Conference Papers

Permanent URI for this collectionhttps://idr.nitk.ac.in/handle/123456789/28506

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Author: search.filters.author.Thomas, M.J.Subject: search.filters.subject.Sliding Mode Control

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    A Comparative Analysis between Sliding Mode Control and Super Twisting Sliding Mode Control Applied on a Quadcopter
    (Institute of Electrical and Electronics Engineers Inc., 2024) Vijapur, S.; Jungade, O.A.; Thomas, M.J.
    The use of quadcopters has grown exponentially in countless fields. With the ever-growing demand for automation in today's world, algorithms for the autonomous control of drones have become a major area of research. In this paper, we implement two control strategies, namely Sliding Mode Control (SMC) and Super Twisting Sliding Mode Control (STSMC), on a 6 Degree of Freedom quadcopter model and compare their performance. Using Fast Fourier Transforms, the two controllers are analysed to enable an effective comparison of the chattering in the control input by defining a suitable index. With this index, we observe a decrease of two orders of magnitude in the chattering present in the input given by the STSMC controller. © 2024 IEEE.
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    Simulink-Based Comparative Study and Selection of a Controller for a Waist-Assistive Exoskeleton
    (Springer Science and Business Media Deutschland GmbH, 2024) Thomas, M.J.; Mohanta, J.; Sahoo, S.; Santhakumar, S.
    This paper describes the conceptual design and comparative simulation study of three controller strategies—Proportional Integral Derivative (PID), PD-based Computed Torque Control and PD-based Sliding Mode Control (SMC) for a waist-assistive exoskeleton. The exoskeleton is modelled in Simulink, and its joint control is simulated for a predefined desired trajectory. The motor, joint and link parameters are incorporated into the Simulink model to match the properties and evaluate the performance similar to the real-time system. In addition, MSC ADAMS-based simulation study is also performed to validate the dynamic model of the exoskeleton. The preliminary study indicates that the SMC controller shows better tracking accuracy than the other two strategies. The proposed exoskeleton is designed to reduce the effort taken by the user during regular sit-to-stand and weight-lifting operations. It is intended to lower the strain the lumbar muscles take during standing and lifting operations over the long run. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.