1. 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.

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

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 Results Full State Feedback

8. Simulation Results Kalman Filter