Control of a Sun Tracking Robot Based on Adaptive Sliding Mode Control with Kalman Filtering and Model Predictive Control

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Authors

This paper proposes an adaptive Sliding Mode Control (SMC) strategy using a Model Predictive Control (MPC) for a two rotational joints robot to be used in a tracking problem. The considered tracking problem is the sensorless orientation of a photovoltaic panel with respect to the solar position. The estimated velocity of the sun is obtained by drawing the solar Azimuth and Elevation angle from the Application Programming Interface (API) of a German Metereological Service (meteomatics), providing real time data. The measured data are processed by an Kalman Filter (KF) to estimate the position, velocity and acceleration of the angles of the joints of the robot. The estimated and reference angles and their derivatives are used in the SMC law. Exemplary tracking results are presented at the end.

Original languageEnglish
Title of host publicationIECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society
Number of pages6
Place of PublicationPiscataway
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date13.10.2021
ISBN (print)978-1-6654-0256-9
ISBN (electronic)978-1-6654-3554-3
DOIs
Publication statusPublished - 13.10.2021
Event47th Annual Conference of the IEEE Industrial Electronics Society - virtuell, Toronto, Canada
Duration: 13.10.202116.10.2021
Conference number: 47
https://ieeeiecon.org/

    Research areas

  • Kalman filter, Lyapunov, Model predictive control, Robot, Sliding Mode Control, Sun Tracking
  • Engineering

Recently viewed

Publications

  1. Age-related differences in processing visual device and task characteristics when using technical devices
  2. Implicit statistical learning and working memory predict EFL development and written task outcomes in adolescents
  3. Tracing exploratory modes in digital collections of museum Web sites using reverse information architecture
  4. A Wavelet Packet Tree Denoising Algorithm for Images of Atomic-Force Microscopy
  5. Machine learning pipeline for Structure–Property modeling in Mg-alloys using microstructure and texture descriptors
  6. A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms
  7. Random measurement and prediction errors limit the practical relevance of two velocity sensors to estimate the 1RM back squat
  8. Homogenization modeling of thin-layer-type microstructures
  9. The learning net - an interactive representation of shared knowledge
  10. Evaluating entity annotators using GERBIL
  11. Supporting the Decision of the Order Processing Strategy by Using Logistic Models
  12. Performance and Comfort when Using Motion-Controlled Tools in Complex Tasks
  13. Control of a Sun Tracking Robot Based on Adaptive Sliding Mode Control with Kalman Filtering and Model Predictive Control
  14. Perfect anti-windup in output tracking scheme with preaction
  15. Exploiting linear partial information for optimal use of forecasts. With an application to U.S. economic policy
  16. Differences Between Classical and Bayesian Estimates for Mixed Logit Models
  17. Digital Control of a Camless Engine Using Lyapunov Approach with Backward Euler Approximation
  18. A discrete-time fractional order PI controller for a three phase synchronous motor using an optimal loop shaping approach
  19. Controlling processing usage at user level
  20. A Control Scheme for PMSMs using Model Predictive Control and a Feedforward Action in the Presence of Saturated Inputs
  21. Springback prediction and reduction in deep drawing under influence of unloading modulus degradation
  22. Tracking control of a piezo-hydraulic actuator using input-output linearization and a Cascaded Extended Kalman Filter structure
  23. The relationship between long-term memory ability and instructed second language learning
  24. Effective informational entropy reduction in multi-robot systems based on real-time TVS
  25. A Python toolbox for the numerical solution of the Maxey-Riley equation
  26. Robust decoupling through algebraic output feedback in manipulation systems