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 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)

System Model Linearized using small angle approximation

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

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

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

Simulation Results Full State Feedback

Simulation Results Kalman Filter