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. Development of a quality assurance framework for the open source development model
  2. A coding scheme to analyse global text processing in computer supported collaborative learning: What eye movements can tell us
  3. Knowledge Graph Question Answering Using Graph-Pattern Isomorphism
  4. Contributions of declarative and procedural memory to accuracy and automatization during second language practice
  5. Expertise in research integration and implementation for tackling complex problems
  6. Isocodal and isospectral points, edges, and pairs in graphs and how to cope with them in computerized symmetry recognition
  7. A discrete approximate solution for the asymptotic tracking problem in affine nonlinear systems
  8. Semi-supervised learning for structured output variables
  9. Ambient Intelligence and Knowledge Processing in Distributed Autonomous AAL-Components
  10. Anatomy of Haar Wavelet Filter and Its Implementation for Signal Processing
  11. Enhancing Performance of Level System Modeling with Pseudo-Random Signals
  12. Neural Combinatorial Optimization on Heterogeneous Graphs
  13. On robustness properties in permanent magnet machine control by using decoupling controller
  14. Kinematic self-calibration of non-contact five-axis measuring machine using improved genetic algorithm.
  15. A transfer operator based computational study of mixing processes in open flow systems
  16. Integrating errors into the training process
  17. Patching Together a Global Script
  18. Distinguishing state variability from trait change in longitudinal data
  19. An Improved Approach to the Semi-Process-Oriented Implementation of Standardised ERP-Systems
  20. Gaussian processes for dispatching rule selection in production scheduling
  21. Evaluation of Time/Phase Parameters in Frequency Measurements for Inertial Navigation Systems
  22. Machine Learning and Knowledge Discovery in Databases
  23. Clustering Hydrological Homogeneous Regions and Neural Network Based Index Flood Estimation for Ungauged Catchments
  24. Gain Scheduling Controller for Improving Level Control Performance
  25. The role of reading time complexity and reading speed in text comprehension
  26. A denoising procedure using wavelet packets for instantaneous detection of pantograph oscillations
  27. Don’t underestimate the problems of user centredness in software development projectsthere are many!?
  28. Control condition design and implementation features in controlled trials
  29. Latent structure perceptron with feature induction for unrestricted coreference resolution
  30. Using cross-recurrence quantification analysis to compute similarity measures for time series of unequal length with applications to sleep stage analysis
  31. Understanding the socio-technical aspects of low-code adoption for software development
  32. Beyond Path Dependency
  33. Database on Learning for Sustainable Development – analysis of projects
  34. Robust Flatness Based Control of an Electromagnetic Linear Actuator Using Adaptive PID Controller