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Sliding Mode Control for the Regulation Problem of an Aerodynamic Angular System: Experimental Platform and Validation

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Abstract

Based on a previous theoretical work, this paper focuses on the experimental validation of a sliding mode control (SMC) technique applied to an aerodynamic angular system (AAS). To do so, an aerodynamic experimental platform is presented together with its electronic interface and its closed-loop behavior generated by the aforementioned SMC strategy. The control performance is widely reviewed under different regulation tasks and gain variations. Experimental results prove that the control strategy guarantees a stable behavior. Moreover, the robustness of the control strategy is proved when the system is subject to the influence of external disturbances.

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Correspondence to Juan Carlos Ávila-Vilchis.

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Christian Castro Martínez is an electronic engineer from the Autonomous University of the State of Mexico (UAEM). He obtained a Master’s degree, with emphasis in mechanical engineering, at the UAEM, where he works at the Faculty of Engineering. His research interests are power electronics, robotics and control systems.

Juan Carlos Ávila-Vilchis is a mechanical engineer from the Autonomous University of the State of Mexico (UAEM). He received a Mechanical Engineering master’s degree from the Industrial Institute of the Nord (IDN, now Lille Central School), France, and a Doctor’s degree in Automatique et Productique from the Polytechnic National Institute of Grenoble, France. His main research interests are the design and development of mechatronic systems, the modeling and control of dynamic nonlinear systems and the medical applications of robotics.

Juan Manuel Jacinto-Villegas received his B.S. and M.S. degrees in electronic engineering from the Technological Institute of Orizaba, in 2010 and 2012, respectively. In 2017, he obtained a Ph.D. degree in emerging digital technologies in the research area of Perceptual Robotics of the Scuola Superiore Sant’Anna, Pisa, Italy. Since 2018, he has been a Research Professor of the catedras CONACYT program with the Faculty of Engineering of the Autonomous University of the State of Mexico (UAEM), Toluca, Mexico. His research interests include robotics, haptic control, human-robot interaction, electronics, mechatronics and automation.

Belem Saldivar received her B.S. degree in electronics and telecommunications engineering from the Autonomous University of Hidalgo State, UAEH, Mexico, in 2007, and an M.Sc. degree in automatic control from the Center for Research and Advanced Studies of the National Polytechnic Institute CINVESTAV, Mexico City, Mexico in 2010. In 2013, she received a Ph.D. degree in automatic control from CINVESTAV and in informatics and its applications from the Research Institute of Communication and Cybernetics of Nantes, IRCCyN, Nantes, France. Since 2014, she has been a research professor of the Catedras CONACyT program with the Faculty of Engineering of the Autonomous University of the State of Mexico. Her research is focused on modeling and control of (finite and infinite-dimensional) dynamic systems, nonlinear and time delay systems, and power electronic systems for photovoltaic applications.

Adriana Herlinda Vilchis-González is a computer engineer from the Autonomous University of the State of Mexico (UAEM). She received a Ph.D. degree in image, vision and robotics from the Polytechnic National Institute of Grenoble, France. Her research is oriented towards modeling and control of mechatronic devices for educational and medical robotics with an emphasis on modeling and innovation of medical devices.

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Martínez, C.C., Ávila-Vilchis, J.C., Jacinto-Villegas, J.M. et al. Sliding Mode Control for the Regulation Problem of an Aerodynamic Angular System: Experimental Platform and Validation. Int. J. Control Autom. Syst. 19, 2395–2405 (2021). https://doi.org/10.1007/s12555-020-0128-z

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