle approximation

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Control Strategy
Desired Trajectory
System Dynamics
VSC Control Algorithm
RASID
Motor Amp
Encoder Meas.
Kalman Filter
Accelerometer Meas.
Vision Meas.
Computer _at_ 1kHz

• RASID internal PID control _at_ 10kHz

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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

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Variable Structure Control (VSC)

• Controller
• Use Lyapunov stability theory
• Linear State Feedback w/ Switched Gains

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Simulation ResultsFull State Feedback
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Simulation ResultsKalman Filter