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Sample records for adaptive sliding mode

  1. Adaptive Sliding Mode Control for Hydraulic Drives

    Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.;

    2013-01-01

    This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback...

  2. Adaptive sliding mode control for a class of chaotic systems

    Farid, R.; Ibrahim, A.; Zalam, B., E-mail: ramy5475@yahoo.com [Menofia University, Faculty of Electronic Engineering, Department of Industrial Electronics and Control, Menuf, Menofia (Egypt)

    2015-03-30

    Chaos control here means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, an Adaptive Sliding Mode Controller (ASMC) is presented based on Lyapunov stability theory. The well known Chua's circuit is chosen to be our case study in this paper. The study shows the effectiveness of the proposed adaptive sliding mode controller.

  3. Adaptive sliding mode control for a class of chaotic systems

    Chaos control here means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, an Adaptive Sliding Mode Controller (ASMC) is presented based on Lyapunov stability theory. The well known Chua's circuit is chosen to be our case study in this paper. The study shows the effectiveness of the proposed adaptive sliding mode controller

  4. Robust observer-based adaptive fuzzy sliding mode controller

    Oveisi, Atta; Nestorović, Tamara

    2016-08-01

    In this paper, a new observer-based adaptive fuzzy integral sliding mode controller is proposed based on the Lyapunov stability theorem. The plant is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. Based on the classical sliding mode controller, the equivalent control effort is obtained to satisfy the sufficient requirement of sliding mode controller and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. In order to relax the norm-bounded constrains on the control law and solve the chattering problem of sliding mode controller, a fuzzy logic inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, for evaluating the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.

  5. Sliding mode control of wind-induced vibrations using fuzzy sliding surface and gain adaptation

    Thenozhi, Suresh; Yu, Wen

    2016-04-01

    Although fuzzy/adaptive sliding mode control can reduce the chattering problem in structural vibration control applications, they require the equivalent control and the upper bounds of the system uncertainties. In this paper, we used fuzzy logic to approximate the standard sliding surface and designed a dead-zone adaptive law for tuning the switching gain of the sliding mode control. The stability of the proposed controller is established using Lyapunov stability theory. A six-storey building prototype equipped with an active mass damper has been used to demonstrate the effectiveness of the proposed controller towards the wind-induced vibrations.

  6. Adaptive Fractional Fuzzy Sliding Mode Control for Multivariable Nonlinear Systems

    Junhai Luo

    2014-01-01

    Full Text Available This paper presents a robust adaptive fuzzy sliding mode control method for a class of uncertain nonlinear systems. The fractional order calculus is employed in the parameter updating stage. The underlying stability analysis as well as parameter update law design is carried out by Lyapunov based technique. In the simulation, two examples including a comparison with the traditional integer order counterpart are given to show the effectiveness of the proposed method. The main contribution of this paper consists in the control performance is better for the fractional order updating law than that of traditional integer order.

  7. L1 adaptive control with sliding-mode based adaptive law

    Jie LUO; Chengyu CAO

    2015-01-01

    This paper presents an adaptive control scheme with an integration of sliding mode control into the L1 adaptive control architecture, which provides good tracking performance as well as robustness against matched uncertainties. Sliding mode control is used as an adaptive law in the L1 adaptive control architecture, which is considered as a virtual control of error dynamics between estimated states and real states. Low-pass filtering mechanism in the control law design prevents a discontinuous signal in the adaptive law from appearing in actual control signal while maintaining control accuracy. By using sliding mode control as a virtual control of error dynamics and introducing the low-pass filtered control signal, the chattering effect is eliminated. The performance bounds between the close-loop adaptive system and the closed-loop reference system are characterized in this paper. Numerical simulation is provided to demonstrate the performance of the presented adaptive control scheme.

  8. Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network

    Yundi Chu

    2015-01-01

    Full Text Available An adaptive global sliding mode control (AGSMC using RBF neural network (RBFNN is proposed for the system identification and tracking control of micro-electro-mechanical system (MEMS gyroscope. Firstly, a new kind of adaptive identification method based on the global sliding mode controller is designed to update and estimate angular velocity and other system parameters of MEMS gyroscope online. Moreover, the output of adaptive neural network control is used to adjust the switch gain of sliding mode control dynamically to approach the upper bound of unknown disturbances. In this way, the switch item of sliding mode control can be converted to the output of continuous neural network which can weaken the chattering in the sliding mode control in contrast to the conventional fixed gain sliding mode control. Simulation results show that the designed control system can get satisfactory tracking performance and effective estimation of unknown parameters of MEMS gyroscope.

  9. Chattering-free fuzzy adaptive robust sliding-mode vibration control of a smart flexible beam

    Chattering is an undesired phenomenon associated with classical sliding-mode control. The discontinuous bang–bang robust controller causes chattering near the equilibrium. To attenuate the chattering, in this paper, a fuzzy logic smooth switch system is integrated with the adaptive robust sliding-mode control to form a fuzzy adaptive robust sliding-mode control for the active vibration control of a smart flexible beam integrated with piezoceramic actuators and sensors. The asymptotical stability proof of the proposed fuzzy adaptive robust sliding-mode controller is provided by Lyapunov's direct method. The experimental results show that the proposed fuzzy adaptive robust sliding-mode controller quickly suppresses the vibration. Additionally, with the fuzzy switch system, the chattering is successfully attenuated

  10. Backstepping design of missile guidance and control based on adaptive fuzzy sliding mode control

    Ran Maopeng; Wang Qing; Hou Delong; Dong Chaoyang

    2014-01-01

    This paper presents an integrated missile guidance and control law based on adaptive fuzzy sliding mode control. The integrated model is formulated as a block-strict-feedback nonlinear system, in which modeling errors, unmodeled nonlinearities, target maneuvers, etc. are viewed as unknown uncertainties. The adaptive nonlinear control law is designed based on backstepping and sliding mode control techniques. An adaptive fuzzy system is adopted to approximate the coupling nonlinear functions of...

  11. Adaptive Sliding Mode Control of Chaos in Permanent Magnet Synchronous Motor via Fuzzy Neural Networks

    Tat-Bao-Thien Nguyen

    2014-01-01

    Full Text Available In this paper, based on fuzzy neural networks, we develop an adaptive sliding mode controller for chaos suppression and tracking control in a chaotic permanent magnet synchronous motor (PMSM drive system. The proposed controller consists of two parts. The first is an adaptive sliding mode controller which employs a fuzzy neural network to estimate the unknown nonlinear models for constructing the sliding mode controller. The second is a compensational controller which adaptively compensates estimation errors. For stability analysis, the Lyapunov synthesis approach is used to ensure the stability of controlled systems. Finally, simulation results are provided to verify the validity and superiority of the proposed method.

  12. Synchronization of a modified Chua's circuit system via adaptive sliding mode control

    This study addresses the adaptive synchronization of a modified Chua's circuit system with both unknown system parameters and the nonlinearity in the control input. An adaptive switching surface is newly adopted such that it becomes easy to ensure the stability of the error dynamics in the sliding mode. Based on this adaptive switching surface, an adaptive sliding mode controller (ASMC) is derived to guarantee the occurrence of the sliding motion, even when the system is undergoing input nonlinearity. This method can also be easily extended to a general class of Chua's circuits. An illustrative example is given to show the applicability of the proposed ASMC design

  13. Robust synchronization of drive-response chaotic systems via adaptive sliding mode control

    A robust adaptive sliding control scheme is developed in this study to achieve synchronization for two identical chaotic systems in the presence of uncertain system parameters, external disturbances and nonlinear control inputs. An adaptation algorithm is given based on the Lyapunov stability theory. Using this adaptation technique to estimate the upper-bounds of parameter variation and external disturbance uncertainties, an adaptive sliding mode controller is then constructed without requiring the bounds of parameter and disturbance uncertainties to be known in advance. It is proven that the proposed adaptive sliding mode controller can maintain the existence of sliding mode in finite time in uncertain chaotic systems. Finally, numerical simulations are presented to show the effectiveness of the proposed control scheme.

  14. Constant Power Control of a Proton Exchange Membrane Fuel Cell through Adaptive Fuzzy Sliding Mode

    Minxiu Yan

    2013-05-01

    Full Text Available Fuel cell is a device that converts the chemical energy from a fuel into electricity through a chemical reaction with oxygen or another oxidizing agent. The paper describes a mathematical model of proton exchange membrane fuel cells by analyzing the working mechanism of the proton exchange membrane fuel cell. Furthermore, an adaptive fuzzy sliding mode controller is designed for the constant power output of PEMFC system. Simulation results prove that adaptive fuzzy sliding mode control has better control effect than conventional fuzzy sliding mode control.

  15. Anti-Synchronization of Chaotic Systems via Adaptive Sliding Mode Control

    An anti-synchronization scheme is proposed to achieve the anti-synchronization behavior between chaotic systems with fully unknown parameters. A sliding surface and an adaptive sliding mode controller are designed to gain the anti-synchronization. The stability of the error dynamics is proven theoretically using the Lyapunov stability theory. Finally numerical results are presented to justify the theoretical analysis

  16. Backstepping design of missile guidance and control based on adaptive fuzzy sliding mode control

    Ran Maopeng

    2014-06-01

    Full Text Available This paper presents an integrated missile guidance and control law based on adaptive fuzzy sliding mode control. The integrated model is formulated as a block-strict-feedback nonlinear system, in which modeling errors, unmodeled nonlinearities, target maneuvers, etc. are viewed as unknown uncertainties. The adaptive nonlinear control law is designed based on backstepping and sliding mode control techniques. An adaptive fuzzy system is adopted to approximate the coupling nonlinear functions of the system, and for the uncertainties, we utilize an online-adaptive control law to estimate the unknown parameters. The stability analysis of the closed-loop system is also conducted. Simulation results show that, with the application of the adaptive fuzzy sliding mode control, small miss distances and smooth missile trajectories are achieved, and the system is robust against system uncertainties and external disturbances.

  17. Backstepping design of missile guidance and control based on adaptive fuzzy sliding mode control

    Ran Maopeng; Wang Qing; Hou Delong; Dong Chaoyang

    2014-01-01

    This paper presents an integrated missile guidance and control law based on adaptive fuzzy sliding mode control. The integrated model is formulated as a block-strict-feedback nonlinear system, in which modeling errors, unmodeled nonlinearities, target maneuvers, etc. are viewed as unknown uncertainties. The adaptive nonlinear control law is designed based on backstepping and sliding mode control techniques. An adaptive fuzzy system is adopted to approximate the coupling nonlinear functions of the system, and for the uncertainties, we utilize an online-adaptive control law to estimate the unknown parameters. The stability analysis of the closed-loop system is also conducted. Simulation results show that, with the application of the adaptive fuzzy sliding mode control, small miss distances and smooth missile trajectories are achieved, and the system is robust against system uncertainties and external disturbances.

  18. Speed Sensorless Vector Control of Unbalanced Three-Phase Induction Motor with Adaptive Sliding Mode Control

    Mohammad Jannati

    2014-05-01

    Full Text Available This paper presents a technique for speed sensorless Rotor Flux Oriented Control (RFOC of 3-phase Induction Motor (IM under open-phase fault (unbalanced or faulty IM. The presented RFOC strategy is based on rotational transformation. An adaptive sliding mode control system with an adaptive switching gain is proposed instead of the speed PI controller. Using an adaptive sliding mode control causes the proposed speed sensorless RFOC drive system to become insensitive to uncertainties such as load disturbances and parameter variations. Moreover, with adaptation of the sliding switching gain, calculation of the system uncertainties upper bound is not needed. Finally, simulation results have been presented to confirm the good performance of the proposed method.

  19. Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Second Order Nonlinear System

    Farzin Piltan, N. Sulaiman, Payman Ferdosali, Mehdi Rashidi, Zahra Tajpeikar

    2011-12-01

    Full Text Available This research is focused on proposed adaptive fuzzy sliding mode algorithms with the adaptation lawsderived in the Lyapunov sense. The stability of the closed-loop system is proved mathematically based onthe Lyapunov method. Adaptive MIMO fuzzy compensate fuzzy sliding mode method design a MIMO fuzzysystem to compensate for the model uncertainties of the system, and chattering also solved by linearsaturation method. Since there is no tuning method to adjust the premise part of fuzzy rules so wepresented a scheme to online tune consequence part of fuzzy rules. Classical sliding mode control isrobust to control model uncertainties and external disturbances. A sliding mode method with a switchingcontrol low guarantees the stability of the certain and/or uncertain system, but the addition of the switchingcontrol low introduces chattering into the system. One way to reduce or eliminate chattering is to insert aboundary layer method inside of a boundary layer around the sliding surface. Classical sliding modecontrol method has difficulty in handling unstructured model uncertainties. One can overcome this problemby combining a sliding mode controller and artificial intelligence (e.g. fuzzy logic. To approximate a timevaryingnonlinear dynamic system, a fuzzy system requires a large amount of fuzzy rule base. This largenumber of fuzzy rules will cause a high computation load. The addition of an adaptive law to a fuzzy slidingmode controller to online tune the parameters of the fuzzy rules in use will ensure a moderatecomputational load. The adaptive laws in this algorithm are designed based on the Lyapunov stabilitytheorem. Asymptotic stability of the closed loop system is also proved in the sense of Lyapunov.

  20. Adaptive robust PID controller design based on a sliding mode for uncertain chaotic systems

    A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, K p, K i, and K d, are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Duffing-Holmes chaotic system is used as an illustrative to show the effectiveness of the proposed robust adaptive PID controller

  1. Model-Free Adaptive Fuzzy Sliding Mode Controller Optimized by Particle Swarm for Robot Manipulator

    Amin Jalali

    2013-05-01

    Full Text Available The main purpose of this paper is to design a suitable control scheme that confronts the uncertainties in a robot. Sliding mode controller (SMC is one of the most important and powerful nonlinear robust controllers which has been applied to many non-linear systems. However, this controller has some intrinsic drawbacks, namely, the chattering phenomenon, equivalent dynamic formulation, and sensitivity to the noise. This paper focuses on applying artificial intelligence integrated with the sliding mode control theory. Proposed adaptive fuzzy sliding mode controller optimized by Particle swarm algorithm (AFSMC-PSO is a Mamdani’s error based fuzzy logic controller (FLS with 7 rules integrated with sliding mode framework to provide the adaptation in order to eliminate the high frequency oscillation (chattering and adjust the linear sliding surface slope in presence of many different disturbances and the best coefficients for the sliding surface were found by offline tuning Particle Swarm Optimization (PSO. Utilizing another fuzzy logic controller as an impressive manner to replace it with the equivalent dynamic part is the main goal to make the model free controller which compensate the unknown system dynamics parameters and obtain the desired control performance without exact information about the mathematical formulation of model.

  2. Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study

    Faten Baklouti

    2016-01-01

    Full Text Available The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller. The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws. The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory. Two comparative studies are made in this paper. The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon. The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system. The tracking performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made.

  3. Adaptive Sliding Mode BTT Autopilot for Cruise Missiles with Variable-Swept Wings

    Wei-Ming Li; Rui-Sheng Sun; Hong-Yang Bai; Peng-Yun Liu

    2014-01-01

    In this paper, an adaptive sliding mode method was proposed for BTT autopilot of cruise missiles with variable-swept wings. To realize the whole state feedback, the roll angle, normal overloads and angular rates were considered as state variables of the autopilot, and a parametric sliding mode controller was designed via feedback linearization. A novel parametric adaptation law was put forward to estimate the nonlinear time-varying parameter perturbations in real time based on Lyapunov stability theory. A sliding mode boundary layer theory was adopted to smooth the discontinuity of control variables and eliminate the control chattering. The simulation was presented for the roll angle and overload commands tracking in different configuration schemes. The results indicated that the controlled system has robust dynamic tracking performance in condition of the large-scale aerodynamic parametric variety resulted from variable-swept wings.

  4. Reaction jet and aerodynamics compound control missile autopilot design based on adaptive fuzzy sliding mode control

    Wu, Zhenhui; Dong, Chaoyang

    2006-11-01

    Because of nonlinearity and strong coupling of reaction-jet and aerodynamics compound control missile, a missile autopilot design method based on adaptive fuzzy sliding mode control (AFSMC) is proposed in this paper. The universal approximation ability of adaptive fuzzy system is used to approximate the nonlinear function in missile dynamics equation during the flight of high angle of attack. And because the sliding mode control is robustness to external disturbance strongly, the sliding mode surface of the error system is constructed to overcome the influence of approximation error and external disturbance so that the actual overload can track the maneuvering command with high precision. Simulation results show that the missile autopilot designed in this paper not only can track large overload command with higher precision than traditional method, but also is robust to model uncertainty and external disturbance strongly.

  5. Function Approximation-based Sliding Mode Adaptive Control for Time-varying Uncertain Nonlinear Systems

    Cong, Shuang; Liang, Yanyang; Shang, Weiwei

    2009-01-01

    In this chapter, two sliding mode adaptive control strategies have been proposed for SISO and SIMO systems with unknown bound time-varying uncertainty respectively. Firstly, for a typical SISO system of position tracking in DC motor with unknown bound time-varying dead

  6. Chattering-Free Adaptive Sliding Mode Control for Attitude Tracking of Spacecraft with External Disturbance

    Xuxi Zhang

    2014-01-01

    Full Text Available The attitude tracking problem of spacecraft in the presence of unknown disturbance is investigated. By using the adaptive control technique and the Lyapunov stability theory, a chattering-free adaptive sliding mode control law is proposed for the attitude tracking problem of spacecraft with unknown disturbance. Simulation results are employed to demonstrate the effectiveness of the proposed control design technique in this paper.

  7. Robust Adaptive Sliding Mode Control for Generalized Function Projective Synchronization of Different Chaotic Systems with Unknown Parameters

    Xiuchun Li

    2013-01-01

    Full Text Available When the parameters of both drive and response systems are all unknown, an adaptive sliding mode controller, strongly robust to exotic perturbations, is designed for realizing generalized function projective synchronization. Sliding mode surface is given and the controlled system is asymptotically stable on this surface with the passage of time. Based on the adaptation laws and Lyapunov stability theory, an adaptive sliding controller is designed to ensure the occurrence of the sliding motion. Finally, numerical simulations are presented to verify the effectiveness and robustness of the proposed method even when both drive and response systems are perturbed with external disturbances.

  8. Generalized projective synchronization of the fractional-order chaotic system using adaptive fuzzy sliding mode control

    An adaptive fuzzy sliding mode strategy is developed for the generalized projective synchronization of a fractional-order chaotic system, where the slave system is not necessarily known in advance. Based on the designed adaptive update laws and the linear feedback method, the adaptive fuzzy sliding controllers are proposed via the fuzzy design, and the strength of the designed controllers can be adaptively adjusted according to the external disturbances. Based on the Lyapunov stability theorem, the stability and the robustness of the controlled system are proved theoretically. Numerical simulations further support the theoretical results of the paper and demonstrate the efficiency of the proposed method. Moreover, it is revealed that the proposed method allows us to manipulate arbitrarily the response dynamics of the slave system by adjusting the desired scaling factor λi and the desired translating factor ηi, which may be used in a channel-independent chaotic secure communication. (general)

  9. Adaptive terminal sliding mode control for high-order nonlinear dynamic systems

    庄开宇; 苏宏业; 张克勤; 褚健

    2003-01-01

    An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.

  10. Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

    Yan Ren; Zhenghua Liu; Le Chang; Nuan Wen

    2013-01-01

    A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mod...

  11. Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

    Yan Ren

    2013-01-01

    Full Text Available A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

  12. Application of Adaptive Backstepping Sliding Mode Control in Alternative Current Servo System of Rocket Launcher%Application of Adaptive Backstepping Sliding Mode Control in Alternative Current Servo System of Rocket Launcher

    郭亚军; 马大为; 王晓峰; 乐贵高

    2011-01-01

    An adaptive backstepping sliding mode control approach is introduced to control the pitch motion of a rocket launcher. Its control law is proposed to guarantee that the control system is ultimately bounded in a Lyapunov sense and make the servo system track the instruction of reference position globally and asymptotically. In addition, the sliding mode control can restrain the effects of parameter uncertainties and external disturbance. The functions of adaptive mechanism and sliding mode control are analyzed through the simulation in the different conditions. The simulation results illustrate that the method is applicable and robust.

  13. Composite Adaptive Sliding Mode Control for Electrical Servo System using Multiple Models

    Lipeng Wang

    2011-01-01

    Full Text Available In this study, a composite adaptive sliding mode control using Multiple Models (MM-CASMC is proposed for precision position control of an induction motor servo system with parametric uncertainties and external disturbance. The MM-CASMC is designed based on a classical sliding mode control frame. Robustness against parametric uncertainties and high-frequency extern disturbance are both obtained via online parameters estimation and switching control, respectively. A composite adaption law which combines direct and BGF-LS type indirect adaptive methods is developed to achieve both Globally Uniformly Ultimately Boundness (GUUB and approximately exponential convergence in large range under persistent excitation, the later implies clearer transient behaviour which is of great importance but not provided by standard direct adaptive method. Moreover, a multiple model adaptive control design is further incorporated to achieve improvement in transient response by utilizing model switching and parameters estimates resetting and an noval method by means of dual-channel filtering is proposed for regessor filtering and model switching. For the proposed strategy, the GUUB stability and improvments in transient behaviour and adaptability to sudden changes in the parameter values are all proved in Lyapunov sense. Simulation results verify that an induction motor servo system with the adoption of MM-CASMC can achieve favorable tracking performance and transient response in the presence of parameter variations and external load disturbance.

  14. Adaptive PI-Based Sliding Mode Control for Nanopositioning of Piezoelectric Actuators

    Jin Li

    2014-01-01

    Full Text Available This paper proposes an adaptive proportion-integral (PI-based sliding mode control design (APISMC used for nanopositioning of piezoelectric actuators (PEAs. Nonlinearities, mainly hysteresis, can drastically degrade the system performance. As well as the model imperfection, hysteresis can be treated as uncertainties of the system. These uncertainties can be addressed by sliding mode control (SMC since SMC is promising for positioning and tracking control. To further improve the response speed, suppress chattering, and reduce the steady-state error, the adaptive PI-based SMC is employed to replace the discontinuous control. Actually, the adaptive PI-based SMC offers a fast convergence of the sliding surface. Further, another advantage of the proposed controller lies in that its implementation only requires the online tuning PI parameters without acquiring the knowledge of bounds on system uncertainties. A linear second-order system is utilized as the estimated model to compensate for the process nonlinearity and estimate the control gain. The robust stability of the APISMC is proved through a Lyapunov stability analysis. Simulation results demonstrate that the modified SMC is superior to the original one for both positioning and tracking applications. Compared with the original, the proposed controller provides better performance—less chattering, faster response, and higher precision.

  15. Three-dimensional guidance law based on adaptive integral sliding mode control

    Song Junhong; Song Shenmin

    2016-01-01

    For the terminal guidance problem of missiles intercepting maneuvering targets in the three-dimensional space, the design of guidance laws for non-decoupling three-dimensional engage-ment geometry is studied. Firstly, by introducing a finite time integral sliding mode manifold, a novel guidance law based on the integral sliding mode control is presented with the target acceler-ation as a known bounded external disturbance. Then, an improved adaptive guidance law based on the integral sliding mode control without the information of the upper bound on the target accel-eration is developed, where the upper bound of the target acceleration is estimated online by a designed adaptive law. The both presented guidance laws can make sure that the elevation angular rate of the line-of-sight and the azimuth angular rate of the line-of-sight converge to zero in finite time. In the end, the results of the guidance performance for the proposed guidance laws are pre-sented by numerical simulations. Although the designed guidance laws are developed for the con-stant speed missiles, the simulation results for the time-varying speed missiles are also shown to further confirm the designed guidance laws.

  16. Adaptive sliding mode observer for induction motor using two-time-scale approach

    Mezouar, A.; Fellah, M.K.; Hadjeri, S. [Intelligent Control and Electrical Power Systems Laboratory, Department of Electrical Engineering, Faculty of Sciences Engineering, Djillali Liabes University (22 000) Sidi Bel Abbes (Algeria)

    2007-04-15

    This paper presents an original method for the design of a robust adaptive sliding mode current and flux observer for induction motor drive using two-time-scale approach. This approach, based on the singular perturbation theory, decomposes the original system of the observer error dynamics into separate slow and fast subsystems of lower dimensions and permits a simple design and sequential determination of the observer gains. For the proposed observer, the rotor speed signal is assumed to be available. The stator currents and rotor flux are observed on the stationary reference frame using sliding mode concept, and the adaptive rotor time-constant is derived from Lyapunov stability theory using measured and estimated currents and estimated rotor flux. The control algorithm is based on the indirect field-oriented sliding mode control to keep the machine field oriented. The control-observer scheme seeks to provide asymptotic tracking of speed and rotor flux in spite of the presence of an uncertain load torque and unknown value of the rotor resistance. The effectiveness of this control algorithm has been successfully verified through computer simulations. (author)

  17. Three-dimensional guidance law based on adaptive integral sliding mode control

    Song Junhong

    2016-02-01

    Full Text Available For the terminal guidance problem of missiles intercepting maneuvering targets in the three-dimensional space, the design of guidance laws for non-decoupling three-dimensional engagement geometry is studied. Firstly, by introducing a finite time integral sliding mode manifold, a novel guidance law based on the integral sliding mode control is presented with the target acceleration as a known bounded external disturbance. Then, an improved adaptive guidance law based on the integral sliding mode control without the information of the upper bound on the target acceleration is developed, where the upper bound of the target acceleration is estimated online by a designed adaptive law. The both presented guidance laws can make sure that the elevation angular rate of the line-of-sight and the azimuth angular rate of the line-of-sight converge to zero in finite time. In the end, the results of the guidance performance for the proposed guidance laws are presented by numerical simulations. Although the designed guidance laws are developed for the constant speed missiles, the simulation results for the time-varying speed missiles are also shown to further confirm the designed guidance laws.

  18. Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane

    Wei Chen

    2016-01-01

    Full Text Available The depth tracking issue of underactuated autonomous underwater vehicle (AUV in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller.

  19. Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

    Kaijia Xue

    2016-01-01

    Full Text Available Unmanned Aerial Vehicle (UAV is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system.

  20. Adaptive Neural-Sliding Mode Control of Active Suspension System for Camera Stabilization

    Feng Zhao

    2015-01-01

    Full Text Available The camera always suffers from image instability on the moving vehicle due to the unintentional vibrations caused by road roughness. This paper presents a novel adaptive neural network based on sliding mode control strategy to stabilize the image captured area of the camera. The purpose is to suppress vertical displacement of sprung mass with the application of active suspension system. Since the active suspension system has nonlinear and time varying characteristics, adaptive neural network (ANN is proposed to make the controller robustness against systematic uncertainties, which release the model-based requirement of the sliding model control, and the weighting matrix is adjusted online according to Lyapunov function. The control system consists of two loops. The outer loop is a position controller designed with sliding mode strategy, while the PID controller in the inner loop is to track the desired force. The closed loop stability and asymptotic convergence performance can be guaranteed on the basis of the Lyapunov stability theory. Finally, the simulation results show that the employed controller effectively suppresses the vibration of the camera and enhances the stabilization of the entire camera, where different excitations are considered to validate the system performance.

  1. Stabilization Controller Design for a class of Inverted Pendulums via Adaptive Fuzzy Sliding Mode Control

    Heng Liu; Jin Xu; Yeguo Sun

    2013-01-01

    X–Z inverted pendulum is a new kind of inverted pendulum and it can move with the combination of the vertical and horizontal forces. This paper addresses  the control problem of X-Z inverted pendulum in the presents of system uncertainties and external disturbances, and an adaptive fuzzy sliding mode control approach is proposed. The fuzzy  system is used to approximate the system uncertainties and the complicated intermediate control functions in the backstepping control design. To update th...

  2. Adaptive Actor-Critic Design-Based Integral Sliding-Mode Control for Partially Unknown Nonlinear Systems With Input Disturbances.

    Fan, Quan-Yong; Yang, Guang-Hong

    2016-01-01

    This paper is concerned with the problem of integral sliding-mode control for a class of nonlinear systems with input disturbances and unknown nonlinear terms through the adaptive actor-critic (AC) control method. The main objective is to design a sliding-mode control methodology based on the adaptive dynamic programming (ADP) method, so that the closed-loop system with time-varying disturbances is stable and the nearly optimal performance of the sliding-mode dynamics can be guaranteed. In the first step, a neural network (NN)-based observer and a disturbance observer are designed to approximate the unknown nonlinear terms and estimate the input disturbances, respectively. Based on the NN approximations and disturbance estimations, the discontinuous part of the sliding-mode control is constructed to eliminate the effect of the disturbances and attain the expected equivalent sliding-mode dynamics. Then, the ADP method with AC structure is presented to learn the optimal control for the sliding-mode dynamics online. Reconstructed tuning laws are developed to guarantee the stability of the sliding-mode dynamics and the convergence of the weights of critic and actor NNs. Finally, the simulation results are presented to illustrate the effectiveness of the proposed method. PMID:26357411

  3. Control of Chaos in Rate-Dependent Friction-Induced Vibration Using Adaptive Sliding Mode Control and Impulse Damper

    Ehsan Maani Miandoab

    2013-01-01

    Full Text Available Two different control methods, namely, adaptive sliding mode control and impulse damper, are used to control the chaotic vibration of a block on a belt system due to the rate-dependent friction. In the first method, using the sliding mode control technique and based on the Lyapunov stability theory, a sliding surface is determined, and an adaptive control law is established which stabilizes the chaotic response of the system. In the second control method, the vibration of this system is controlled by an impulse damper. In this method, an impulsive force is applied to the system by expanding and contracting the PZT stack according to efficient control law. Numerical simulations demonstrate the effectiveness of both methods in controlling the chaotic vibration of the system. It is shown that the settling time of the controlled system using impulse damper is less than that one controlled by adaptive sliding mode control; however, it needs more control effort.

  4. Adaptive sliding mode control of interleaved parallel boost converter for fuel cell energy generation system

    El Fadil, H.; Giri, F.; Guerrero, Josep M.

    2013-01-01

    This paper deals with the problem of controlling energy generation systems including fuel cells (FCs) and interleaved boost power converters. The proposed nonlinear adaptive controller is designed using sliding mode control (SMC) technique based on the system nonlinear model. The latter accounts...... for the boost converter large-signal dynamics as well as for the fuel-cell nonlinear characteristics. The adaptive nonlinear controller involves online estimation of the DC bus impedance ‘seen’ by the converter. The control objective is threefold: (i) asymptotic stability of the closed loop system......, (ii) output voltage regulation under bus impedance uncertainties and (iii) equal current sharing between modules. It is formally shown, using theoretical analysis and simulations, that the developed adaptive controller actually meets its control objectives....

  5. Adaptive Integral-type Sliding Mode Control for Spacecraft Attitude Maneuvering Under Actuator Stuck Failures

    HU Qinglei; ZHANG Youmin; HUO Xing; XIAO Bing

    2011-01-01

    A fault tolerant control (FTC) design technique against actuator stuck faults is investigated using integral-type sliding mode control (ISMC) with application to spacecraft attitude maneuvering control system. The principle of the proposed FTC scheme is to design an integral-type sliding mode attitude controller using on-line parameter adaptive updating law to compensate for the effects of stuck actuators. This adaptive law also provides both the estimates of the system parameters and external disturbances such that a prior knowledge of the spacecraft inertia or boundedness of disturbances is not required. Moreover, by including the integral feedback term, the designed controller can not only tolerate actuator stuck faults, but also compensate the disturbances with constant components. For the synthesis of controller, the fault time, patterns and values are unknown in advance, as motivated from a practical spacecraft control application. Complete stability and performance analysis are presented and illustrative simulation results of application to a spacecraft show that high precise attitude control with zero steady-error is successfully achieved using various scenarios of stuck failures in actuators.

  6. Adaptive Backstepping Sliding-Mode Control of the Electronic Throttle System in Modern Automobiles

    Rui Bai

    2014-01-01

    Full Text Available In modern automobiles, electronic throttle is a DC-motor-driven valve that regulates air inflow into the vehicle’s combustion system. The electronic throttle is increasingly being used in order to improve the vehicle drivability, fuel economy, and emissions. Electronic throttle system has the nonlinear dynamical characteristics with the unknown disturbance and parameters. At first, the dynamical nonlinear model of the electronic throttle is built in this paper. Based on the model and using the backstepping design technique, a new adaptive backstepping sliding-mode controller of the electronic throttle is developed. During the backstepping design process, parameter adaptive law is designed to estimate the unknown parameter, and sliding-mode control term is applied to compensate the unknown disturbance. The proposed controller can make the actual angle of the electronic throttle track its set point with the satisfactory performance. Finally, a computer simulation is performed, and simulation results verify that the proposed control method can achieve favorable tracking performance.

  7. A Robust Adaptive Sliding Mode Control for PMLSM with Variable Velocity Profile Over Wide Range

    Payam Ghaebi Panah

    2015-07-01

    Full Text Available An adaptive robust variable structure speed controller is designed for wide range of desired velocity control of a Permanent Magnet Linear Synchronous Motor (PMLSM. This is performed for comprehensive nonlinear model of PMLSM including non-idealities such as detent force, parameter uncertainty, unpredicted disturbance and nonlinear friction. The proposed method is based on the robust Sliding Mode Control (SMC in combination with an adaptive strategy for a wide range of velocity. The simulation results are provided for the above mentioned comprehensive model of PMLSM with a variable velocity profile. Moreover, as an evaluation criterion, a Proportional-Integral (PI controller is designed whose parameters are optimally tuned by the Particle Swarm Optimization (PSO algorithm for better comparison.

  8. Stabilization Controller Design for a class of Inverted Pendulums via Adaptive Fuzzy Sliding Mode Control

    Heng Liu

    2013-07-01

    Full Text Available X–Z inverted pendulum is a new kind of inverted pendulum and it can move with the combination of the vertical and horizontal forces. This paper addresses  the control problem of X-Z inverted pendulum in the presents of system uncertainties and external disturbances, and an adaptive fuzzy sliding mode control approach is proposed. The fuzzy  system is used to approximate the system uncertainties and the complicated intermediate control functions in the backstepping control design. To update the parameters of the fuzzy system, a proper proportional-integral adaptation law is introduced.  Finally, simulation studies are done to show the stabilization of the X-Z inverted pendulum under the proposed method.

  9. Adaptive sliding mode dynamic controller with integrator in the loop for nonholonomic wheeled mobile robot trajectory tracking

    Asif, Muhammad; Junaid Khan, Muhammad; Cai, Ning

    2014-05-01

    In this paper, novel adaptive sliding mode dynamic controller with integrator in the loop is proposed for nonholonomic wheeled mobile robot (WMR). The modified kinematics controller is used to generate kinematics velocities of WMR which are subsequently used as the input to adaptive dynamic controller. Actuator dynamics are also derived to generate actuator voltage of WMR through torque and velocity vectors. Stability of both kinematics and dynamic controller is presented using Lyapunov stability analysis. The proposed scheme is verified and validated using computer simulations for tracking the desired trajectory of WMR. The performance of proposed scheme is compared with standard backstepping kinematics controller and classical sliding mode control. In addition, the performance is further compared with standard backstepping kinematics controller with adaptive sliding mode controller without integrator. It is shown that the proposed scheme exhibits zero steady state error, fast error convergence and robustness in the presence of continuous disturbances and uncertainties.

  10. Robust Adaptive Sliding Mode Consensus of Multiagent Systems with Perturbed Communications and Actuators

    Xiao-Zheng Jin

    2013-01-01

    Full Text Available This paper deals with the asymptotic consensus problem for a class of multiagent systems with time-varying additive actuator faults and perturbed communications. The L2 performance of systems is also considered in the consensus controller designs. The upper and lower bounds of faults and perturbations in actuators and communications and controller gains are assumed to be unknown but can be estimated by designing some indirect adaptive laws. Based on the information from the adaptive estimation mechanism, the distributed robust adaptive sliding mode controllers are constructed to automatically compensate for the effects of faults and perturbations and to achieve any given level of L2 gain attenuation from external disturbance to consensus errors. Through Lyapunov functions and adaptive schemes, the asymptotic consensus of resulting adaptive multiagent system can be achieved with a specified performance criterion in the presence of perturbed communications and actuators. The effectiveness of the proposed design is illustrated via a decoupled longitudinal model of F-18 aircraft.

  11. Novel adaptive neural control of flexible air-breathing hypersonic vehicles based on sliding mode differentiator

    Bu Xiangwei

    2015-08-01

    Full Text Available A novel adaptive neural control strategy is exploited for the longitudinal dynamics of a generic flexible air-breathing hypersonic vehicle (FAHV. By utilizing functional decomposition method, the dynamics of FAHV is decomposed into the velocity subsystem and the altitude subsystem. For each subsystem, only one neural network is employed for the unknown function approximation. To further reduce the computational burden, minimal-learning parameter (MLP technology is used to estimate the norm of ideal weight vectors rather than their elements. By introducing sliding mode differentiator (SMD to estimate the newly defined variables, there is no need for the strict-feedback form and virtual controller. Hence the developed control law is considerably simpler than the ones derived from back-stepping scheme. Finally, simulation studies are made to illustrate the effectiveness of the proposed control approach in spite of the flexible effects, system uncertainties and varying disturbances.

  12. A Novel Fuzzy Logic Based Adaptive Super-Twisting Sliding Mode Control Algorithm for Dynamic Uncertain Systems

    Abdul Kareem

    2012-07-01

    Full Text Available This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic Control and Adaptive Control. The reaching conditions, stability and robustness of the system with the proposed controller are guaranteed. In addition, the proposed controller is well suited for simple design and implementation. The effectiveness of the proposed controller over the first order Sliding Mode Fuzzy Logic controller is illustrated by Matlab based simulations performed on a DC-DC Buck converter. Based on this comparison, the proposed controller is shown to obtain the desired transient response without causing chattering and error under steady-state conditions. The proposed controller is able to give robust performance in terms of rejection to input voltage variations and load variations.

  13. Sliding mode control and observation

    Shtessel, Yuri; Fridman, Leonid; Levant, Arie

    2014-01-01

    The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. The present volume addresses a range of sliding mode control issues, including: *Conventional sliding mode controller and observer design *Second-order sliding mode controllers and differentiators *Frequency domain analysis of conventional and second-order sliding mode controllers *Higher-order sliding mode controllers and differentiators *Higher-order sliding mode observers *Sliding mode disturbanc...

  14. Adaptive Second Order Sliding Mode Control of a Fuel Cell Hybrid System for Electric Vehicle Applications

    Jianxing Liu

    2015-01-01

    Full Text Available We present an adaptive-gain second order sliding mode (SOSM control applied to a hybrid power system for electric vehicle applications. The main advantage of the adaptive SOSM is that it does not require the upper bound of the uncertainty. The proposed hybrid system consists of a polymer electrolyte membrane fuel cell (PEMFC with a unidirectional DC/DC converter and a Li-ion battery stack with a bidirectional DC/DC converter, where the PEMFC is employed as the primary energy source and the battery is employed as the second energy source. One of the main limitations of the FC is its slow dynamics mainly due to the air-feed system and fuel-delivery system. Fuel starvation phenomenon will occur during fast load demand. Therefore, the second energy source is required to assist the main source to improve system perofrmance. The proposed energy management system contains two cascade control structures, which are used to regulate the fuel cell and battery currents to track the given reference currents and stabilize the DC bus voltage while satisfying the physical limitations. The proposed control strategy is evaluated for two real driving cycles, that is, Urban Dynamometer Driving Schedule (UDDS and Highway Fuel Economy Driving Schedule (HWFET.

  15. Adaptive sliding mode control of the A-axis used for blisk manufacturing

    Zhao Pengbing

    2014-06-01

    Full Text Available As a key assembly in the 5-axis CNC machine tools, positioning precision of the A-axis directly affects the machining accuracy and surface quality of the parts. First of all, mechanical structure and control system of the A-axis are designed. Then, considering the influence of nonlinear friction, backlash, unmodeled dynamics, uncertain cutting force and other external disturbance on the control precision of the A-axis, an adaptive sliding mode control (ASMC based on extended state observer (ESO is proposed. ESO is employed to estimate the state variables of the unknown system and an adaptive law is adopted to compensate for the input dead-zone caused by friction, backlash and other nonlinear characteristics. Finally, stability of the closed-loop system is guaranteed by the Lyapunov theory. Positioning experiments illustrate the perfect estimation of ESO and the stronger anti-interference and robustness of ASMC, which can improve the control precision of the A-axis by about 40 times. Processing experiments show that the ASMC can reduce the waviness, average error and roughness of the processed surface by 35.63%, 31.31% and 30.35%, respectively.

  16. Adaptive sliding mode control of the A-axis used for blisk manufacturing

    Zhao Pengbing; Shi Yaoyao

    2014-01-01

    As a key assembly in the 5-axis CNC machine tools, positioning precision of the A-axis directly affects the machining accuracy and surface quality of the parts. First of all, mechanical structure and control system of the A-axis are designed. Then, considering the influence of nonlin-ear friction, backlash, unmodeled dynamics, uncertain cutting force and other external disturbance on the control precision of the A-axis, an adaptive sliding mode control (ASMC) based on extended state observer (ESO) is proposed. ESO is employed to estimate the state variables of the unknown system and an adaptive law is adopted to compensate for the input dead-zone caused by friction, backlash and other nonlinear characteristics. Finally, stability of the closed-loop system is guaran-teed by the Lyapunov theory. Positioning experiments illustrate the perfect estimation of ESO and the stronger anti-interference and robustness of ASMC, which can improve the control precision of the A-axis by about 40 times. Processing experiments show that the ASMC can reduce the waviness, average error and roughness of the processed surface by 35.63%, 31.31%and 30.35%, respectively.

  17. Chaos control using an adaptive fuzzy sliding mode controller with application to a nonlinear pendulum

    Chaos control may be understood as the use of tiny perturbations for the stabilization of unstable periodic orbits embedded in a chaotic attractor. The idea that chaotic behavior may be controlled by small perturbations of physical parameters allows this kind of behavior to be desirable in different applications. In this work, chaos control is performed employing a variable structure controller. The approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm to cope with modeling inaccuracies. The convergence properties of the closed-loop system are analytically proven using Lyapunov's direct method and Barbalat's lemma. As an application of the control procedure, a nonlinear pendulum dynamics is investigated. Numerical results are presented in order to demonstrate the control system performance. A comparison between the stabilization of general orbits and unstable periodic orbits embedded in chaotic attractor is carried out showing that the chaos control can confer flexibility to the system by changing the response with low power consumption.

  18. Automated adaptive sliding mode control scheme for a class of real complicated systems

    M Shahi; A H Mazinan

    2015-02-01

    A class of real complicated systems, including chemical reactions, biological systems, information processing, laser systems, electrical circuits, information exchange, brain activities modelling, secure communication and other related ones can be presented through nonlinear and non-identical hyper-chaotic systems. The main goal of the present investigation is to synchronize two non-identical hyperchaotic master/slave systems, which are given as the models of the complicated systems, based on the realization of an efficient automated adaptive sliding mode control scheme. In the research presented here, the mentioned systems need to be dealt with through the proposed control scheme, since two non-identical systems are completely synchronized. In one such case, the whole of the chosen states of the master and slave systems should be coincided after a few time steps, as long as the effect of the external disturbance, uncertainty and unknown parameters could truly be ignored. Due to the fact that the investigated hyper-chaotic systems have taken into consideration as the representation of a number of complicated processes under mentioned external disturbance, uncertainty and unknown parameters, the traditional control approaches cannot actually be realized, in satisfactory manners.With this purpose, the proposed control scheme has been designed to cope with synchronization error, in a reasonable amount of time, in order to drive applicable hyper-chaotic systems. Consequently, the performance of the proposed control scheme is considered and verified through the numerical simulations.

  19. Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints

    Liang Ding; Haibo Gao; Kerui Xia; Zhen Liu; Jianguo Tao; Yiqun Liu

    2012-01-01

    The hybrid joints of manipulators can be switched to either active (actuated) or passive (underactuated) mode as needed. Consider the property of hybrid joints, the system switches stochastically between active and passive systems, and the dynamics of the jump system cannot stay on each trajectory errors region of subsystems forever; therefore, it is difficult to determine whether the closed-loop system is stochastically stable. In this paper, we consider stochastic stability and sliding mode...

  20. Adaptive Sliding Mode Control of MEMS Gyroscope Based on Neural Network Approximation

    Yuzheng Yang

    2014-01-01

    Full Text Available An adaptive sliding controller using radial basis function (RBF network to approximate the unknown system dynamics microelectromechanical systems (MEMS gyroscope sensor is proposed. Neural controller is proposed to approximate the unknown system model and sliding controller is employed to eliminate the approximation error and attenuate the model uncertainties and external disturbances. Online neural network (NN weight tuning algorithms, including correction terms, are designed based on Lyapunov stability theory, which can guarantee bounded tracking errors as well as bounded NN weights. The tracking error bound can be made arbitrarily small by increasing a certain feedback gain. Numerical simulation for a MEMS angular velocity sensor is investigated to verify the effectiveness of the proposed adaptive neural control scheme and demonstrate the satisfactory tracking performance and robustness.

  1. Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems

    Guo Haigang

    2012-01-01

    Full Text Available Combining adaptive fuzzy sliding mode control with fuzzy or variable universe fuzzy switching technique, this study develops two novel direct adaptive schemes for a class of MIMO nonlinear systems with uncertainties and external disturbances. The proposed control schemes consist of fuzzy equivalent control terms, fuzzy switching control terms (in scheme one or variable universe fuzzy switching control terms (in scheme two, and compensation control terms. The compensation control terms are used to relax the assumption on fuzzy approximation error. Based on Lyapunov stability theory, the parameters update laws are adaptively tuned online and the global asymptotic stability of the closed-loop system can be guaranteed. The major contribution of this study is to develop a novel framework for designing direct adaptive fuzzy sliding mode control scheme facing model uncertainties and external disturbances. The derived schemes can effectively solve the chattering problem and the equivalent control calculation in that environment. Simulation results performed on a two-link robotic manipulator demonstrate the feasibility of the proposed control schemes.

  2. Monolithic quasi-sliding-mode controller for SIDO buck converter with a self-adaptive free-wheeling current level

    Wu Xiaobo; Liu Qing; Zhao Menglian; Chen Mingyang

    2013-01-01

    An analog implementation of a novel fixed-frequency quasi-sliding-mode controller for single-inductor dual-output (SIDO) buck converter in pseudo-continuous conduction mode (PCCM) with a self-adaptive freewheeling current level (SFCL) is presented.Both small and large signal variations around the operation point are considered to achieve better transient response so as to reduce the cross-regulation of this SIDO buck converter.Moreover,an internal integral loop is added to suppress the steady-state regulation error introduced by conventional PWM-based sliding mode controllers.Instead of keeping it as a constant value,the free-wheeling current level varies according to the load condition to maintain high power efficiency and less cross-regulation at the same time.To verify the feasibility of the proposed controller,an SIDO buck converter with two regulated output voltages,1.8 V and 3.3 V,is designed and fabricated in HEJIAN 0.35 μm CMOS process.Simulation and experiment results show that the transient time of this SIDO buck converter drops to 10 μs while the cross-regulation is reduced to 0.057 mV/mA,when its first load changes from 50 to 100 mA.

  3. A novel approach for state of charge estimation based on adaptive switching gain sliding mode observer in electric vehicles

    Chen, Xiaopeng; Shen, Weixiang; Cao, Zhenwei; Kapoor, Ajay

    2014-01-01

    In this paper, a novel approach for battery state of charge (SOC) estimation in electric vehicles (EVs) based on an adaptive switching gain sliding mode observer (ASGSMO) has been presented. To design the ASGSMO for the SOC estimation, the state equations based on a battery equivalent circuit model (BECM) are derived to represent dynamic behaviours of a battery. Comparing with a conventional sliding mode observer, the ASGSMO has a capability of minimising chattering levels in the SOC estimation by using the self-adjusted switching gain while maintaining the characteristics of being able to compensate modelling errors caused by the parameter variations of the BECM. Lyapunov stability theory is adopted to prove the error convergence of the ASGSMO for the SOC estimation. The lithium-polymer battery (LiPB) is utilised to conduct experiments for determining the parameters of the BECM and verifying the effectiveness of the proposed ASGSMO in various discharge current profiles including EV driving conditions in both city and suburban.

  4. Active Pneumatic Vibration Control by Using Pressure and Velocity Measurements and Adaptive Fuzzy Sliding-Mode Controller

    Jia-Wei Wu

    2013-07-01

    Full Text Available This paper presents an intelligent control strategy to overcome nonlinear and time-varying characteristics of a diaphragm-type pneumatic vibration isolator (PVI system. By combining an adaptive rule with fuzzy and sliding-mode control, the method has online learning ability when it faces the system’s nonlinear and time-varying behaviors during an active vibration control process. Since the proposed scheme has a simple structure, it is easy to implement. To validate the proposed scheme, a composite control which adopts both chamber pressure and payload velocity as feedback signal is implemented. During experimental investigations, sinusoidal excitation at resonance and random-like signal are input on a floor base to simulate ground vibration. Performances obtained from the proposed scheme are compared with those obtained from passive system and PID scheme to illustrate the effectiveness of the proposed intelligent control.

  5. Adaptive Quasi-Sliding Mode Control for Permanent Magnet DC Motor

    Hoyos, Fredy E.; Alejandro Rincón; John Alexander Taborda; Nicolás Toro; Fabiola Angulo

    2013-01-01

    The motor speed of a buck power converter and DC motor coupled system is controlled by means of a quasi-sliding scheme. The fixed point inducting control technique and the zero average dynamics strategy are used in the controller design. To estimate the load and friction torques an online estimator, computed by the least mean squares method, is used. The control scheme is tested in a rapid control prototyping system which is based on digital signal processing for a dSPACE platform. The closed...

  6. Adaptive Quasi-Sliding Mode Control for Permanent Magnet DC Motor

    Fredy E. Hoyos

    2013-01-01

    Full Text Available The motor speed of a buck power converter and DC motor coupled system is controlled by means of a quasi-sliding scheme. The fixed point inducting control technique and the zero average dynamics strategy are used in the controller design. To estimate the load and friction torques an online estimator, computed by the least mean squares method, is used. The control scheme is tested in a rapid control prototyping system which is based on digital signal processing for a dSPACE platform. The closed loop system exhibits adequate performance, and experimental and simulation results match.

  7. A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations

    Zhang, Xiangwen; Xu, Yong; Pan, Ming; Ren, Fenghua

    2014-04-01

    A sliding-mode observer is designed to estimate the vehicle velocity with the measured vehicle acceleration, the wheel speeds and the braking torques. Based on the Burckhardt tyre model, the extended Kalman filter is designed to estimate the parameters of the Burckhardt model with the estimated vehicle velocity, the measured wheel speeds and the vehicle acceleration. According to the estimated parameters of the Burckhardt tyre model, the tyre/road friction coefficients and the optimal slip ratios are calculated. A vehicle adaptive sliding-mode control (SMC) algorithm is presented with the estimated vehicle velocity, the tyre/road friction coefficients and the optimal slip ratios. And the adjustment method of the sliding-mode gain factors is discussed. Based on the adaptive SMC algorithm, a vehicle's antilock braking system (ABS) control system model is built with the Simulink Toolbox. Under the single-road condition as well as the different road conditions, the performance of the vehicle ABS system is simulated with the vehicle velocity observer, the tyre/road friction coefficient estimator and the adaptive SMC algorithm. The results indicate that the estimated errors of the vehicle velocity and the tyre/road friction coefficients are acceptable and the vehicle ABS adaptive SMC algorithm is effective. So the proposed adaptive SMC algorithm can be used to control the vehicle ABS without the information of the vehicle velocity and the road conditions.

  8. Synchronization analysis and control of three eccentric rotors in a vibrating system using adaptive sliding mode control algorithm

    Kong, Xiangxi; Zhang, Xueliang; Chen, Xiaozhe; Wen, Bangchun; Wang, Bo

    2016-05-01

    In this paper, self- and controlled synchronizations of three eccentric rotors (ERs) in line driven by induction motors rotating in the same direction in a vibrating system are investigated. The vibrating system is a typical underactuated mechanical-electromagnetic coupling system. The analysis and control of the vibrating system convert to the synchronization motion problem of three ERs. Firstly, the self-synchronization motion of three ERs is analyzed according to self-synchronization theory. The criterions of synchronization and stability of self-synchronous state are obtained by using a modified average perturbation method. The significant synchronization motion of three ERs with zero phase differences cannot be implemented according to self-synchronization theory through analysis and simulations. To implement the synchronization motion of three ERs with zero phase differences, an adaptive sliding mode control (ASMC) algorithm based on a modified master-slave control strategy is employed to design the controllers. The stability of the controllers is verified by using Lyapunov theorem. The performances of the controlled synchronization system are presented by simulations to demonstrate the effectiveness of controllers. Finally, the effects of reference speed and non-zero phase differences on the controlled system are discussed to show the strong robustness of the proposed controllers. Additionally, the dynamic responses of the vibrating system in different synchronous states are analyzed.

  9. TCP网络的自适应非奇异终端滑模控制%Adaptive nonsingular terminal sliding mode control for TCP networks

    叶成荫

    2011-01-01

    For the problem of congestion control in the TCP Internet, a novel active queue management ( AQM) algorithm based on the nonsingular terminal sliding mode control theory is proposed. A nonsingular terminal sliding mode surface is used to the singularity problem of conventional terminal sliding mode controls, so that the system can be guaranteed to converge to an equilibrium point.Considering UDP flow, an adaptive law based on Lyapunov stability method eliminates the effect from the disturbance of UDP flow. Simulation results demonstrate that the algorithm enables the queue length to converge to set value quickly, keeps the queue oscillation small, and outperforms the conventional IP control and sliding mode control.%针对TCP网络的拥塞控制问题,采用非奇异终端滑模控制理论提出了一种新的主动队列管理算法.采用非奇异终端滑模面以克服传统终端滑模控制的奇异问题,同时确保系统能在有限时间内收敛至平衡点.考虑到UDP流干扰的情况,用Lyapunov稳定性方法给出了一个自适应律来消除UDP流干扰对系统的影响.仿真结果表明,该算法可以使队列长度快速收敛到设定值,同时维持较小的队列振荡,优于传统的滑模控制.

  10. 多涡卷超混沌系统自适应滑模同步控制%Synchronization of multiwing hyperchaotic systems via adaptive sliding mode control

    孙美美; 胡云安; 韦建明

    2015-01-01

    An adaptive sliding mode control scheme was presented for the synchronization of a class of multiwing hyper-chaotic system with uncertainties and unknown external disturbances.The sliding mode control and parameter adaptive principle were designed to realize the synchronization between the master system and slave system.Adaptive control technique and the sliding mode technique were both used to introduce robustness and eliminate systematic uncertainties and affections from external disturbances.It is proved that synchronization errors converge to a small neighbourhood of the origin by using Lyapunov stability theory.Finally,simulation results verified the effectiveness of the proposed con-trol scheme.%研究了一类多涡卷超混沌系统的同步控制问题,同时考虑了不确定项和未知扰动的情况,提出了一种自适应滑模控制方案。综合利用滑模控制技术和自适应控制技术,消除了系统不确定性和未知扰动的影响,对于不确定性和未知扰动具有较好的鲁棒性。利用 Lyapunov 稳定性理论证明了系统同步误差渐近收敛到一个原点的小邻域内,系统渐近稳定。仿真结果验证了该方法的有效性。

  11. Sliding mode control for mobile welding robot

    Lü Xueqin; Zhang Ke; Wu Yixiong

    2006-01-01

    The sliding mode controller of mobile welding robot is established in this paper through applying the method of variable structure control with sliding mode into the control of the mobile welding robot.The traditional switching function smooth method is improved by combining the smoothed switching function with the time-varying control gain.It is shown that the proposed sliding mode controller is robust to bounded external disturbances.Experimental results demonstrate that sliding mode controller algorithm can be used into seam tracking and the tracking system is stable with bounded uncertain disturbance.In the seam tracking process, the robot moves steadily without any obvious chattering.

  12. Supersonic flutter suppression of electrorheological fluid-based adaptive panels resting on elastic foundations using sliding mode control

    Brief reviews on suppressing panel flutter vibrations by various active control strategies as well as utilization tunable electrorheological fluids (ERFs) for vibration control of structural systems are presented. Active suppression of the supersonic flutter motion of a simply supported sandwich panel with a tunable ERF interlayer, and coupled to an elastic foundation, is subsequently investigated. The structural formulation is based on the classical beam theory along with the Winkler–Pasternak foundation model, the ER fluid core is modeled as a first-order Kelvin–Voigt material, and the quasi-steady first-order supersonic piston theory is employed to describe the aerodynamic loading. Hamilton’s principle is used to derive a set of fully coupled dynamic equations of motion. The generalized Fourier expansions in conjunction with the Galerkin method are then employed to formulate the governing equations in the state space domain. The critical dynamic pressures at which unstable panel oscillations (coalescence of eigenvalues) occur are obtained via the p-method for selected applied electric field strengths (E = 0,2,4 kV mm−1). The classical Runge–Kutta time integration algorithm is subsequently used to calculate the open-loop aeroelastic response of the system in various basic loading configurations (i.e. uniformly distributed blast, gust, sonic boom, and step loads), with or without an interacting soft/stiff elastic foundation. Finally, a sliding mode control synthesis (SMC) involving the first six natural modes of the structural system is set up to actively suppress the closed-loop system response in supersonic flight conditions and under the imposed excitations. Simulation results demonstrate performance, effectiveness, and insensitivity with respect to the spillover of the proposed SMC-based control system. Limiting cases are considered and good agreements with the data available in the literature as well as with the computations made by using the

  13. Sliding mode control for synchronous electric drives

    Ryvkin, Sergey E

    2011-01-01

    This volume presents the theory of control systems with sliding mode applied to electrical motors and power converters. It demonstrates the methodology of control design and the original algorithms of control and observation. Practically all semiconductor devices are used in power converters, that feed electrical motors, as power switches. A switching mode offers myriad attractive, inherent properties from a control viewpoint, especially a sliding mode. Sliding mode control supplies high dynamics to systems, invariability of systems to changes of their parameters and of exterior loads in combi

  14. Fuzzy Backstepping Sliding Mode Control for Mismatched Uncertain System

    H. Q. Hou

    2014-06-01

    Full Text Available Sliding mode controllers have succeeded in many control problems that the conventional control theories have difficulties to deal with; however it is practically impossible to achieve high-speed switching control. Therefore, in this paper an adaptive fuzzy backstepping sliding mode control scheme is derived for mismatched uncertain systems. Firstly fuzzy sliding mode controller is designed using backstepping method based on the Lyapunov function approach, which is capable of handling mismatched problem. Then fuzzy sliding mode controller is designed using T-S fuzzy model method, it can improve the performance of the control systems and their robustness. Finally this method of control is applied to nonlinear system as a case study; simulation results are also provided the performance of the proposed controller.

  15. Adaptive sliding mode back-stepping pitch angle control of a variable-displacement pump controlled pitch system for wind turbines.

    Yin, Xiu-xing; Lin, Yong-gang; Li, Wei; Liu, Hong-wei; Gu, Ya-jing

    2015-09-01

    A variable-displacement pump controlled pitch system is proposed to mitigate generator power and flap-wise load fluctuations for wind turbines. The pitch system mainly consists of a variable-displacement hydraulic pump, a fixed-displacement hydraulic motor and a gear set. The hydraulic motor can be accurately regulated by controlling the pump displacement and fluid flows to change the pitch angle through the gear set. The detailed mathematical representation and dynamic characteristics of the proposed pitch system are thoroughly analyzed. An adaptive sliding mode pump displacement controller and a back-stepping stroke piston controller are designed for the proposed pitch system such that the resulting pitch angle tracks its desired value regardless of external disturbances and uncertainties. The effectiveness and control efficiency of the proposed pitch system and controllers have been verified by using realistic dataset of a 750 kW research wind turbine. PMID:26303957

  16. Nonlinear torque and stator flux controller for induction motor drive based on adaptive input-output feedback linearization and sliding mode control

    This paper describes a nonlinear torque and stator flux controller for three phase induction motor (IM) drives on the basis of a space vector modulation (SVM) scheme. Using the IM fifth order model in a fixed 'ab' axis reference frame with stator currents (isa ,isb) and stator fluxes (ψsa,ψsb) as state variables, a sliding mode (SM) torque and flux controller is designed first in order to track a linear reference model, which has the desired dynamic behaviors for the IM drive system. The SM controller generates the reference voltages (vas*,vbs*) for a two level space vector modulation-pulse width modulation (SVM-PWM) inverter that feeds the motor. Then, the SM controller is combined with an adaptive input-output feedback linearization technique in order to preserve the system robustness with respect to stator and rotor resistances variations and uncertainties. Finally, simulations and comparative experimental results with the proposed control scheme are presented

  17. Adaptive fuzzy sliding mode control of uncertain nonlinear systems Controle por modos deslizantes nebuloso adaptativo de sistemas incertos não-lineares

    Wallace Moreira Bessa

    2010-04-01

    Full Text Available This paper presents a detailed discussion about the convergence properties of a variable structure controller for uncertain single-input-single-output nonlinear systems (SISO. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm to cope with modeling inaccuracies and external disturbances that can arise. The boundedness of all closed-loop signals and the convergence properties of the tracking error are analytically proven using Lyapunov's direct method and Barbalat's lemma. This result corrects flawed conclusions previously reached in the literature. An application of this adaptive fuzzy sliding mode controller to a second-order nonlinear system is also presented. The obtained numerical results demonstrate the improved control system performance.Este trabalho apresenta uma discussão detalhada acerca das propriedades de convergência de um controlador à estrutura variável para sistemas incertos com uma entrada e uma saída (SISO. A abordagem adotada baseia-se na estratégia de controle por modos deslizantes e incorpora um algoritmo difuso adaptativo para compensar imprecisões de modelagem e perturbações externas que possam ocorrer. A limitação de todos os sinais do sistema em malha-fechada e as propriedades de convergência do erro de rastreamento são demonstradas analiticamente através do método direto de Liapunov e do lema de Barbalat. Este resultado corrige conclusões errôneas apresentadas anteriormente na literatura. Uma aplicação do controlador por modos deslizantes difuso adaptativo em um sistema não-linear de segunda ordem também é discutida. Os resultados obtidos numericamente confirmam o desempenho do controlador.

  18. Adaptive ant colony sliding mode control for nonlinear coupling systems%非线性耦合系统的自适应蚁群滑模控制

    梁利华; 陈国民; 张松涛

    2011-01-01

    针对一类多子系统之间具有强耦合关系的非线性系统,提出自适应蚁群滑模控制方法.依据等效滑模控制理论,建立滑模算法控制结构图,用于解耦非线性耦合系统;根据自适应蚁群算法建立了多变量蚁群算法的图形表示,对滑模控制中的滑模面斜率进行优化,来削弱“抖振”现象.该方法可以用较小的计算量对耦合系统自然解耦,并利用蚁群算法的并行特性来优化参数.将该方法应用到三轴摇摆台控制系统中,仿真结果表明,与其他算法相比,超调量减小50%,上升时间和调节时间也明显减小,且有较好的控制效果和鲁棒性.%An adaptive Ant Colony Sliding Mode Control (ACSMC) approach is proposed for a class of nonlinear systems with multi-coupling subsystems for the first time. The structure diagram was established to decouple the systems of nonlinear coupling system based on the equivalent theory of sliding mode control. A multivariate graphical representation of the ant colony algorithm was given to optimize the surface slope of sliding mode control to eliminate the chattering phenomenon. Precise natural decoupling with smaller amount of calculation in coupling system is achieved and use the parallel characteristics of ant colony algorithm to optimize the parameters is employed. By applying this method to three-axis swing platform control system the simulation results prove that compared with other algorithms the proposed approach decreases overshoot 50% and it also reduces the rising time and the settling time significantly and has better effectiveness and robustness.

  19. A Sliding Mode-Multimodel Control with Sliding Mode Observer for a Sensorless Pumping System

    Rhif, Ahmed; Kardous, Zohra; Braiek, Naceur Ben Hadj

    2013-01-01

    This work deals with the design of a sliding mode observer with a multi-surfaces sliding mode multimodel control (SM-MMC) for a mechanical sensorless pumping system. The observer is designed to estimate the speed and the mechanical position of the DC motor operating in the process. Robustness tests validated by simulation show the effectiveness of the sliding mode observer associated with this control approach (SM-MMC).

  20. SLIDING MODE CONTROL FOR ACTIVE AUTOMOBILE SUSPENSIONS

    1998-01-01

    Nonlinear control methods are presented based on theory of sliding mode control (SMC) or variable structure control (VSC) for application to active automobile suspensions. Requirements of reducing manufacturing cost and energy consumption of the active suspension system may be satisfiedby reasonable design of the sliding surface and hydraulic servo system. Emphasis is placed on the study of the discrete sliding mode control method (DSMC) applicable for a new sort of speed on-off solenoid valves of anti-dust capability and low price. Robustness and effectiveness of the feedback linearized controller in typical road conditions are demonstrated by numerical results fora quarter-car suspension model.

  1. Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles

    Kobravi, Hamid-Reza; Erfanian, Abbas

    2009-08-01

    A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

  2. Nonlinear torque and stator flux controller for induction motor drive based on adaptive input-output feedback linearization and sliding mode control

    Yazdanpanah, R.; Soltani, J. [Faculty of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan (Iran); Arab Markadeh, G.R. [Department of Electrical Engineering, Technical Faculty, Shahrekord University, Shahrekord (Iran)

    2008-04-15

    This paper describes a nonlinear torque and stator flux controller for three phase induction motor (IM) drives on the basis of a space vector modulation (SVM) scheme. Using the IM fifth order model in a fixed 'ab' axis reference frame with stator currents (i{sub sa},i{sub sb}) and stator fluxes ({psi}{sub sa},{psi}{sub sb}) as state variables, a sliding mode (SM) torque and flux controller is designed first in order to track a linear reference model, which has the desired dynamic behaviors for the IM drive system. The SM controller generates the reference voltages (v{sub as}{sup *},v{sub bs}{sup *}) for a two level space vector modulation-pulse width modulation (SVM-PWM) inverter that feeds the motor. Then, the SM controller is combined with an adaptive input-output feedback linearization technique in order to preserve the system robustness with respect to stator and rotor resistances variations and uncertainties. Finally, simulations and comparative experimental results with the proposed control scheme are presented. (author)

  3. Laser autofocusing: a sliding mode approach

    Golubovic, Edin; Khalil, Islam S. M.; Kamadan, Abdullah; ŞABANOVIÇ, Asif; Sabanovic, Asif

    2010-01-01

    Quality of the laser processing depends on many factors, such as overall configuration of the laser workstation, control methods used and quality of the laser beam. Although lasers used in material processing are typically high energy lasers, light beam still needs to be focused in order to achieve higher energy density and smaller final spot size. This paper presents an application of sliding mode to the laser autofocusing system. Autofocusing system consists of photodiode as the measurem...

  4. Adaptive Sliding Mode Pitch Control of Variable-speed Wind Turbines%变速风力发电机组的自适应滑模变桨距控制

    何真; 龚春英

    2013-01-01

    An adaptive global fast terminal sliding mode control method was proposed for the pitch control of variable-speed wind turbines with great uncertainties.The dynamics of the adjustable-pitch wind turbines was modeled.An adaptive fuzzy system was designed to approximate the unknown terms in the model.The sliding mode composed of terminal sliding mode and linear sliding mode was chosen and the adaptive terminal sliding mode pitch controller was proposed.By using Lyapunov stability theorem,the stability of the system was proved,the specific adaptive law was determined and the estimation algorithm was designed to estimate the bound of system uncertainties.The case of the pitch control of the wind turbines operating under natural winds was simulated.The results verify that the system is stable and the output power is steady.%在风力发电系统稳定性优化控制的研究中,针对不确定性的变速风力发电机组的变桨距控制方式系统稳定性差的问题,提出了一种自适应全局快速Terminal滑模控制方法.建立变桨距风力发电机组动力学模型,针对模型中的未知环节,设计了自适应模糊逼近系统.采用由Terminal滑动模态和线性滑动模态组成的滑模模态,采用了自适应Terminal滑模变桨距控制器.根据Lyapunov稳定性理论证明了系统稳定性,并给出了具体的自适应律和不确定项边界的估计算法.对自然风下的机组变桨距控制情况进行了仿真,结果表明系统稳定且输出功率平稳.

  5. Fault detection and fault-tolerant control using sliding modes

    Alwi, Halim; Tan, Chee Pin

    2011-01-01

    ""Fault Detection and Fault-tolerant Control Using Sliding Modes"" is the first text dedicated to showing the latest developments in the use of sliding-mode concepts for fault detection and isolation (FDI) and fault-tolerant control in dynamical engineering systems. It begins with an introduction to the basic concepts of sliding modes to provide a background to the field. This is followed by chapters that describe the use and design of sliding-mode observers for FDI using robust fault reconstruction. The development of a class of sliding-mode observers is described from first principles throug

  6. Adaptive fuzzy sliding mode stabilization control for floated inertial platform%浮球式惯导平台的自适应模糊滑模稳定控制

    李安梁; 蔡洪; 白锡斌

    2013-01-01

    A control algorithm of adaptive sliding mode control based on fuzzy logic is proposed for the inertial stabilization problem of the floated inertial platform (FLIP).The sliding mode control was used to solve the parameters uncertainness and unmodeled dynamics of the FLIP, which guarantees the stability and rapidity of the system.Then,by focusing on the design problem of the sliding mode control,the gain of a sliding mode control was adjusted by using the fuzzy logic with an adaptive tuning algorithm,which enhanced the adaptability for random uncertainty and improved the robust performance and the stabilization accuracy of the controller.Finally,the stability and convergence of the control system were proven by using the Lyapunov method.The simulation results demonstrate that the proposed method can eliminate the input chattering of the sliding mode control efficiently,and the inertial stabilization of the FLIP is realized with the accuracy higher than0.1 ″.%针对浮球式惯导平台的惯性空间稳定问题,提出了一种基于模糊逻辑的自适应滑模控制方案。该方法利用滑模控制器保证了系统的稳定性和快速性,解决了浮球式惯导平台参数不确定、未建模动态等未知干扰问题;基于滑模控制器的设计问题,利用模糊逻辑和自适应控制律,调节滑模控制器的参数,估计并补偿系统的外界干扰及不确定性等干扰,增强系统对随机不确定性的适应能力,提高控制系统的鲁棒性和控制精度;利用 Laypunov 方法证明了控制系统的稳定性与收敛性。仿真结果表明,该方法可以有效减低滑模控制控制输入抖振问题,实现浮球式惯导平台的高精度惯性空间稳定,且稳定精度高于0.1″。

  7. Multivariable robust adaptive sliding mode control of an industrial boiler-turbine in the presence of modeling imprecisions and external disturbances: A comparison with type-I servo controller.

    Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

    2015-09-01

    To guarantee the safety and efficient performance of the power plant, a robust controller for the boiler-turbine unit is needed. In this paper, a robust adaptive sliding mode controller (RASMC) is proposed to control a nonlinear multi-input multi-output (MIMO) model of industrial boiler-turbine unit, in the presence of unknown bounded uncertainties and external disturbances. To overcome the coupled nonlinearities and investigate the zero dynamics, input-output linearization is performed, and then the new decoupled inputs are derived. To tackle the uncertainties and external disturbances, appropriate adaption laws are introduced. For constructing the RASMC, suitable sliding surface is considered. To guarantee the sliding motion occurrence, appropriate control laws are constructed. Then the robustness and stability of the proposed RASMC is proved via Lyapunov stability theory. To compare the performance of the purposed RASMC with traditional control schemes, a type-I servo controller is designed. To evaluate the performance of the proposed control schemes, simulation studies on nonlinear MIMO dynamic system in the presence of high frequency bounded uncertainties and external disturbances are conducted and compared. Comparison of the results reveals the superiority of proposed RASMC over the traditional control schemes. RAMSC acts efficiently in disturbance rejection and keeping the system behavior in desirable tracking objectives, without the existence of unstable quasi-periodic solutions. PMID:25983065

  8. Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot Manipulator

    Mohammad Mahdi Ebrahimi

    2013-11-01

    Full Text Available In this research, an artificial chattering free adaptive fuzzy modified sliding mode control design and application to continuum robotic manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in sliding mode controller, fuzzy logic controller and online tuning method, the output improves. Each method by adding to the previous controller has covered negative points. The main target in this research is design of model free estimator on-line sliding mode fuzzy algorithm for continuum robot manipulator to reach an acceptable performance. Continuum robot manipulators are highly nonlinear, and a number of parameters are uncertain, therefore design model free controller by both analytical and empirical paradigms are the main goal. Although classical sliding mode methodology has acceptable performance with known dynamic parameters such as stability and robustness but there are two important disadvantages as below: chattering phenomenon and mathematical nonlinear dynamic equivalent controller part. To solve the chattering fuzzy logic inference applied instead of dead zone function. To solve the equivalent problems in classical sliding mode controller this paper focuses on applied on-line tuning method in classical controller. This algorithm works very well in certain and uncertain environment. The system performance in sliding mode controller is sensitive to the sliding function. Therefore, compute the optimum value of sliding function for a system is the next challenge. This problem has solved by adjusting sliding function of the on-line method continuously in real-time. In this way, the overall system performance has improved with respect to the classical sliding mode controller. This controller solved chattering phenomenon as well as mathematical nonlinear equivalent part by applied modified PID supervisory method in modified fuzzy sliding mode controller and

  9. 自适应反演滑模控制在火箭炮交流伺服系统中的应用%Application of Adaptive Backstepping Sliding Mode Controlin in Alternative Current Servo System of Rocket Gun

    郭亚军; 王晓锋; 马大为; 乐贵高

    2011-01-01

    A adaptive backstepping sliding mode control approach was introduced to control the pitch motion of a rocket gun. Its control law was proposed to guarantee that the control system was ultimately bounded in a Lyapunov sense and make the servo system could track the instruction of reference position globally and asymptotically. In addition, the sliding mode control can restrain effects of parameter uncertainties and external disturbance. The functions of adaptive mechanism and sliding mode control were analyzed by using simulation under different conditions. The simulation results illustrate that the method is applicable and robust.%针对某火箭炮俯仰运动的位置控制问题,采用了一种自适应反演滑模控制方法.自适应反演控制律保证了闭环系统最终有界,使伺服系统能够全局渐进跟踪参考位置指令,从而达到交流伺服系统稳定跟踪控制的目的,滑模控制抑制了模型参数摄动和外界干扰的影响.通过不同条件下的仿真研究,分析了自适应机制和滑模控制在运动控制中的作用,结果表明该方法具有较强的适应性及鲁棒性.

  10. An Active Queue Management Algorithm Based on Adaptive Global Sliding Mode Control%基于自适应全局滑模控制的主动队列管理算法

    叶成荫

    2011-01-01

    For the problem of congestion control in the Internet, a novel active queue management ( AQM ) algorithm based on the sliding mode control theory is proposed. Considering UDP flow, an active queue management algorithm based on adaptive global sliding mode control is designed. The algorithm guarantees the network system robustness during the whole control process and uses RBF neural netword as adaptive law to eliminate the effect from the disturbance of UDP flow. Simulation results demonstrate that the algorithm enables the queue length to converge to set value quickly,keeps the small queue oscillation, and outperforms the conventional IP control and sliding mode control.%针对TCP网络的拥塞控制问题,采用滑模控制理论提出了一种新的主动队列管理算法.考虑到UDP流干扰的情况,设计了基于自适应全局滑模控制的主动队列管理算法.该算法保证网络系统在整个控制过程中的鲁棒性,并且使用RBF神经网络作为自适应律来消除UDP流干扰对系统的影响.仿真结果表明该算法可以使队列长度快速收敛到设定值,同时维持较小的队列振荡,优于传统的PI控制和滑模控制.

  11. Sliding Mode Speed Control for DC Drive Systems

    Guldemir, H.

    2003-01-01

    In this study, the Sliding Mode Control theory of the Variable Structure System has been applied to the speed control of a de motor. The dynamic performance of the sliding mode speed control system has been studied against system parameter variations and external load disturbance and the simulation results are given. The application of the sliding mode control theory to controller design for DC drive control system shows a robust system performance.

  12. Power System Stabilizer Based on Global Fuzzy Sliding Mode Control

    Nechadi, E.; Harmas, M. N.

    2013-01-01

    —Power systems stability is enhanced through a novel stabiliser developed around a fuzzy sliding mode approach. First, sliding mode control is applied to selected operating point based models of a power system separately then fuzzy logic is used to form a global model encompassing the separate subsystems, thus leading to a fuzzy sliding mode power system control. Stability is insured through Lyapunov synthesis. Severe operating conditions are used in a simulation study to test the validity of...

  13. A Sliding Mode Multimodel Control for a Sensorless Photovoltaic System

    Rhif, Ahmed; Kardous, Zohra; Braiek, Naceur BenHadj

    2013-01-01

    In this work we will talk about a new control test using the sliding mode control with a nonlinear sliding mode observer, which are very solicited in tracking problems, for a sensorless photovoltaic panel. In this case, the panel system will has as a set point the sun position at every second during the day for a period of five years; then the tracker, using sliding mode multimodel controller and a sliding mode observer, will track these positions to make the sunrays orthogonal to the photovo...

  14. Sliding Mode Robustness Control Strategy for Shearer Height Adjusting System

    Xiuping Su

    2013-09-01

    Full Text Available This paper firstly established mathematical model of height adjusting hydro cylinder of the shearer, as well as the state space equation of the shearer height adjusting system. Secondly we designed a shearer automatic height adjusting controller adopting the sliding mode robustness control strategy. The height adjusting controller includes the sliding mode surface switching function based on Ackermann formula, as well as sliding mode control function with the improved butterworth filter. Then simulation of the height adjustment controller shows that the sliding mode robustness control solves buffeting of typical controller, and achieves automatic control for the rolling drum of the shearer.

  15. Chatter free sliding mode control of a chaotic coal mine power grid with small energy inputs

    Xu Yanqing; Jia Feng; Ma Caoyuan; Mao Jiasong; Zhang Shaowei

    2012-01-01

    An augmented proportional-integral sliding surface was designed for a sliding mode controller.A chatter free sliding mode control strategy for a chaotic coal mine power grid was developed.The stability of the control strategy was proven by Lyapunov stability theorem.The proposed sliding mode control strategy eliminated the chattering phenomenon by replacing the sign function with a saturation function,and by replacing the constant coefficients in the reaching law with adaptive ones.An immune genetic algorithm was used to optimize the parameters in the improved reaching.law.The cut-in time of the controllers was optimized to reduce the peak energy of their output.Simulations showed that the proposed sliding mode controller has good,chatter free performance.

  16. Robust Sliding Mode Control for Tokamaks

    I. Garrido

    2012-01-01

    Full Text Available Nuclear fusion has arisen as an alternative energy to avoid carbon dioxide emissions, being the tokamak a promising nuclear fusion reactor that uses a magnetic field to confine plasma in the shape of a torus. However, different kinds of magnetohydrodynamic instabilities may affect tokamak plasma equilibrium, causing severe reduction of particle confinement and leading to plasma disruptions. In this sense, numerous efforts and resources have been devoted to seeking solutions for the different plasma control problems so as to avoid energy confinement time decrements in these devices. In particular, since the growth rate of the vertical instability increases with the internal inductance, lowering the internal inductance is a fundamental issue to address for the elongated plasmas employed within the advanced tokamaks currently under development. In this sense, this paper introduces a lumped parameter numerical model of the tokamak in order to design a novel robust sliding mode controller for the internal inductance using the transformer primary coil as actuator.

  17. Sliding Mode Control of Steerable Needles.

    Rucker, D Caleb; Das, Jadav; Gilbert, Hunter B; Swaney, Philip J; Miga, Michael I; Sarkar, Nilanjan; Webster, Robert J

    2013-10-01

    Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy requires no a priori knowledge of model parameters, has bounded input speeds, and requires little computational resources. We show that if the standard nonholonomic model for tip-steered needles holds, then the control law will converge to desired targets in a reachable workspace, within a tolerance that can be defined by the control parameters. Experimental results validate the control law for target points and trajectory following in phantom tissue and ex vivo liver. Experiments with targets that move during insertion illustrate robustness to disturbances caused by tissue deformation. PMID:25400527

  18. Sliding mode control the delta-sigma modulation approach

    Sira-Ramírez, Hebertt

    2015-01-01

    This monograph presents a novel method of sliding mode control for switch-regulated nonlinear systems. The Delta Sigma modulation approach allows one to implement a continuous control scheme using one or multiple, independent switches, thus effectively merging the available linear and nonlinear controller design techniques with sliding mode control.   Sliding Mode Control: The Delta-Sigma Modulation Approach, combines rigorous mathematical derivation of the unique features of Sliding Mode Control and Delta-Sigma modulation with numerous illustrative examples from diverse areas of engineering. In addition, engineering case studies demonstrate the applicability of the technique and the ease with which one can implement the exposed results. This book will appeal to researchers in control engineering and can be used as graduate-level textbook for a first course on sliding mode control.

  19. Advances in sliding mode control concept, theory and implementation

    Janardhanan, S; Spurgeon, Sarah

    2013-01-01

    The sliding mode control paradigm has become a mature technique for the design of robust controllers for a wide class of systems including nonlinear, uncertain and time-delayed systems. This book is a collection of plenary and invited talks delivered at the 12th IEEE International Workshop on Variable Structure System held at the Indian Institute of Technology, Mumbai, India in January 2012. After the workshop, these researchers were invited to develop book chapters for this edited collection in order to reflect the latest results and open research questions in the area. The contributed chapters have been organized by the editors to reflect the various themes of sliding mode control which are the current areas of theoretical research and applications focus; namely articulation of the fundamental underpinning theory of the sliding mode design paradigm, sliding modes for decentralized system representations, control of time-delay systems, the higher order sliding mode concept, results applicable to nonlinear an...

  20. Sliding mode controller for signal input multiple state submarine system

    Sliding mode control design has become a popular choice for controlling non-linear dynamical systems. This paper, explores the dynamics of a submarine and represents the same in state space form. It also investigates the potential of sliding mode controller for a single input multiple state system of a submarine. Mathematical derivation of the controller is presented and it is proved that the sliding mode controllers is robust to changes in operating conditions. The problem of chattering in sliding mode controller design is discussed and remedy of this problem is suggested. Simulation studies are carried out which demonstrate that the sliding mode controller can efficiency be used as a heading controller for the submarine under investigation. (author)

  1. Phase and speed synchronization control of four eccentric rotors driven by induction motors in a linear vibratory feeder with unknown time-varying load torques using adaptive sliding mode control algorithm

    Kong, Xiangxi; Zhang, Xueliang; Chen, Xiaozhe; Wen, Bangchun; Wang, Bo

    2016-05-01

    In this paper, phase and speed synchronization control of four eccentric rotors (ERs) driven by induction motors in a linear vibratory feeder with unknown time-varying load torques is studied. Firstly, the electromechanical coupling model of the linear vibratory feeder is established by associating induction motor's model with the dynamic model of the system, which is a typical under actuated model. According to the characteristics of the linear vibratory feeder, the complex control problem of the under actuated electromechanical coupling model converts to phase and speed synchronization control of four ERs. In order to keep the four ERs operating synchronously with zero phase differences, phase and speed synchronization controllers are designed by employing adaptive sliding mode control (ASMC) algorithm via a modified master-slave structure. The stability of the controllers is proved by Lyapunov stability theorem. The proposed controllers are verified by simulation via Matlab/Simulink program and compared with the conventional sliding mode control (SMC) algorithm. The results show the proposed controllers can reject the time-varying load torques effectively and four ERs can operate synchronously with zero phase differences. Moreover, the control performance is better than the conventional SMC algorithm and the chattering phenomenon is attenuated. Furthermore, the effects of reference speed and parametric perturbations are discussed to show the strong robustness of the proposed controllers. Finally, experiments on a simple vibratory test bench are operated by using the proposed controllers and without control, respectively, to validate the effectiveness of the proposed controllers further.

  2. Guaranteed performance in reaching mode of sliding mode controlled systems

    G K Singh; K E Holé

    2004-02-01

    Conventionally, the parameters of a sliding mode controller (SMC) are selected so as to reduce the time spent in the reaching mode. Although, an upper bound on the time to reach (reaching time) the sliding surface is easily derived, performance guarantee in the state/error space needs more consideration. This paper addresses the design of constant plus proportional rate reaching law-based SMC for second-order nonlinear systems. It is shown that this controller imposes a bounding second-order error-dynamics, and thus guarantees robust performance during the reaching phase. The choice of the controller parameters based on the time to reach a desirable level of output tracking error (OTE), rather than on the reaching time is proposed. Using the Lyapunov theory, it is shown that parameter selections, based on the reaching time criterion, may need substantially larger time to achieve the OTE. Simulation results are presented for a nonlinear spring-massdamper system. It is seen that parameter selections based on the proposed OTE criterion, result in substantially quicker tracking, while using similar levels of control effort.

  3. Accurate Sliding-Mode Control System Modeling for Buck Converters

    Høyerby, Mikkel Christian Wendelboe; Andersen, Michael Andreas E.

    2007-01-01

    This paper shows that classical sliding mode theory fails to correctly predict the output impedance of the highly useful sliding mode PID compensated buck converter. The reason for this is identified as the assumption of the sliding variable being held at zero during sliding mode, effectively...... modeling the hysteretic comparator as an infinite gain. Correct prediction of output impedance is shown to be enabled by the use of a more elaborate, finite-gain model of the hysteretic comparator, which takes the effects of time delay and finite switching frequency into account. The demonstrated modeling...... approach also predicts the self-oscillating switching action of the sliding-mode control system correctly. Analytical findings are verified by simulation as well as experimentally in a 10-30V/3A buck converter....

  4. Adaptive Sliding Control for a Class of Fractional Commensurate Order Chaotic Systems

    Jian Yuan

    2015-01-01

    Full Text Available This paper proposes adaptive sliding mode control design for a class of fractional commensurate order chaotic systems. We firstly introduce a fractional integral sliding manifold for the nominal systems. Secondly we prove the stability of the corresponding fractional sliding dynamics. Then, by introducing a Lyapunov candidate function and using the Mittag-Leffler stability theory we derive the desired sliding control law. Furthermore, we prove that the proposed sliding manifold is also adapted for the fractional systems in the presence of uncertainties and external disturbances. At last, we design a fractional adaptation law for the perturbed fractional systems. To verify the viability and efficiency of the proposed fractional controllers, numerical simulations of fractional Lorenz’s system and Chen’s system are presented.

  5. Robust sliding mode control applied to double Inverted pendulum system

    A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

  6. Sliding mode control of switching power converters techniques and implementation

    Tan, Siew-Chong; Tse, Chi-Kong

    2011-01-01

    Sliding Mode Control of Switching Power Converters: Techniques and Implementation is perhaps the first in-depth account of how sliding mode controllers can be practically engineered to optimize control of power converters. A complete understanding of this process is timely and necessary, as the electronics industry moves toward the use of renewable energy sources and widely varying loads that can be adequately supported only by power converters using nonlinear controllers.Of the various advanced control methods used to handle the complex requirements of power conversion systems, sliding mode c

  7. Fault Reconstruction Using Sliding Mode Observers

    K. Hakiki

    2006-01-01

    Full Text Available In this study, a nonlinear sliding observer is proposed to explicitly reconstruct fault signals. The novelty lies in the application of the equivalent output injection concept. Previous work in the area of fault detection has used disruption of the sliding motion to detect faults. The aim of the present study was to design a robust observer that slides in the presence of faults based on the response of the estimated outputs of the system. A numerical example of the application to an inverted pendulum mounted on a cart is provided to demonstrate the approach

  8. Sliding mode controller of rf cavity tuning loop

    Ferrite tuned cavities must operate under a wide range of accelerating frequencies. The tuning is done by modulating the current in the coil surrounding the ferrite. Feedback controllers are used to improve the tuning condition by sensing the phase error. The design of controllers currently in use is based on classical frequency domain techniques. Classical controllers in this application are sensitive to variations in the tuning system parameters. Also, these controllers generally fail to provide correct transient response when there is beam in the cavity, since the beam loading changes the transfer function of the system. We have designed a robust and adaptive controller based on sliding mode techniques for a cavity tuning system on the ISIS synchrotron. The techniques are extendable to other systems. 7 refs., 3 figs

  9. Sliding mode controller for RF cavity tuning loop

    Ferrite tuned cavities must operate under a wide range of accelerating frequencies. The tuning is done by modulating the current in the coil surrounding the ferrite. Feedback controllers are used to improve the tuning condition by sensing the phase error. The design of controllers currently in use is based on classical frequency domain techniques. Classical controllers in this application are sensitive to variations in the tuning system parameters. Also, these controllers generally fail to provide correct transient response when there is beam in the cavity, since the beam loading changes the transfer function of the system. The authors have designed a robust and adaptive controller based on sliding mode techniques for a cavity tuning system on the ISIS synchrotron. The techniques are extendable to other systems

  10. Sliding mode observers and observability singularity in chaotic synchronization

    L. Boutat-Baddas; J. P. Barbot; Boutat, D.; R. Tauleigne

    2004-01-01

    We present a new secured data transmission based on a chaotic synchronization and observability singularity. For this, we adopt an approach based on an inclusion of the message in the system structure and we use a sliding mode observer for system with unknown input in order to recover the information. We end the paper with an example of chaotic system with an observability bifurcation. Moreover, this example highlights some benefits of the so-called step-by-step sliding mode observer.

  11. A novel higher order sliding mode control scheme

    Defoort, Michael; Floquet, Thierry; Kökösy, Annemarie; Perruquetti, Wilfrid

    2009-01-01

    A higher order sliding mode control algorithm is proposed for a class of uncertain multi-input multi-output nonlinear systems. This problem can be viewed as the finite time stabilization of a higher order input-output dynamic system with bounded uncertainties. The developed control scheme is based on geometric homogeneity and sliding mode control. The proposed procedure provides explicit conditions on the controller parameters and guarantees robustness against uncertainties. An illustrative e...

  12. ADAPTIVE VARIABLE STRUCTURE CONTROL FOR FLEXIBLE SPACE MANIPULATOR BASED ON HYBRID SLIDING MODE CONCEPT%柔性空间机械臂基于混合滑模思想的自适应变结构控制

    陈志勇; 陈力

    2012-01-01

    研究了柔性空间机械臂协调运动控制及柔性振动抑制问题。利用假设模态法及系统动量守恒关系,导出了空间机械臂的系统动力学模型。基于混合滑模思想,针对系统惯性参数存在不确定的复杂情况,提出了一种柔性空间机械臂本体姿态、关节协调运动的自适应变结构控制方案。该文所引入的混合滑模由频率成形最优滑模及终端滑模两部分组成。前者用于抑制系统柔性杆件的振动,后者则是为了保证系统追踪误差在有限时间内的收敛性。此外,上述控制方案由于在控制过程中无需预知系统的柔性变量,因此可有效避免对系统柔性状态变量进行实时地测量与反馈,较适于实际应用。仿真运算,证实了所提控制方法的有效性。%The coordinated motion control and flexible vibration suppression problems of flexible space manipulator are studied.With the assumed mode method and the linear momentum conservation of the system,the system dynamics model of the space manipulator is derived.Based on the hybrid sliding mode concept,an adaptive variable structure control scheme is proposed for the flexible space manipulator to achieve the coordinated motion between the base's attitude and the arm's joints,which accounts for the uncertainty in inertial parameters.The hybrid sliding mode introduced consists of two parts,the frequency shaped optimal sliding mode and the terminal sliding mode.The former is used to suppress the vibration of flexible link of the system,and the latter is utilized to guarantee the convergence of system tracking errors in finite time.Moreover,the control scheme proposed does not require the foreknowledge of flexible variables in control.Thus,it can effectively avoid the real-time measurements and feedbacks of system flexible variables,and be more suitable for practical applications.Simulation results demonstrate the effectiveness of the proposed control scheme.

  13. Sliding mode control on electro-mechanical systems

    Utkin Vadim I.

    2002-01-01

    Full Text Available The first sliding mode control application may be found in the papers back in the 1930s in Russia. With its versatile yet simple design procedure the methodology is proven to be one of the most powerful solutions for many practical control designs. For the sake of demonstration this paper is oriented towards application aspects of sliding mode control methodology. First the design approach based on the regularization is generalized for mechanical systems. It is shown that stability of zero dynamics should be taken into account when the regular form consists of blocks of second-order equations. Majority of applications in the paper are related to control and estimation methods of automotive industry. New theoretical methods are developed in the context of these studies: sliding made nonlinear observers, observers with binary measurements, parameter estimation in systems with sliding mode control.

  14. Theory of psychological adaptive modes.

    Lehti, Juha

    2016-05-01

    When an individual is facing a stressor and normal stress-response mechanism cannot guarantee sufficient adaptation, special emotional states, adaptive modes, are activated (for example a depressive reaction). Adaptive modes are involuntary states of mind, they are of comprehensive nature, they interfere with normal functioning, and they cannot be repressed or controlled the same way as many emotions. Their transformational nature differentiates them from other emotional states. The object of the adaptive mode is to optimize the problem-solving abilities according to the situation that has provoked the mode. Cognitions and emotions during the adaptive mode are different than in a normal mental state. These altered cognitions and emotional reactions guide the individual to use the correct coping skills in order to deal with the stressor. Successful adaptation will cause the adaptive mode to fade off since the adaptive mode is no longer necessary, and the process as a whole will lead to raised well-being. However, if the adaptation process is inadequate, then the transformation period is prolonged, and the adaptive mode will turn into a dysfunctional state. Many psychiatric disorders are such maladaptive processes. The maladaptive processes can be turned into functional ones by using adaptive skills that are used in functional adaptive processes. PMID:27063089

  15. Second order sliding mode control for a quadrotor UAV.

    Zheng, En-Hui; Xiong, Jing-Jing; Luo, Ji-Liang

    2014-07-01

    A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV. For the switching sliding manifold design, the selection of the coefficients of the switching sliding manifold is in general a sophisticated issue because the coefficients are nonlinear. In this work, in order to perform the position and attitude tracking control of the quadrotor perfectly, the dynamical model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. For the former, a sliding manifold is defined by combining the position and velocity tracking errors of one state variable, i.e., the sliding manifold has two coefficients. For the latter, a sliding manifold is constructed via a linear combination of position and velocity tracking errors of two state variables, i.e., the sliding manifold has four coefficients. In order to further obtain the nonlinear coefficients of the sliding manifold, Hurwitz stability analysis is used to the solving process. In addition, the flight controllers are derived by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces. Extensive simulation results are given to illustrate the effectiveness of the proposed control method. PMID:24751475

  16. Adaptive Structural Mode Control Project

    National Aeronautics and Space Administration — M4 Engineering proposes the development of an adaptive structural mode control system. The adaptive control system will begin from a "baseline" dynamic model of the...

  17. 基于自适应滑模的喷水推进船舶航向控制%Adaptive Sliding Mode for Course Tracking Control of a Waterjet Propulsion Ship

    曾薄文; 朱齐丹; 宋洋

    2011-01-01

    关于船舶航行优化控制,针对喷水推进船舶的航向稳定性控制问题,根据模型中非线性水动力不确定性和外界干扰,提出了基于PID增益调节的自适应滑模控制方法, 并利用Lyapunov稳定性理论证明控制方法的稳定性.控制方法对于模型参数摄动和外界干扰有较好的鲁棒性,PID增益参数的选择可通过在线自适应学习获得,采用边界层方法对设计的滑模控制器的高频抖振加以合理抑制.以一艘喷水推进船舶为例,进行了航向改变的仿真,结果表明设计的控制器具有船舶操纵的良好动态性能,且具有超调小、鲁棒性强的优点,更加符合船舶航向实时控制的工程要求.%In this paper an adaptive sliding mode controller with PID gain tuning method is presented for a waterjet propulsion ship, the model' s nonlinear hydrodynamic uncertainties and environmental disturbances are also considered for controller desisn, and the stability property of proposed controller can be guaranteed according to the Lyapunov stability theorem. Moreover, system robustness against parameter variations and external disturbances are obtained by the proposed control method, and suitable PID control gain parameters can be systematically on-line computed based on adaptive law. The boundary layer condition is adopted to reduce the high frequency chattering in the switching part of the sliding mode controller. Finally, an example with a waterjet propulsion ship is shown to verify the effectiveness of the proposed controller. Simulations, with ship course changing 10°, illustrate that the design controller has good dynamic performances without little overshooting and strong robustness, and can meet the engineering requirement of the ship course real-time control.

  18. Sliding-Mode Synchronization Control for Uncertain Fractional-Order Chaotic Systems with Time Delay

    Haorui Liu

    2015-06-01

    Full Text Available Specifically setting a time delay fractional financial system as the study object, this paper proposes a single controller method to eliminate the impact of model uncertainty and external disturbances on the system. The proposed method is based on the stability theory of Lyapunov sliding-mode adaptive control and fractional-order linear systems. The controller can fit the system state within the sliding-mode surface so as to realize synchronization of fractional-order chaotic systems. Analysis results demonstrate that the proposed single integral, sliding-mode control method can control the time delay fractional power system to realize chaotic synchronization, with strong robustness to external disturbance. The controller is simple in structure. The proposed method was also validated by numerical simulation.

  19. Sliding Mode Variable Structure Control of a Bearingless Induction Motor Based on a Novel Reaching Law

    Zebin Yang

    2016-06-01

    Full Text Available In order to improve the performance of the Bearingless Induction Motor (BIM under large disturbances (such as parameter variations and load disturbances, an adaptive variable-rated sliding mode controller (ASMC is designed to obtain better performance of the speed regulation system. Firstly, the L 1 norm of state variables is applied to the conventional exponential reaching law and an adaptive variable-rated exponential reaching law is proposed to reduce system chattering and improve bad convergence performance of the sliding mode variable structure. Secondly, an integral sliding-mode hyper plane is produced according to the speed error in speed regulation system of BIM. Current signal is extracted by the combination of the sliding-mode hyper plane, the electromagnetic torque and the equation of motion. Finally, the feedback speed can adjust operating state adaptively according to speed error and make system chattering-free moving. The simulation and experiment results show that the proposed ASMC can not only enhance the robustness of the system’s uncertainties, but also improve the dynamic performance and suppress system chattering.

  20. Optimal Sliding Mode Controllers for Attitude Stabilization of Flexible Spacecraft

    Chutiphon Pukdeboon

    2011-01-01

    Full Text Available The robust optimal attitude control problem for a flexible spacecraft is considered. Two optimal sliding mode control laws that ensure the exponential convergence of the attitude control system are developed. Integral sliding mode control (ISMC is applied to combine the first-order sliding mode with optimal control and is used to control quaternion-based spacecraft attitude manoeuvres with external disturbances and an uncertainty inertia matrix. For the optimal control part the state-dependent Riccati equation (SDRE and optimal Lyapunov techniques are employed to solve the infinite-time nonlinear optimal control problem. The second method of Lyapunov is used to guarantee the stability of the attitude control system under the action of the proposed control laws. An example of multiaxial attitude manoeuvres is presented and simulation results are included to verify the usefulness of the developed controllers.

  1. Sliding mode tracking control for miniature unmanned helicopters

    Xian Bin

    2015-02-01

    Full Text Available A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter’s dynamic model is divided into two subsystems, such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles’ dynamic effects and external disturbances. The global asymptotic stability (GAS of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportional-integral-derivative (PID and linear-quadratic regulator (LQR cascaded controller in the presence of wind gust disturbances.

  2. Cascade Control of Magnetic Levitation with Sliding Modes

    Eroğlu Yakup

    2016-01-01

    Full Text Available The effectiveness and applicability of magnetic levitation systems need precise feedback control designs. A cascade control approach consisting of sliding mode control plus sliding mode control (SMC plus SMC is designed to solve position control problem and to provide a high control performance and robustness to the magnetic levitation plant. It is shown that the SMC plus SMC cascade controller is able to eliminate the effects of the inductance related uncertainties of the electromagnetic coil of the plant and achieve a robust and precise position control. Experimental and numerical results are provided to validate the effectiveness and feasibility of the method.

  3. Sliding mode observers and observability singularity in chaotic synchronization

    Boutat-Baddas L.

    2004-01-01

    Full Text Available We present a new secured data transmission based on a chaotic synchronization and observability singularity. For this, we adopt an approach based on an inclusion of the message in the system structure and we use a sliding mode observer for system with unknown input in order to recover the information. We end the paper with an example of chaotic system with an observability bifurcation. Moreover, this example highlights some benefits of the so-called step-by-step sliding mode observer.

  4. 近空间飞行器直接自适应变论域模糊滑模控制%Direct adaptive fuzzy sliding mode control with variable universe for near space vehicle

    王宇飞; 姜长生

    2011-01-01

    The design of variable universe direct adaptive fuzzy sliding mode control law to a class of uncertain nonlinear systems is considered. According to the tracking error, the contraction and expansion factors of variable universe fuzzy controller are tuned on-line, so the nonlinear part is estimated by the fuzzy system. Robust controller is constructed to attenuate fuzzy approximation errors and enhance the whole system performance. The adjusting law of the adaptive parameters is given. By using Lyapunov theory, it is proven that the closed-loop is uniformly stable.Finally, the flight control system of near space vehicle (NSV) under hypersonic condition is designed by using the proposed method. The results show the fine performance of the method.%考虑一类非线性不确定系统的直接自适应变论域模糊滑模控制问题.根据跟踪误差在线调整伸缩因子,使变论域模糊系统一致逼近被控对象中的非线性部分.通过引入鲁棒自适应控制器,消除了模糊建模误差,提高了系统的动态性能.给出了系统自适应参数的调整律,并基于Lyapunov理论证明了闭环系统一致稳定.最后,将该算法用于近空间飞行器(near space vehicle,NSV)姿态控制系统的设计,仿真结果表明了该算法的有效性.

  5. Fuzzy Sliding Mode Controller Design Using Takagi-Sugeno Modelled Nonlinear Systems

    S. Bououden

    2013-01-01

    Full Text Available Adaptive fuzzy sliding mode controller for a class of uncertain nonlinear systems is proposed in this paper. The unknown system dynamics and upper bounds of the minimum approximation errors are adaptively updated with stabilizing adaptive laws. The closed-loop system driven by the proposed controllers is shown to be stable with all the adaptation parameters being bounded. The performance and stability of the proposed control system are achieved analytically using the Lyapunov stability theory. Simulations show that the proposed controller performs well and exhibits good performance.

  6. Robust antisynchronization of chaos using sliding mode control strategy

    Amit Mondal; Mitul Islam; Nurul Islam

    2015-01-01

    The paper proposes a sliding mode control strategy-based scheme for achieving anti-synchronization between two coupled non-linear chaotic systems. The method works irrespective of whether the systems under consideration possess or lack inverse symmetry. Using a linear sliding surface, a sliding mode control input and a non-linear coupling function are designed that synchronizes the systems antiphase. Finite-time convergence of the method is established. The controller is also robust to all forms of bounded perturbations and this robustness can be easily achieved by tuning of a single controller parameter and introduction of a control vector. The controller is also made chattering-free by producing a continuous analogue of the discontinuous control input. The effectiveness of the method is established by implementing it to antisynchronize chaotic Sprott systems and Rossler systems. The results are also verified through numerical simulation work.

  7. Robust Graded Sliding Mode Tracking Control for Low Speed Spinning Ballistic Missiles

    ZHOU Jun; WANG Zhi; ZHOU Feng-qi

    2007-01-01

    The nonlinear dynamic model of spinning ballistic missiles is established during the first boosting phase of the missile. Based on the conventional backstepping sliding mode control and the assumption of a two time-scale separation of missile dynamics, a graded sliding mode controller is designed with two sub-sliding surfaces which have invariability to external disturbances and parameter perturbations, and a matrix which comprises three first order low pass filters is introduced to prevent "explosion of terms". Owing to the upper bounds of the uncertainties are difficult to obtain in advance,adaptive laws are introduced to estimate the values of the uncertainties in real-time. Eventually, the numerical simulation results given to show the proposed controller can ensure the steady flight of missiles.

  8. Sliding-Mode Control of PEM Fuel Cells

    Kunusch, Cristian; Mayosky, Miguel

    2012-01-01

    Recent advances in catalysis technologies and new materials make fuel cells an economically appealing and clean energy source with massive market potential in portable devices, home power generation and the automotive industry. Among the more promising fuel-cell technologies are proton exchange membrane fuel cells (PEMFCs). Sliding-Mode Control of PEM Fuel Cells demonstrates the application of higher-order sliding-mode control to PEMFC dynamics. Fuel-cell dynamics are often highly nonlinear and the text shows the advantages of sliding modes in terms of robustness to external disturbance, modelling error and system-parametric disturbance using higher-order control to reduce chattering. Divided into two parts, the book first introduces the theory of fuel cells and sliding-mode control. It begins by contextualising PEMFCs both in terms of their development and within the hydrogen economy and today’s energy production situation as a whole. The reader is then guided through a discussion of fuel-cell operation pr...

  9. Sliding mode control based guidance law with impact angle constraint

    Zhao Yao; Sheng Yongzhi; Liu Xiangdong

    2014-01-01

    The terminal guidance problem for an unpowered lifting reentry vehicle against a sta-tionary target is considered. In addition to attacking the target with high accuracy, the vehicle is also expected to achieve a desired impact angle. In this paper, a sliding mode control (SMC)-based guidance law is developed to satisfy the terminal angle constraint. Firstly, a specific sliding mode function is designed, and the terminal requirements can be achieved by enforcing both the sliding mode function and its derivative to zero at the end of the flight. Then, a backstepping approach is used to ensure the finite-time reaching phase of the sliding mode and the analytic expression of the control effort can be obtained. The trajectories generated by this method only depend on the initial and terminal conditions of the terminal phase and the instantaneous states of the vehicle. In order to test the performance of the proposed guidance law in practical application, numerical simulations are carried out by taking all the aerodynamic parameters into consideration. The effec-tiveness of the proposed guidance law is verified by the simulation results in various scenarios.

  10. Discrete-Time Sliding Mode Control with a Disturbance Estimator

    Monsees, G.; Scherpen, J.M.A.

    2001-01-01

    This paper presents a novel output-based, discrete-time, sliding mode controller design methodology. Output based controllers with and without disturbance estimation are presented. First several existing discrete-time reaching conditions are analyzed and compared. From these methods the linear reach

  11. Digital Sliding Mode Control of Anti-Lock Braking System

    MITIC, D. B.

    2013-02-01

    Full Text Available The control of anti-lock braking system is a great challenge, because of the nonlinear and complex characteristics of braking dynamics, unknown parameters of vehicle environment and system parameter variations. Using some of robust control methods, such as sliding mode control, can be a right solution for these problems. In this paper, we introduce a novel approach to design of ABS controllers, which is based on digital sliding mode control with only input/output measurements. The relay term of the proposed digital sliding mode control is filtered through digital integrator, reducing the chattering phenomenon in that way, and the additional signal of estimated modelling error is introduced into control algorithm to enhance the system steady-state accuracy. The given solution was verified in real experimental framework and the obtained results were compared with the results of implementation of two other digital sliding mode control algorithms. It is shown that it gives better system response, higher steady-state accuracy and smaller chattering.

  12. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

    Kapoor, Neha; Ohri, Jyoti

    2016-06-01

    Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

  13. Sliding Mode Attitude Control for Magnetic Actuated Satellite

    Wisniewski, Rafal

    1998-01-01

    Magnetic torquing is attractive as a control principle on small satellites. The actuation principle is to use the interaction between the earth's magnetic field and magnetic field generated by a coil set in the satellite. This control principle is inherently nonlinear, and difficult to use because...... control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis attitude control. This paper deals with three-axis stabilization of a low earth orbit satellite. The problem of controlling the...... spacecraft attitude using only magnetic torquing is realized in the form of the sliding mode control. A three dimensional sliding manifold is proposed, and it is shown that the satellite motion on the sliding manifold is asymptotically stable...

  14. Design and Implementation of a Magnetic Levitation System Controller using Global Sliding Mode Control

    Rudi Uswarman

    2014-07-01

    Full Text Available This paper presents global sliding mode control and conventional sliding mode control for stabilization position of a levitation object. Sliding mode control will be robusting when in sliding mode condition. However, it is not necessarily robust at attaining phase. In the global sliding mode control, the attaining motion phase was eliminated, so that the robustness of the controller can be improved. However, the value of the parameter uncertainties needs to be limited. Besides that, the common problem in sliding mode control is high chattering phenomenon. If the chattering is too large, it can make the system unstable due the limited ability of electronics component. The strategy to overcome the chattering phenomenon is needed. Based on simulation and experimental results, the global sliding mode control has better performance than conventional sliding mode control.  

  15. Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

    Xiao Liang

    2016-06-01

    Full Text Available This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators.

  16. Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator

    Farzin Piltan

    2013-06-01

    Full Text Available Both fuzzy logic and sliding mode can compensate the steady-state error of proportional-derivative (PD control. This paper presents parallel sliding mode compensations for fuzzy PD controllers. The asymptotic stability of fuzzy PD control with first-order sliding mode compensation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.

  17. Advances and applications in sliding mode control systems

    Zhu, Quanmin

    2015-01-01

    This book describes the advances and applications in Sliding mode control (SMC) which is widely used as a powerful method to tackle uncertain nonlinear systems. The book is organized into 21 chapters which have been organised by the editors to reflect the various themes of sliding mode control. The book provides the reader with a broad range of material from first principles up to the current state of the art in the area of SMC and observation presented in a clear, matter-of-fact style. As such it is appropriate for graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems. The resulting design procedures are emphasized using Matlab/Simulink software.    

  18. Sliding mode control of a magnetic levitation system

    N. F. Al-Muthairi

    2004-01-01

    Full Text Available Sliding mode control schemes of the static and dynamic types are proposed for the control of a magnetic levitation system. The proposed controllers guarantee the asymptotic regulation of the statesof the system to their desired values. Simulation results of the proposed controllers are given to illustrate the effectiveness of them. Robustness of the control schemes to changes in the parameters of the system is also investigated.

  19. A high performance switching audio amplifier using sliding mode control

    Pillonnet, Gael; Cellier, Rémy; Abouchi, Nacer; Chiollaz, Monique

    2008-01-01

    International audience The switching audio amplifiers are widely used in various portable and consumer electronics due to their high efficiency, but suffers from low audio performances due to inherent nonlinearity. This paper presents an integrated class D audio amplifier with low consumption and high audio performances. It includes a power stage and an efficient control based on sliding mode technique. This monolithic class D amplifier is capable of delivering up to 1W into 8Ω load at les...

  20. SIMULATION OF BLDC MOTOR CONTROL USING SLIDING MODE CONTROL TECHNIQUE

    Namita P. Galphade; Subhash S. Sankeshwari

    2015-01-01

    Mostly, Brushless DC motors have been used in various industrial and domestic applications because of its advantages like simple structure, large torque, long use time, good speed regulation. Generally the BLDCM systems have uncertain and nonlinear characteristics which degrade performance of controllers. Based on these reasons, Sliding Mode Control (SMC) is one of the popular control strategies to deal with the nonlinear uncertain system. In This work implemented a SMC scheme for effective s...

  1. Recent advances in sliding modes from control to intelligent mechatronics

    Efe, Mehmet

    2015-01-01

    This volume is dedicated to Professor Okyay Kaynak to commemorate his life time impactful research and scholarly achievements and outstanding services to profession. The 21 invited chapters have been written by leading researchers who, in the past, have had association with Professor Kaynak as either his students and associates or colleagues and collaborators. The focal theme of the volume is the Sliding Modes covering a broad scope of topics from theoretical investigations to their significant applications from Control to Intelligent Mechatronics.  

  2. Stability notions and Lyapunov functions for sliding mode control systems

    Polyakov, Andrey; Fridman, Leonid

    2014-01-01

    The paper surveys mathematical tools required for stability and convergence analysis of modern sliding mode control systems. Elements of Filippov theory of differential equations with discontinuous right-hand sides and its recent extensions are discussed. Stability notions (from Lyapunov stability (1982) to fixed-time stability (2012)) are observed. Concepts of generalized derivatives and non-smooth Lyapunov functions are considered. The generalized Lyapunov theorems for stability analysis an...

  3. Robust Control of a Brushless Servo Motor Using Sliding Mode

    Radita Arindya

    2012-01-01

    The application of sliding mode techniques the position control of a brushless servo motor is discussed. Such control laws are well suited for electric power inverter. However, high frequency commutations are avoided due to the mechanical systems. Various recent schemes are studied and operated to derive control solutions which are technically feasible. In spite of straightforward applications the resulting systems show robust performances to parametric variations and disturbances. Robustness...

  4. Multi-mode sliding mode control for precision linear stage based on fixed or floating stator

    Fang, Jiwen; Long, Zhili; Wang, Michael Yu; Zhang, Lufan; Dai, Xufei

    2016-02-01

    This paper presents the control performance of a linear motion stage driven by Voice Coil Motor (VCM). Unlike the conventional VCM, the stator of this VCM is regulated, which means it can be adjusted as a floating-stator or fixed-stator. A Multi-Mode Sliding Mode Control (MMSMC), including a conventional Sliding Mode Control (SMC) and an Integral Sliding Mode Control (ISMC), is designed to control the linear motion stage. The control is switched between SMC and IMSC based on the error threshold. To eliminate the chattering, a smooth function is adopted instead of a signum function. The experimental results with the floating stator show that the positioning accuracy and tracking performance of the linear motion stage are improved with the MMSMC approach.

  5. 基于自适应非奇异快速终端动态滑模的单轴滚转稳定伺服平台控制%Control of single-axis roll stabilized servo platform based on adaptive nonsingular and fast terminal dynamic sliding mode

    许叙遥; 林辉

    2013-01-01

    To improve the robustness and control precision of single-axis roll stabilized servo platform (SRSSP) in strap-down inertial navigation system, a novel servo control method based on adaptive nonsingular and fast terminal dynamic sliding mode is presented. The principle of SRSSP is introduced, and an adaptive nonsingular and fast terminal sliding mode control method with steady-state error and chatting is analyzed. Based on three-loop PID servo control ideology, a linear segment is configured by system state variables, then a nonsingular and fast terminal dynamic sliding mode controller is developed based on the segment, and the boundary of parameter uncertainty and external disturbance is estimated by adaptive law. The new control method can realize accurate control of the position and speed. Meanwhile, the chattering in sliding mode is greatly attenuated. Simulation results show that the new sliding mode servo control method is feasible, and can improve the robustness and accuracy of the servo platform.%为提高捷联导航系统中的单轴滚转稳定伺服平台鲁棒性和控制精度,提出了一种基于自适应非奇异快速终端的动态滑模控制方法。介绍了单轴滚转稳定伺服平台原理,分析自适应非奇异快速终端滑模控制方法以及存在稳态误差和抖振问题。在借鉴三环PID伺服控制思想基础上,首先将状态变量构成线性滑模面,在该线性滑模面上形成非奇异快速终端滑模控制器,并采用自适应律来估计扰动上限。能够实现位置和速度的精确控制,大大削弱滑模抖振。仿真结果表明,基于自适应非奇异快速终端速度动态滑模控制方法合理可行,提高了单轴滚转稳定平台收敛速度、鲁棒性和控制精度。

  6. Maximum Power Point Tracking Based on Sliding Mode Control

    Nimrod Vázquez

    2015-01-01

    Full Text Available Solar panels, which have become a good choice, are used to generate and supply electricity in commercial and residential applications. This generated power starts with the solar cells, which have a complex relationship between solar irradiation, temperature, and output power. For this reason a tracking of the maximum power point is required. Traditionally, this has been made by considering just current and voltage conditions at the photovoltaic panel; however, temperature also influences the process. In this paper the voltage, current, and temperature in the PV system are considered to be a part of a sliding surface for the proposed maximum power point tracking; this means a sliding mode controller is applied. Obtained results gave a good dynamic response, as a difference from traditional schemes, which are only based on computational algorithms. A traditional algorithm based on MPPT was added in order to assure a low steady state error.

  7. Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties

    Farzin Piltan

    2013-07-01

    Full Text Available This paper describes the design and implementation of robust nonlinear sliding mode control strategies for robot manipulators whose dynamic or kinematic models are uncertain. Therefore a fuzzy sliding mode tracking controller for robot manipulators with uncertainty in the kinematic and dynamic models is design and analyzes. The controller is developed based on the unit quaternion representation so that singularities associated with the otherwise commonly used three parameter representations are avoided. Simulation results for a planar application of the continuum or hyper-redundant robot manipulator (CRM are provided to illustrate the performance of the developed adaptive controller. These manipulators do not have rigid joints, hence, they are difficult to model and this leads to significant challenges in developing high-performance control algorithms. In this research, a joint level controller for continuum robots is described which utilizes a fuzzy methodology component to compensate for dynamic uncertainties.

  8. Permanent Magnet DC Motor Sliding Mode Control System

    Vaez-Zadeh, S.; Zamanian, M.

    2000-09-01

    In this paper a sliding mode controller (SMC) is designed for a permanent magnet, direct current (PMDC) motor to enhance the motor performance in the presence of unwanted uncertainties. Both the electrical and mechanical signals are used as the inputs to the SMC. The complete motor control system is simulated on a personal computer with different design parameters and desirable system performance is obtained. The experimental implementation of the motor control system is also presented. The test results confirm the simulation results and validate the proposed control system.

  9. A sliding mode observer for hemodynamic characterization under modeling uncertainties

    Zayane, Chadia

    2014-06-01

    This paper addresses the case of physiological states reconstruction in a small region of the brain under modeling uncertainties. The misunderstood coupling between the cerebral blood volume and the oxygen extraction fraction has lead to a partial knowledge of the so-called balloon model describing the hemodynamic behavior of the brain. To overcome this difficulty, a High Order Sliding Mode observer is applied to the balloon system, where the unknown coupling is considered as an internal perturbation. The effectiveness of the proposed method is illustrated through a set of synthetic data that mimic fMRI experiments.

  10. Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results

    U. Jørgensen

    2011-07-01

    Full Text Available In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically stable in the sense of Lyapunov. Due to cases where spacecraft do not have angular velocity measurements, an estimator for the generalized velocity is derived and asymptotic stability is proven for the observer. The approach is tested on an experimental platform with a sphere shaped Autonomous Underwater Vehicle SATellite: AUVSAT, developed at the Norwegian University of Science and Technology.

  11. Sliding Mode Control Strategy for Wind Turbine Power Maximization

    Oscar Barambones

    2012-07-01

    Full Text Available The efficiency of the wind power conversions systems can be greatly improved using an appropriate control algorithm. In this work, a sliding mode control for variable speed wind turbine that incorporates a doubly fed induction generator is described. The electrical system incorporates a wound rotor induction machine with back-to-back three phase power converter bridges between its rotor and the grid. In the presented design the so-called vector control theory is applied, in order to simplify the electrical equations. The proposed control scheme uses stator flux-oriented vector control for the rotor side converter bridge control and grid voltage vector control for the grid side converter bridge control. The stability analysis of the proposed sliding mode controller under disturbances and parameter uncertainties is provided using the Lyapunov stability theory. Finally simulated results show, on the one hand, that the proposed controller provides high-performance dynamic characteristics, and on the other hand, that this scheme is robust with respect to the uncertainties that usually appear in the real systems.

  12. Decentralized sliding mode control of a building using MR dampers

    This paper presents the structural control results of shaking table tests for a steel frame structure in order to evaluate the performance of a number of proposed semi-active control algorithms using multiple magnetorheological (MR) dampers. The test structure is a six-story steel frame equipped with MR dampers. Four different cases of damper arrangement in the structure are selected for the control study. In experimental tests, the El Centro earthquake and Kobe earthquake ground motion data are used as excitations. Further, several decentralized sliding mode control algorithms are developed in this paper specifically for applications of MR dampers in building structures. Various control algorithms are used for the semi-active control studies, including the proposed decentralized sliding mode control (DSMC), LQR control, and passive-on and passive-off control. Each control algorithm is formulated specifically for the use of MR dampers installed in building structures. Additionally, each algorithm uses measurements of the device velocity and device drift for the determination of the control action to ensure that the algorithm can be implemented in a physical structure. The performance of each algorithm is evaluated based on the results of shaking table tests, and the advantages of each algorithm are compared and discussed. The reduction of story drifts and floor accelerations throughout the structure is examined

  13. Sliding mode control of electromagnetic tethered satellite formation

    Hallaj, Mohammad Amin Alandi; Assadian, Nima

    2016-08-01

    This paper investigates the control of tethered satellite formation actuated by electromagnetic dipoles and reaction wheels using the robust sliding mode control technique. Generating electromagnetic forces and moments by electric current coils provides an attractive control actuation alternative for tethered satellite system due to the advantages of no propellant consumption and no obligatory rotational motion. Based on a dumbbell model of tethered satellite in which the flexibility and mass of the tether is neglected, the equations of motion in Cartesian coordinate are derived. In this model, the J2 perturbation is taken into account. The far-field and mid-field models of electromagnetic forces and moments of two satellites on each other and the effect of the Earth's magnetic field are presented. A robust sliding mode controller is designed for precise trajectory tracking purposes and to deal with the electromagnetic force and moment uncertainties and external disturbances due to the Earth's gravitational and magnetic fields inaccuracy. Numerical simulation results are presented to validate the effectiveness of the developed controller and its superiority over the linear controller.

  14. Switched Reluctance Generator Output Voltage Ripple Reduction Based on Fuzzy Sliding Mode

    Xia Fei; Xia Zongze; Huang Xiaobo; Wang Yun

    2015-01-01

    Aiming at the problem of Switched Reluctance Generator output voltage ripple, this paper designs a fuzzy sliding mode controller based on the analysis of various factors affecting the output voltage ripple. The traditional sliding mode controller has quick convergence, but it has chattering problem. This paper introduces the fuzzy control to select the appropriate sliding mode gain. It can combine with traditional angle control to adjust the output voltage by adjusting the conduction angle. I...

  15. Designing of proportional sliding mode controller for linear one stage inverted pendulum

    2011-01-01

    The control of Inverted Pendulum (IP) is a hugely complex task. A great deal of nonlinearity is present inherently and as well as affected by the surrounding external conditions. The sliding mode controller (SMC) is very robust inherently. It is used in this paper to control the IP. This paper examines the designing of sliding mode controller (SMC) for a linear inverted pendulum (IP). The paper highlights the important features of the sliding mode and also throws ample lights on the designing...

  16. Terminal Sliding Mode Control of Mobile Wheeled Inverted Pendulum System with Nonlinear Disturbance Observer

    2014-01-01

    A terminal sliding mode controller with nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. In order to eliminate the main drawback of the sliding mode control, “chattering” phenomenon, and for compensation of the model uncertainties and external disturbance, we designed a nonlinear disturbance observer of the mobile wheeled inverted pendulum system. Based on the nonlinear disturbance observer, a terminal sliding mode controller is also proposed....

  17. Experimental Setup and Robust Servo DC Motor Position Control Based on Gain Schedule Sliding Mode Controller

    Ahmed M. Kassem; Ali Mohamed Yousef

    2012-01-01

    A position control of DC motor servo drive based on the Sliding Mode (SM) approach is presented. The modeling and analysis of the servo DC motor are obtained. The Sliding Mode Controller (SMC) design changes such that its performance is substantially improved. To improve the controller performance in steady stat (zero error) the Integral Sliding Mode Controller (ISMC) is used. Since the main drawback of SMC is a phenomenon, the so-called chattering, resulting from discontinuous controllers. A...

  18. Hierarchical sliding mode control for under-actuated cranes design, analysis and simulation

    Qian, Dianwei

    2015-01-01

    This book reports on the latest developments in sliding mode overhead crane control, presenting novel research ideas and findings on sliding mode control (SMC), hierarchical SMC and compensator design-based hierarchical sliding mode. The results, which were previously scattered across various journals and conference proceedings, are now presented in a systematic and unified form. The book will be of interest to researchers, engineers and graduate students in control engineering and mechanical engineering who want to learn the methods and applications of SMC.

  19. Analysis of an ACC System for Sliding Mode and MPC under Transitional Manoeuvers

    Zeeshan Ali Memon

    2012-10-01

    Full Text Available Two different control algorithms, sliding mode and MPC (Model Predictive Control are employed to analyse the performance of a linear vehicle model equipped with an ACC (Adaptive Cruise Control system. Both controllers are analysed under critical TM (Transitional Maneuvers to investigate their suitability for the ACC system. The simulation results, for the same scenario, from both controllers\\' approach have been compared. The results show that the MPC is more robust than the SMC (Sliding Model Controller. The results show that the SMC algorithm is not suitable for the proposed vehicle model. The shortcomings of the SMC have been highlighted and the comparisons are made with the previous studies. The proposed approach can be useful for the selection of the appropriate controller for the given application.

  20. A Class of Speed Sensorless Sliding Mode Observers for Direct Torque Controlled Induction Motor Drives

    Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede

    A family of speed-sensorless sliding-mode observers for induction motors has been developed. Three topologies have been investigated in order to determine their feasibility, parameter sensitivity and practical applicability. The salient feature of all schemes is that they do not require the rotor...... speed adaptation, that is, they are inherently sensorless observers. The most versatile is a dual-reference-frame observer. The other two schemes, implemented in stator frame and rotor frame, respectively, are simpler and are insensitive to detuning some of the motor parameters. Main theoretical aspects...

  1. Robust fuzzy control for stochastic Markovian jumping systems via sliding mode method

    Chen, Bei; Jia, Tinggang; Niu, Yugang

    2016-07-01

    This paper considers the problem of sliding mode control for stochastic Markovian jumping systems by means of fuzzy method. The Takagi-Sugeno (T-S) fuzzy stochastic model subject to state-dependent noise is presented. A key feature in this work is to remove the restricted condition that each local system model had to share the same input channel, which is usually assumed in some existing results. The integral sliding surface is constructed for every mode and the connections among various sliding surfaces are established via a set of coupled matrices. Moreover, the present sliding mode controller including the transition rates of modes can cope with the effect of Markovian switching. It is shown that both the reachability of sliding surfaces and the stability of sliding mode dynamics can be ensured. Finally, numerical simulation results are given.

  2. A Neuro-fuzzy-sliding Mode Controller Using Nonlinear Sliding Surface Applied to the Coupled Tanks System

    Ahcene Boubakir; Fares Boudjema; Salim Labiod

    2009-01-01

    The aim of this paper is to develop a neuro-fuzzy-sliding mode controller (NFSMC) with a nonlinear sliding surface for a coupled tank system.The main purpose is to eliminate the chattering phenomenon and to overcome the problem of the equivalent control computation.A first-order nonlinear sliding surface is presented,on which the developed sliding mode controller (SMC) is based.Mathematical proof for the stability and convergence of the system is presented.In order to reduce the chattering in SMC,a fixed boundary layer around the switch surface is used.Within the boundary layer,where the fuzzy logic control is applied,the chattering phenomenon,which is inherent in a sliding mode control,is avoided by smoothing the switch signal.Outside the boundary,the sliding mode control is applied to drive the system states into the boundary layer.Moreover,to compute the equivalent controller,a feed-forward neural network (NN) is used.The weights of the net are updated such that the corrective control term of the NFSMC goes to zero.Then,this NN also alleviates the chattering phenomenon because a big gain in the corrective control term produces a more serious chattering than a small gain.Experimental studies carried out on a coupled tank system indicate that the proposed approach is good for control applications.

  3. Hybrid Fuzzy Sliding Mode Controller for Timedelay System

    N. K. Yadav

    2013-07-01

    Full Text Available This paper is concerned with the problems of stability analysis and stabilization control design for a class of discrete-time T-S fuzzy systems with state-delay for multi-input and multi-output. The nonlinear fuzzy controller helps to overcome the problems of the ill - defined model of the systems, which are creating the undesirable performance. . Here sliding surface is being designed for error function of nonlinear system and sliding mode control is being designed here. The switching surface is being proven for its asymptotic stability. The generated error signal and change of error signal will be utilized for application heuristic knowledge to design the rule base in the fuzzy logic control and fuzzy logic controller is designed here. The proposed technique also brings in a systematic approach to the fuzzy logic control, thus overcoming lots of heuristics that were in vogue with earlier fuzzy logic applications. Fuzzy logic control has been applied to a second order model of a roll autopilot. It has been found that the proposed scheme is robust and works satisfactorily even when parameters are perturbed as much as fifteen percent of their geometric mean value. This designed algorithm will be more effective for highly unstable nonlinear systems such as aerospace system.

  4. Fault tolerant control schemes using integral sliding modes

    Hamayun, Mirza Tariq; Alwi, Halim

    2016-01-01

    The key attribute of a Fault Tolerant Control (FTC) system is its ability to maintain overall system stability and acceptable performance in the face of faults and failures within the feedback system. In this book Integral Sliding Mode (ISM) Control Allocation (CA) schemes for FTC are described, which have the potential to maintain close to nominal fault-free performance (for the entire system response), in the face of actuator faults and even complete failures of certain actuators. Broadly an ISM controller based around a model of the plant with the aim of creating a nonlinear fault tolerant feedback controller whose closed-loop performance is established during the design process. The second approach involves retro-fitting an ISM scheme to an existing feedback controller to introduce fault tolerance. This may be advantageous from an industrial perspective, because fault tolerance can be introduced without changing the existing control loops. A high fidelity benchmark model of a large transport aircraft is u...

  5. Speed Synchronization of web winding System with Sliding Mode Control

    Hachemi Glaoui

    2013-02-01

    Full Text Available A continuous web winding system is a large-scale, complex interconnected dynamic system with numerous tension zones to transport the web while processing it. There are two control schemes for large-scale system control: the centralized scheme and the decentralized scheme. Centralized control is the traditional control method, which considers all the information about the system to be a single dynamic model and design a control system for this model. A speed synchronization control strategy for multiple induction motors, based on adjacent cross-coupling control structure, is developed by employing total sliding mode control method. The proposed control strategy is to stabilize speed tracking of each induction motor while synchronizing its speed with the speed of the other motors so as to make speed synchronization error amongst induction motors converge to zero. The global stability and the convergence of the designed controller are proved by using Lyapunov method. Simulation results demonstrate the effectiveness of the proposed method.

  6. Longitudinal tire force estimation based on sliding mode observer

    El Hadri, A.; Cadiou, J.C.; M' Sirdi, N.K. [Versailles Univ., Paris (France). Lab. de Robotique; Beurier, G.; Delanne, Y. [Lab. Central des Ponts, Centre de Nantes (France)

    2001-07-01

    This paper presents an estimation method for vehicle longitudinal dynamics, particularly the tractive/braking force. The estimation can be used to detect a critical driving situation to improve security. It can be used also in several vehicle control systems. The main characteristics of the vehicle longitudinal dynamics were taken into account in the model used to design an observer and computer simulations. The state variables are the angular wheel velocity, vehicle velocity and the longitudinal tire force. The proposed differential equation of the tractive/braking force is derived using the concept of relaxation length. The observer designed is based on the sliding mode approach using only the angular wheel velocity measurement. The proposed method of estimation is verified through a one-wheel simulation model with a ''Magic formula'' tire model. Simulations results show an excellent reconstruction of the tire force. (orig.)

  7. Integral Sliding Mode Control Design for Electronic Throttle Valve System

    Shibly Ahmed AL-Samarraie

    2015-09-01

    Full Text Available One of the major components in an automobile engine is the throttle valve part. It is used to keep up with emissions and fuel efficiency low. Design a control system to the throttle valve is newly common requirement trend in automotive technology. The non-smoothness nonlinearity in throttle valve model are due to the friction model and the nonlinear spring, the uncertainty in system parameters and non-satisfying the matching condition are the main obstacles when designing a throttle plate controller. In this work, the theory of the Integral Sliding Mode Control (ISMC is utilized to design a robust controller for the Electronic Throttle Valve (ETV system. From the first instant, the electronic throttle valve dynamics is represented by the nominal system model, this model is not affected by system parameters uncertainty and the non-smooth nonlinearities. This is a consequence of applying the integral sliding mode control. The ISMC consists of two part; the first is the nominal control which is used to control the nominal system, while the second is a discontinuous part which is used to eliminate the effects of the parameters uncertainty and the non-smooth nonlinearities from system model. These features for the ISMC are proved mathematically and demonstrated numerically via seven numerical simulations and for different desired trajectories. The simulation results clarify that for different system parameters, the ETV behaves as a nominal system. This enables to freely and precisely select the system response characteristics and the time required for the throttle angle to reach the desired value. Moreover the ability to deal with the chattering problem is demonstrated through the worked simulation tests, where the chattering is eliminated via approximating the signum function by arc tan function.

  8. Functional Based Adaptive and Fuzzy Sliding Controller for Non-Autonomous Active Suspension System

    Huang, Shiuh-Jer; Chen, Hung-Yi

    In this paper, an adaptive sliding controller is developed for controlling a vehicle active suspension system. The functional approximation technique is employed to substitute the unknown non-autonomous functions of the suspension system and release the model-based requirement of sliding mode control algorithm. In order to improve the control performance and reduce the implementation problem, a fuzzy strategy with online learning ability is added to compensate the functional approximation error. The update laws of the functional approximation coefficients and the fuzzy tuning parameters are derived from the Lyapunov theorem to guarantee the system stability. The proposed controller is implemented on a quarter-car hydraulic actuating active suspension system test-rig. The experimental results show that the proposed controller suppresses the oscillation amplitude of the suspension system effectively.

  9. Sliding mode observer based incipient sensor fault detection with application to high-speed railway traction device.

    Zhang, Kangkang; Jiang, Bin; Yan, Xing-Gang; Mao, Zehui

    2016-07-01

    This paper considers incipient sensor fault detection issue for a class of nonlinear systems with "observer unmatched" uncertainties. A particular fault detection sliding mode observer is designed for the augmented system formed by the original system and incipient sensor faults. The designed parameters are obtained using LMI and line filter techniques to guarantee that the generated residuals are robust to uncertainties and that sliding motion is not destroyed by faults. Then, three levels of novel adaptive thresholds are proposed based on the reduced order sliding mode dynamics, which effectively improve incipient sensor faults detectability. Case study of on the traction system in China Railway High-speed is presented to demonstrate the effectiveness of the proposed incipient senor faults detection schemes. PMID:27156675

  10. A novel sliding-mode control of induction motor using space vector modulation technique.

    Fu, Tian-Jun; Xie, Wen-Fang

    2005-10-01

    This paper presents a novel sliding-mode control method for torque control of induction motors. The control principle is based on sliding-mode control combined with space vector modulation technique. The sliding-mode control contributes to the robustness of induction motor drives, and the space vector modulation improves the torque, flux, and current steady-state performance by reducing the ripple. The Lyapunov direct method is used to ensure the reaching and sustaining of sliding mode and stability of the control system. The performance of the proposed system is compared with those of conventional sliding-mode controller and classical PI controller. Finally, computer simulation results show that the proposed control scheme provides robust dynamic characteristics with low torque ripple. PMID:16294775

  11. Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots With Unknown Sliding

    Mingyue Cui; Dihua Sun; Weining Liu; Min Zhao; Xiaoyong Liao

    2012-01-01

    An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time‐varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the ...

  12. Second-order sliding mode fault-tolerant control of heat recovery steam generator boiler in combined cycle power plants

    Power generation plants are intrinsically complex systems due to their numerous internal components. Higher energy efficiency in power plants is now achieved through employing combined cycles. In this article, an adaptive robust Sliding Mode Controller (SMC) is designed to overcome the faults in Heat Recovery Steam Generator boilers (HRSG boilers) as one of the main parts of a combined cycle plant. On condition that a fault occurs in the HRSG boiler, the control system must be able to reconfigure its parameters to maintain the admissible thresholds in dynamic variables such as drum pressure, steam temperature, and drum water level. To achieve good performance for the boiler, the proposed adaptive robust SMC shall conquer the effects of faults and uncertainties by estimating their upper bounds adaptively, and force the outputs of the multivariable boiler to track the outputs of a desired multivariable reference model. Manipulating a suitable control input and using second-order sliding mode control strategy, the output tracking error slides to zero on a PID sliding surface. Besides tracking, the controlled boiler tolerates faults in system matrix, faults in input matrix, and external disturbance signal. Numerical simulations confirm the effectiveness of the proposed FTC (Fault-Tolerant Control) system for an uncertain non-minimum phase HRSG boiler. Highlights: ► This paper proposes a PID-based adaptive second-order sliding mode controller (SMC). ► SMC is robust to actuator and sensor faults and tracks outputs of a reference system. ► SMC is used in fault tolerant control of a heat recovery steam generator boilers. ► Boiler and reference system have different number of states and inputs. ► Performance of SMC is investigated with different faults scenarios in simulations.

  13. Integral sliding mode control for a class of nonlinear neutral systems with time-varying delays

    This paper focuses on sliding mode control problems for a class of nonlinear neutral systems with time-varying delays. An integral sliding surface is firstly constructed. Then it finds a useful criteria to guarantee the global stability for the nonlinear neutral systems with time-varying delays in the specified switching surface, whose condition is formulated as linear matrix inequality. The synthesized sliding mode controller guarantees the reachability of the specified sliding surface. Finally, a numerical simulation validates the effectiveness and feasibility of the proposed technique. (general)

  14. Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

    Ismail Ben Abdallah

    2016-01-01

    Full Text Available Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case or trajectory generation based on feedback sensors (active robots case. However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE, a developed human-machine-interface (HMI allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.

  15. Avoidance High-Frequency Chattering Second-Order Sliding Mode Controller Design: Buck Converter in Wind Power System

    Yigeng Huangfu; Ruiqing Ma; Abdellatif Miraoui

    2012-01-01

    This paper mainly discussed a method of high-frequency second-order sliding mode control for Buck converter in wind power systems. Because the wind energy of nature is always unpredictable and intermittent, the robust control such as sliding mode control is adopted in past literatures. In order to remove the high frequency chattering problem when the traditional sliding mode achieves convergence, the second order sliding mode algorithm is reviewed firstly. Meanwhile, the Buck converter taken ...

  16. Cytopathology whole slide images and adaptive tutorials for postgraduate pathology trainees: a randomized crossover trial.

    Van Es, Simone L; Kumar, Rakesh K; Pryor, Wendy M; Salisbury, Elizabeth L; Velan, Gary M

    2015-09-01

    To determine whether cytopathology whole slide images and virtual microscopy adaptive tutorials aid learning by postgraduate trainees, we designed a randomized crossover trial to evaluate the quantitative and qualitative impact of whole slide images and virtual microscopy adaptive tutorials compared with traditional glass slide and textbook methods of learning cytopathology. Forty-three anatomical pathology registrars were recruited from Australia, New Zealand, and Malaysia. Online assessments were used to determine efficacy, whereas user experience and perceptions of efficiency were evaluated using online Likert scales and open-ended questions. Outcomes of online assessments indicated that, with respect to performance, learning with whole slide images and virtual microscopy adaptive tutorials was equivalent to using traditional methods. High-impact learning, efficiency, and equity of learning from virtual microscopy adaptive tutorials were strong themes identified in open-ended responses. Participants raised concern about the lack of z-axis capability in the cytopathology whole slide images, suggesting that delivery of z-stacked whole slide images online may be important for future educational development. In this trial, learning cytopathology with whole slide images and virtual microscopy adaptive tutorials was found to be as effective as and perceived as more efficient than learning from glass slides and textbooks. The use of whole slide images and virtual microscopy adaptive tutorials has the potential to provide equitable access to effective learning from teaching material of consistently high quality. It also has broader implications for continuing professional development and maintenance of competence and quality assurance in specialist practice. PMID:26093936

  17. Sliding mode control of a stand-alone wound rotor synchronous generator

    Muñoz Aguilar, Raúl Santiago; Dòria Cerezo, Arnau; Fossas Colet, Enric; Cardoner Parpal, Rafel

    2011-01-01

    This paper presents a sliding mode control for a wound rotor synchronous machine acting as an isolated generator. The standard dq model of the machine is connected to a resistive load. A switching function is defined in order to fulfill control objectives, and the ideal sliding dynamics is proved to be stable. From the desired surface, the standard sliding methodology is applied to obtain a robust and very simple controller. Numerical simulations and experimental results ...

  18. Sliding mode pulse-width modulation technique for direct torque controlled induction motor drive

    Bounadja, M.; Belarbi, A. W.; Belmadani, B.

    2010-05-01

    This paper presents a novel pulse-width modulation technique based sliding mode approach for direct torque control of an induction machine drive. Methodology begins with a sliding mode control of machine's torque and stator flux to generate the reference voltage vector and to reduce parameters sensitivity. Then, the switching control of the three-phase inverter is developed using sliding mode concept to make the system tracking reference voltage inputs. The main features of the proposed methodologies are the high tracking accuracy and the much easier implementation compared to the space vector modulation. Simulations are carried out to confirm the effectiveness of proposed control algorithms.

  19. Sliding Mode Control Approach for Electrically Controllable Clutch of AMT Based on the Feedback Linearization

    程东升; 张建武; 叶晓峰; 黄维纲

    2003-01-01

    A sliding mode control approach based on the feedback linearization is proposed for the electrically controllable clutch of AMT vehicles. The nonlinear dynamic model for the hydraulic actuator associated with clutch is established. By means of the exact feedback linearization procedure of differential geometry, an equivalent, fully controllable and linear model is derived via a homomorphic transformation for the AMT clutch system.Furthermore, a sliding mode control is introduced to improve robustness. The tracking tests are performed using the sliding mode control on a Santana LX passenger car, and the experimental results prove that this nonlinear controller is of fine robustness and high degree of tracking accuracy.

  20. Design of Sliding Mode Controller Enhanced by Fuzzy Logic Algorithm for Industrial Robot

    Vijay Tiwari

    2013-11-01

    Full Text Available In this paper a sliding mode control enhanced by fuzzy logic algorithm method is proposed for the robust tracking control of industrial robot manipulator. The proposed controller ensures the advantage of fuzzy logic algorithm and sliding mode control. There are two parts of the proposed method: first the design of sliding mode control for robust stability and second the development of fuzzy logic algorithms to reduce chattering effectively. The stability of control is proven by Lyapunov stability method and the performance of tracking error is shown in a table by using RMS value.

  1. A NEW SLIDING MODE CONTROL FOR A CLASS OF UNCERTAIN TIME-DELAY CHAOTIC SYSTEMS

    LI LI-XIANG; PENG HAI-PENG; GUAN BAO-ZHU; XU JIN-MING

    2001-01-01

    We propose a new sliding mode control scheme for a class of uncertain time-delay chaotic systems. It is shown that a linear time invariant system with the desired system dynamics is used as a reference model for the output of a time-delay chaotic system to track. A sliding mode controller is then designed to drive the output of the time-delay chaotic system to track the desired linear system. On the sliding mode, the output of the controlled time-delay chaotic system can behave like the desired linear system. A simulation example is given in support of the proposed control scheme.

  2. Double Sliding-mode Model Reference Adaptive System Speed Identification for Vector Control of Permanent Magnet Synchronous Motors%永磁同步电机矢量控制双滑模模型参考自适应系统转速辨识

    王庆龙; 张兴; 张崇巍

    2014-01-01

    编码器的使用降低了永磁同步电机矢量控制系统的可靠性和耐用性,且某些场合无法安装编码器。理论上可以通过永磁同步电机的电压和电流实时计算出电机的转速和转子位置角度。该文提出了一种基于双滑模模型参考自适应系统(model reference adaptive system,MRAS)的永磁同步电机无位置传感器控制策略。其中,参考模型为永磁电机本身,可调模型为永磁电机电流模型。利用两模型输出的偏差构造了2个滑模面,将通过滑模算法获得的等效控制进行运算即可获得电机的转速和转子位置角度,并分别用于矢量控制系统的速度调节和坐标变换。在理论分析的基础上进行了仿真研究,仿真结果表明所提出的观测方法是有效的。%The use of encoders reduces the ruggedness and reliability for the vector control system of permanent magnet synchronous motor; Also, in some cases the mounting of the encoders is a major problem. In theory, speed and rotor position angle of permanent magnet synchronous motor can in real-time be calculated by voltage and current. This paper proposes a sensorless speed control strategy for a permanent magnet synchronous motor (PMSM) based on a new double sliding-mode model reference adaptive system, and the PMSM itself is selected as the reference model and its current model as the adjustable model. Two slide-mode surfaces are formulated according to two models’ output errors. Equivalent current is obtained by sliding mode, and rotor position and speed are achieved by a certain algorithm. The rotor position and speed obtained are used respectively to partake coordinate transformation and speed control in sensorless vector control of PMSM. The simulation research has been done on the basis of theoretical analysis, and shows that the proposed method is effective.

  3. A Novel Control Approach Based on Second Order Sliding Modes & Its Application to Hydraulic Drives

    Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    control accuracy to be reached. In this paper a novel control approach based on second order sliding modes utilizing the idea of the power rate reaching law is introduced. Dependent on parameters the proposed controller may preserve the main features of sliding controls, while at the same time avoiding...

  4. Fully magnetic sliding mode control for acquiring three-axis attitude

    Ovchinnikov, M. Yu.; Roldugin, D. S.; Penkov, V. I.; Tkachev, S. S.; Mashtakov, Y. V.

    2016-04-01

    Satellite equipped with purely magnetic attitude control system is considered. Sliding mode control is used to achieve three-axis satellite attitude. Underactuation problem is solved for transient motion. Necessary attitude is acquired by proper sliding manifold construction. Satellite motion on the manifold is executed with magnetic control system. One manifold construction approach is proposed and discussed. Numerical examples are provided.

  5. Flexible Joints Robotic Manipulator Control By Adaptive Gain Smooth Sliding Observer-Controller

    A. FILIPESCU

    2003-12-01

    Full Text Available An adaptive gain sliding observer for uncertain parameter nonlinear systems together with an adaptive gain sliding controller is proposed in this paper. It considered nonlinear, SISO affine systems, with uncertainties in steady-state functions and parameters. A further parameter term, adaptively updated, has been introduced in steady state space model of the controlled system, in order to obtain useful information despite fault detection and isolation. By using of the sliding observer with adaptive gain, the robustness to uncertainties is increased and the parameters adaptively updated can provide useful information in fault detection. Also, the state estimation error is bounded accordingly with bound limits of the uncertainties. The both of them, the sliding adaptive observer and sliding controller are designed to fulfill the attractiveness condition of its corresponding switching surface. An application to a single arm with flexible joint robot is presented. In order to alleviate chattering, a parameterized tangent hyperbolic has been used as switching function, instead of pure relay one, to the observer and the controller. Also, the gains of the switching functions, to the sliding observer and sliding controller are adaptively updated depending of estimation error and tracking error, respectively. By the using adaptive gains, the transient and tracking response can be improved.

  6. Analysis of Dc/Dc converters with PWM and sliding mode controls

    Static and dynamic performances of D C/D C converters with PWM and sliding mode controllers are investigated. To improve the performance of the PWM controller, a linear compensator is proposed and used. For sliding controller, important parameters such as sliding coefficients and filter time constant are carefully computed and used. Finally, a D C/D C buck converter with PWM and sliding controller is designed, modeled and constructed. Theoretical and experimental results are compared and the distinguished features and limitations of each control technique are presented

  7. Model validation and higher order sliding mode controller design for a research reactor

    Qaiser, S.H. [Center for Advanced Studies in Engineering, 19 Ataturk Avenue, Islamabad (Pakistan); Bhatti, A.I. [Mohammad Ali Jinnah University, Islamabad (Pakistan); Iqbal, Masood [Nuclear Engineering Division, Pakistan Institute of Nuclear Science and Technology, P.O. Nilore, Islamabad (Pakistan)], E-mail: masiqbal@hotmail.com; Samar, R. [Mohammad Ali Jinnah University, Islamabad (Pakistan); Qadir, J. [Nuclear Engineering Division, Pakistan Institute of Nuclear Science and Technology, P.O. Nilore, Islamabad (Pakistan)

    2009-01-15

    The paper pertains to model validation and novel higher order sliding mode controller design for a nuclear research reactor. Sliding mode controllers for nuclear reactors were reported before but higher order sliding mode controllers have added advantage of reduced chattering. As a first step of model development a simulation model of control rod drive mechanism (CRDM) has been developed using SIMULINK. This model has been validated with a lab based CRDM model, which is similar to Pakistan Research Reactor-1 (PARR-1) CRDM system. The nonlinear model of PARR-1 has been tuned and validated with experimental data. This model has been subsequently used for higher order sliding mode controller design and performance evaluation. Certain parameter values have also been recalculated to ensure model accuracy. Based on the validated model a robust nonlinear controller for controlling output power by manipulating control rod position has been developed and simulated. The new controller showed improved performance as compared to the classical PID controller.

  8. Model validation and higher order sliding mode controller design for a research reactor

    The paper pertains to model validation and novel higher order sliding mode controller design for a nuclear research reactor. Sliding mode controllers for nuclear reactors were reported before but higher order sliding mode controllers have added advantage of reduced chattering. As a first step of model development a simulation model of control rod drive mechanism (CRDM) has been developed using SIMULINK. This model has been validated with a lab based CRDM model, which is similar to Pakistan Research Reactor-1 (PARR-1) CRDM system. The nonlinear model of PARR-1 has been tuned and validated with experimental data. This model has been subsequently used for higher order sliding mode controller design and performance evaluation. Certain parameter values have also been recalculated to ensure model accuracy. Based on the validated model a robust nonlinear controller for controlling output power by manipulating control rod position has been developed and simulated. The new controller showed improved performance as compared to the classical PID controller

  9. Finite time control for MIMO nonlinear system based on higher-order sliding mode.

    Liu, Xiangjie; Han, Yaozhen

    2014-11-01

    Considering a class of MIMO uncertain nonlinear system, a novel finite time stable control algorithm is proposed based on higher-order sliding mode concept. The higher-order sliding mode control problem of MIMO nonlinear system is firstly transformed into finite time stability problem of multivariable system. Then continuous control law, which can guarantee finite time stabilization of nominal integral chain system, is employed. The second-order sliding mode is used to overcome the system uncertainties. High frequency chattering phenomenon of sliding mode is greatly weakened, and the arbitrarily fast convergence is reached. The finite time stability is proved based on the quadratic form Lyapunov function. Examples concerning the triple integral chain system with uncertainty and the hovercraft trajectory tracking are simulated respectively to verify the effectiveness and the robustness of the proposed algorithm. PMID:25277626

  10. Implementation of Sliding Mode Observer Based Reconfiguration in an Autonomous Underwater Vehicle

    A. J. Mitchell

    2005-01-01

    Full Text Available This paper looks at the implementation of a Sliding Mode Observer (SMO based Reconfiguration algorithm to deal with sensor faults within the context of navigation controllers for Autonomous Underwater Vehicle (AUV. In this paper the reconfigurability aspects are considered for the heading controller. Simulation responses are used to illustrate that the Sliding Mode Observer is able to give state information to the controller when there is a fault in the AUV’s sensor package. Comparisons are made between the Sliding Mode Controller with and without reconfigurability for a number of different sensor failures, e.g. bias errors in or the complete loss of the heading data, and the robustness of the Sliding Mode Observer is investigated through the introduction of disturbances into the system. 

  11. Chaos control of single time-scale brushless DC motor with sliding mode control method

    Uyaroğlu, Yılmaz; CEVHER, Barış

    2013-01-01

    In this paper, the sliding mode control (SMC) scheme of single time-scale brushless DC motor (BLDCM) is investigated. The SMC method consists of 2 sections. To simplify the directive of the stability of the controlled single time-scale BLDCM in the sliding mode, first a special type of PI switching surface is adopted. Second, the SMC controller is obtained to guarantee the occurrence of the PI switching surface. The effectiveness of the theoretical analysis is evaluated by numerical...

  12. Research of Compound Control for DC Motor System Based on Global Sliding Mode Disturbance Observer

    2014-01-01

    Aiming at the problems of modeling errors, parameter variations, and load moment disturbances in DC motor control system, one global sliding mode disturbance observer (GSMDO) is proposed based on the global sliding mode (GSM) control theory. The output of GSMDO is used as the disturbance compensation in control system, which can improve the robust performance of DC motor control system. Based on the designed GSMDO in inner loop, one compound controller, composed of a feedback controller and a...

  13. Low-cost sliding mode control of WECS based on DFIG with stability analysis

    DJOUDI, ABDELHAK; CHEKIREB, HACHEMI; BERKOUK, El Madjid; Bacha, Seddik

    2015-01-01

    The aim of this work is to developing sliding mode control of active and reactive stator powers produced by a wind energy conversion system (WECS), based on doubly fed induction generator (DFIG). A flux estimation model and rotor current sensor are no longer required. The controller is developed from the DFIG nonlinear-coupled model. Moreover, the global stability and the DFIG states' boundedness when our low-cost sliding mode control is applied are established analytically. It is reveal...

  14. A sliding mode control for linear fractional systems with input and state delays

    Si-Ammour, Amar; Djennoune, Said; Bettayeb, Maamar

    2009-05-01

    In this paper, a sliding mode control design for fractional order systems with input and state time-delay is proposed. First, we consider a fractional order system without delay for which a sliding surface is proposed based on fractional integration of the state. Then, a stabilizing switching controller is derived. Second, a fractional system with state delay is considered. Third, a strategy including a fractional state predictor input delay compensation is developed. The existence of the sliding mode and the stability of the proposed control design are discussed. Numerical examples are given to illustrate the theoretical developments.

  15. Frequency-shaped and observer-based discrete-time sliding mode control

    Mehta, Axaykumar

    2015-01-01

    It is well established that the sliding mode control strategy provides an effective and robust method of controlling the deterministic system due to its well-known invariance property to a class of bounded disturbance and parameter variations. Advances in microcomputer technologies have made digital control increasingly popular among the researchers worldwide. And that led to the study of discrete-time sliding mode control design and its implementation. This brief presents, a method for multi-rate frequency shaped sliding mode controller design based on switching and non-switching type of reaching law. In this approach, the frequency dependent compensator dynamics are introduced through a frequency-shaped sliding surface by assigning frequency dependent weighing matrices in a linear quadratic regulator (LQR) design procedure. In this way, the undesired high frequency dynamics or certain frequency disturbance can be eliminated. The states are implicitly obtained by measuring the output at a faster rate than th...

  16. The simplex method for nonlinear sliding mode control

    Bartolini G.

    1998-01-01

    Full Text Available General nonlinear control systems described by ordinary differential equations with a prescribed sliding manifold are considered. A method of designing a feedback control law such that the state variable fulfills the sliding condition in finite time is based on the construction of a suitable simplex of vectors in the tangent space of the manifold. The convergence of the method is proved under an obtuse angle condition and a way to build the required simplex is indicated. An example of engineering interest is presented.

  17. Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System

    Wang Congqing

    2013-02-01

    Full Text Available The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free‐floating space rigid‐flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external disturbance and the vibration damping of a flexible link. Then, in modal space, the problems of the manipulator system’s trajectory tracking and the vibration suppression are discussed by using the composite control approach, which combines a non‐ singular terminal sliding mode control (NTSMC with an active vibration suppression control (AVSC. The NTSMC uses a fuzzy logic outputinstead ofthe symbol item, which smoothes the control signal, thereby inhibiting the chattering of the sliding mode control. Compared with common sliding mode control (SMC, the approach not only can reduce the chattering of the sliding mode control, but also can eliminate the singular phenomenon of the system’s control input. In addition, it can assure the trajectory tracking and the vibration suppression. Many space missions can benefit from this modelling system, such as autonomous docking of satellites, rescuing and satellite servicing. Finally, the numerical simulations were carried out, which confirmed the effectiveness of these methods.

  18. Universal fuzzy integral sliding-mode controllers for stochastic nonlinear systems.

    Gao, Qing; Liu, Lu; Feng, Gang; Wang, Yong

    2014-12-01

    In this paper, the universal integral sliding-mode controller problem for the general stochastic nonlinear systems modeled by Itô type stochastic differential equations is investigated. One of the main contributions is that a novel dynamic integral sliding mode control (DISMC) scheme is developed for stochastic nonlinear systems based on their stochastic T-S fuzzy approximation models. The key advantage of the proposed DISMC scheme is that two very restrictive assumptions in most existing ISMC approaches to stochastic fuzzy systems have been removed. Based on the stochastic Lyapunov theory, it is shown that the closed-loop control system trajectories are kept on the integral sliding surface almost surely since the initial time, and moreover, the stochastic stability of the sliding motion can be guaranteed in terms of linear matrix inequalities. Another main contribution is that the results of universal fuzzy integral sliding-mode controllers for two classes of stochastic nonlinear systems, along with constructive procedures to obtain the universal fuzzy integral sliding-mode controllers, are provided, respectively. Simulation results from an inverted pendulum example are presented to illustrate the advantages and effectiveness of the proposed approaches. PMID:24718584

  19. Evaluation Performance of IC Engine: Linear Tunable Gain Computed Torque Controller vs. Sliding Mode Controller

    Shahnaz Tayebi Haghighi

    2013-05-01

    Full Text Available Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., internal combustion engine is one of the most important challenging works. This paper focuses on the comparative study between two important nonlinear controllers namely; computed torque controller (CTC and sliding mode controller (SMC and applied to internal combustion (IC engine in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller and computed torque controller are selected. Pure SMC and CTC can be used to control of partly known nonlinear dynamic parameters of IC engine. Pure sliding mode controller and computed torque controller have difficulty in handling unstructured model uncertainties. To solve this problem applied linear error-based tuning method to sliding mode controller and computed torque controller for adjusting the sliding surface gain (λ and linear inner loop gain (K. Since the sliding surface gain (λ and linear inner loop gain (K are adjusted by linear error-based tuning method. In this research new λ and new K are obtained by the previous λ and K multiple gains updating factor(α. The results demonstrate that the error-based linear SMC and CTC are model-based controllers which works well in certain and uncertain system. These controllers have acceptable performance in presence of uncertainty.

  20. Chaos Control in Memristor-based Oscillators Using Intelligent Sliding Mode Control

    Amir Hossein Abolmasoumi

    2014-10-01

    Full Text Available In this paper, Intelligent Sliding Mode Control of chaos in a memristor- based Chua’s oscillator is investigated. In order to gain stabilization and tracking of a sinusoidal input, an appropriate sliding surface is proposed and sliding gain is tuned. Also, to avoid the chattering phenomenon in traditional sliding mode controller, and to reduce the hitting time of the controlled system, an especial genetic algorithm optimization method is suggested. By defining a new objective function and searching for optimal the controller parameters the convergence time and chattering are reduced considerably. The usefulness of the proposed controller with intelligent tuning method for chaos control of memristorbased oscillators is demonstrated in memristor- based Chua's circuit.

  1. Analysis and Experimental Study of Proportional-Integral Sliding Mode Control for DC/DC Converter

    ZHANG Li; QIU Shui-sheng

    2005-01-01

    DC/DC converter using the proportional-integral (PI) sliding mode control (SMC) scheme is investigated, including the selection of the switching surface, the proof of the reaching condition and the existence condition of sliding motion. The sliding regime and the local stability are given. The implementation of the PI SMC is simpler than other SMC schemes and the steady-state error is eliminated. A prototype based on Buck converter is built up. The experimental results show that the dynamic performance and robustness to the parameter variations and external disturbances are improved.

  2. Development of a Novel Fractional Order Sliding Mode Controller for a Gun

    Qiang Gao; Haijun Chen; Guolai Yang; Jilin Chen; Yuanlong Hou

    2013-01-01

    To solve the nonlinearity phenomenon of a Gun Control System (GCS), a novel Fractional order Sliding Mode Control (FoSMC) strategy is proposed in this study. By inducing the fractional order calculus, a Fractional Order PID (FOPID) type sliding surface is especially designed and consequently an equivalent control discipline with fractional order dynamics is induced. The saturation function is employed as the switch function. By numerical simulation, the dynamic characteristics of the FoSMC ba...

  3. Output Feedback and Single-Phase Sliding Mode Control for Complex Interconnected Systems

    Yao-Wen Tsai; Huynh, Van Van

    2015-01-01

    This paper generalized a new sliding mode control (SMC) without reaching phase to solve two important problems in the stability of complex interconnected systems: (1) a decentralized controller that uses only output variables directly and (2) the stability of complex interconnected systems ensured for all time. A new sliding surface is firstly designed to construct a single-phase SMC in which the desired motion is determined from the initial time instant. A new lemma is secondly established f...

  4. Frictional sliding modes along an interface between identical elastic plates subject to shear impact loading

    Coker, D; Needleman, A; Rosakis, A J

    2004-01-01

    Frictional sliding along an interface between two identical isotropic elastic plates under impact shear loading is investigated experimentally and numerically. The plates are held together by a compressive stress and one plate is subject to edge impact near the interface. The experiments exhibit both a crack-like and a pulse-like mode of sliding. Plane stress finite element calculations modeling the experimental configuration are carried out, with the interface characterized by a rate and state dependent frictional law. For low values of the initial compressive stress and impact velocity, sliding occurs in a crack-like mode. For higher values of the initial compressive stress and/or impact velocity, sliding takes place in a pulse-like mode. A variety of sliding modes are obtained in the calculations depending on the impact velocity, the initial compressive stress and the values of interface variables. One pulse-like mode involves well-separated pulses with the pulse amplitude increasing with propagation dista...

  5. Second-order sliding mode control for DFIG-based wind turbines fault ride-through capability enhancement.

    Benbouzid, Mohamed; Beltran, Brice; Amirat, Yassine; Yao, Gang; Han, Jingang; Mangel, Hervé

    2014-05-01

    This paper deals with the fault ride-through capability assessment of a doubly fed induction generator-based wind turbine using a high-order sliding mode control. Indeed, it has been recently suggested that sliding mode control is a solution of choice to the fault ride-through problem. In this context, this paper proposes a second-order sliding mode as an improved solution that handle the classical sliding mode chattering problem. Indeed, the main and attractive features of high-order sliding modes are robustness against external disturbances, the grids faults in particular, and chattering-free behavior (no extra mechanical stress on the wind turbine drive train). Simulations using the NREL FAST code on a 1.5-MW wind turbine are carried out to evaluate ride-through performance of the proposed high-order sliding mode control strategy in case of grid frequency variations and unbalanced voltage sags. PMID:24530194

  6. Sensorless fuzzy sliding mode control for permanent magnet synchronous motor fed by AC/DC/AC converter

    Benchabane, Fateh; Titaouine, Abdenacer; Bennis, Ouafae; Yahia, Khaled; Taibi, Djamel

    2012-01-01

    In this paper a systematic fuzzy sliding mode controller is presented for permanent magnet synchronous motor (PMSM) sensorless drives. The fuzzy sliding mode controller is designed based on input-output feedback linearization control technique. The extended Kalman filter is used to estimate the speed, position and load torque. The PMSM is fed from indirect power electronics converter. This indirect converter is controlled by the sliding mode technique. This control technique allows the minimi...

  7. Trajectory Tracking of Linear Inverted Pendulum Using Integral Sliding Mode Control

    Punitkumar Bhavsar

    2012-06-01

    Full Text Available This paper considers the trajectory tracking control of linear inverted pendulum (IP system. First the linearized model of IP is derived to facilitate the control design. To avoid non robust reaching phase, integral sliding mode control (ISMC has been proposed but single variable case is tested. Linear IP is a multivariable system having angle of pendulum and position of cart are two variables to be controlled. In control design, the LQR control is designed as a nominal control to get the desired trajectory. Then discontinuous control using integral sliding mode(ISM is introduced to get desired trajectory tracking in the presence of uncertainties. This control is robust to the model uncertainties and disturbances during entire motion of the states. The simulation results are presented to show the effectiveness of proposed control scheme. The results are compared with LQR control to show the integral sliding mode control is having better tracking performance in the presence of uncertainties.

  8. Sliding mode control of photoelectric tracking platform based on the inverse system method

    Yao Zong Chen

    2016-01-01

    Full Text Available In order to improve the photoelectric tracking platform tracking performance, an integral sliding mode control strategy based on inverse system decoupling method is proposed. The electromechanical dynamic model is established based on multi-body system theory and Newton-Euler method. The coupled multi-input multi-output (MIMO nonlinear system is transformed into two pseudo-linear single-input single-output (SISO subsystems based on the inverse system method. An integral sliding mode control scheme is designed for the decoupled pseudo-linear system. In order to eliminate system chattering phenomenon caused by traditional sign function in sliding-mode controller, the sign function is replaced by the Sigmoid function. Simulation results show that the proposed decoupling method and the control strategy can restrain the influences of internal coupling and disturbance effectively, and has better robustness and higher tracking accuracy.

  9. DERIVATION AND INTEGRAL SLIDING MODE VARIABLE STRUCTURE CONTROL OF HYDRAULIC VELOCITY TRACKING SYSTEM

    Wei Jianhua; Guan Cheng

    2005-01-01

    The velocity tracking control of a hydraulic servo system is studied. Since the dynamics of the system are highly nonlinear and have large extent of model uncertainties, such as big changes in load and parameters, a derivation and integral sliding mode variable structure control scheme (DI-SVSC) is proposed. An integral controller is introduced to avoid the assumption that the derivative of desired signal must be known in conventional sliding mode variable structure control, a nonlinear derivation controller is used to weaken the chattering of system. The design method of switching function in integral sliding mode control, nonlinear derivation coefficient and controllers of DI-SVSC is presented respectively. Simulation shows that the control approach is of nice robustness and improves velocity tracking accuracy considerably.

  10. Decoupled thermal control for space station furnace facility using sliding mode techniques

    Jackson, Mark E.; Shtessel, Yuri B.

    1996-03-01

    The Space Station Furnace Facility (SSFF) provides the necessary core systems to operate various material processing furnaces. The Thermal Control System (TCS) is defined as one of the core systems and its function is to collect excess heat from furnaces and to provide precise cold temperature control of components and of certain furnace zones. Physical interconnection of parallel thermal control subsystems through a common pump implies the description of the whole TCS by coupled nonlinear differential equations in flow and pressure. The paper formulates the system equations and develops the sliding mode controllers that cause the interconnected subsystems to operate in the local sliding modes, resulting in control system invariance to interaction disturbances. The desired de-coupled flow rate profile tracking is achieved by optimization of the local linear sliding mode equations. Extensive digital simulation results are presented to show the flow rate tracking robustness and invariance to plant nonlinearities and variations of the pump pressure supplied to the controlled subsystems.

  11. Sliding mode control for multi-agent systems under a time-varying topology

    Dong, Lijing; Chai, Senchun; Zhang, Baihai; Kiong Nguang, Sing

    2016-07-01

    This paper addresses the tracking problem of a class of multi-agent systems under uncertain communication environments which has been modelled by a finite number of constant Laplacian matrices together with their corresponding scheduling functions. Sliding mode control method is applied to solve this nonlinear tracking problem under a time-varying topology. The controller of each tracking agent has been designed by using only its own and neighbours' information. Sufficient conditions for the existence of a sliding mode control tracking strategy have been provided by the solvability of linear matrix inequalities. At the end of this work, numerical simulations are employed to demonstrate the effectiveness of the proposed sliding mode control tracking strategy.

  12. High order sliding mode control of a DFIM supplied by two power inverters

    Zinelaabidine Boudjema

    2015-06-01

    Full Text Available Traditional vector control structures which include proportional-integral (PI regulator for the speed of a doubly fed induction motor (DFIM driven have some disadvantages such as parameter tuning complications, mediocre dynamic performances and reduced robustness. Thus, based on the analysis of the mathematical model of a DFIM supplied by two indirect inverters, this paper addresses a nonlinear control algorithm based on high order sliding mode. The conventional sliding mode control has large chattering on the electromagnetic torque developed by the DFIM. In order to solve this problem, the second order sliding mode technique is used. The simulation results show the effectiveness of the proposed method especially in chattering-free behavior, response to sudden load torque variations and robustness against machine parameters variations.

  13. Chattering-free fuzzy sliding-mode control strategy for uncertain chaotic systems

    This paper proposes a chattering-free fuzzy sliding-mode control (FSMC) strategy for uncertain chaotic systems. A fuzzy logic control is used to replace the discontinuous sign function of the reaching law in traditional sliding-mode control (SMC), and hence a control input without chattering is obtained in the chaotic systems with uncertainties. Base on the Lyapunov stability theory, we address the design schemes of integration fuzzy sliding-mode control, where the reaching law is proposed by a set of linguistic rules and the control input is chattering free. The Genesio chaotic system is used to test the proposed control strategy and the simulation results show the FSMC not only can control the uncertain chaotic behaviors to a desired state without oscillator very fast, but also the switching function is smooth without chattering. This result implies that this strategy is feasible and effective for chaos control

  14. Power Control of Wind Turbine Based on Fuzzy Sliding-Mode Control

    Tahir Khalfallah

    2015-02-01

    Full Text Available This paper presents the study of a variable speed wind energy conversion system (WECS using a Wound Field Synchronous Generator (WFSG based on a Fuzzy sliding mode control (FSMC applied to achieve control of active and reactive powers exchanged between the stator of the WFSG and the grid to ensure a Maximum Power Point Tracking (MPPT of a wind energy conversion system. However the principal drawback of the sliding mode, is the chattering effect which characterized by torque ripple, this phenomena is undesirable and harmful for the machines, it generates noises and additional forces of torsion on the machine shaft. A direct fuzzy logic controller is designed and the sliding mode controller is added to compensate the fuzzy approximation errors. The simulation results clearly indicate the effectiveness and validity of the proposed method, in terms of convergence, time and precision.

  15. Unknown Input and Sensor Fault Estimation Using Sliding-Mode Observers

    Kalsi, Karanjit; Hui, Stefen; Zak, Stanislaw

    2011-06-29

    Sliding-mode observers are used to construct unknown input estimators. Then, these unknown input estimators are combined with sensor fault estimation schemes into one architecture that employs two sliding-mode observers for simultaneously estimating the plant’s actuator faults (part of the unknown input) and detecting sensor faults. Closed form expressions are presented for the estimates of unknown inputs and sensor faults. A benchmark example of a controlled inverted pendulum system from the literature is utilized in the simulation study. The study shows that the observers analyzed in this paper generate good estimates of the unknown input and sensor faults signals in noisy environments for nonlinear plants.

  16. Stabilizing sliding mode control design and application for a dc motor: Speed control

    Rhif, Ahmed

    2012-01-01

    The regulation by sliding mode control (SMC) is recognized for its qualities of robustness and dynamic response. This article will briefly talk about the regulation principles by sliding mode as well as the application of this approach to the adjustment of a speed control DC motor bench using the TY36A/EV unit. This unit, from Electronica Veneta products, uses a PID controller to control the speed and position of the DC motor. Our purpose is to improve the set time answer and the robustness o...

  17. Application of Extension Sliding Mode Strategy to Maximum Power Point Tracking in Human Power Generation Systems

    Meng-Hui Wang

    2015-08-01

    Full Text Available Sliding mode strategy (SMS for maximum power point tracking (MPPT is used in this study of a human power generation system. This approach ensures maximum power at different rotation speeds to increase efficiency and corrects for the lack of robustness in traditional methods. The intelligent extension theory is used to reduce input saturation and high frequency switching in sliding mode strategy, as well as to increase the efficiency and response speed. The experimental results show that the efficiency of the extension SMS (ESMS is 5% higher than in traditional SMS, and the response is 0.5 s faster.

  18. Variable structure control with sliding mode prediction for discrete-time nonlinear systems

    Lingfei XIAO; Hongye SU; Xiaoyu ZHANG; Jian CHU

    2006-01-01

    A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining feedback correction and receding horizon optimization methods which are extensively applied on predictive control strategy, a discrete-time variable structure control law is constructed. The closed-loop systems are proved to have robustness to uncertainties with unspecified boundaries. Numerical simulation and pendulum experiment results illustrate that the closed-loop systems possess desired performance, such as strong robustness, fast convergence and chattering elimination.

  19. High Order Sliding Mode Control of Doubly-fed Induction Generator under Unbalanced Grid Faults

    Zhu, Rongwu; Chen, Zhe; Wu, Xiaojie; Liu, Hongzhi

    This paper deals with a doubly-fed induction generator-based (DFIG) wind turbine system under grid fault conditions such as: unbalanced grid voltage, three-phase grid fault, using a high order sliding mode control (SMC). A second order sliding mode controller, which is robust with respect to......) control. In order to improve control performance of the overall system, electromagnetic power and active power oscillations elimination strategies are proposed respectively. Lastly, the effective of the proposed control strategy is verified by the simulation results of a 2 MW DFIG system....

  20. Finite-Time Reentry Attitude Control Using Time-Varying Sliding Mode and Disturbance Observer

    Xuzhong Wu

    2015-01-01

    Full Text Available This paper presents the finite-time attitude control problem for reentry vehicle with redundant actuators in consideration of planet uncertainties and external disturbances. Firstly, feedback linearization technique is used to cancel the nonlinearities of equations of motion to construct a basic mode for attitude controller. Secondly, two kinds of time-varying sliding mode control methods with disturbance observer are integrated with the basic mode in order to enhance the control performance and system robustness. One method is designed based on boundary layer technique and the other is a novel second-order sliding model control method. The finite-time stability analyses of both resultant closed-loop systems are carried out. Furthermore, after attitude controller produces the torque commands, an optimization control allocation approach is introduced to allocate them into aerodynamic surface deflections and on-off reaction control system thrusts. Finally, the numerical simulation results demonstrate that both of the time-varying sliding mode control methods are robust to uncertainties and disturbances without chattering phenomenon. Moreover, the proposed second-order sliding mode control method possesses better control accuracy.

  1. Design of practical sliding-mode controllers with constant switching frequency for power converters

    Navarro-Lopez, Eva M. [School of Computer Science, Centre for Interdisciplinary Computational and Dynamical Analysis, The University of Manchester, Oxford Road, Kilburn Building, Manchester M13 9PL (United Kingdom); Cortes, Domingo [Seccion de Mecatronica, Departamento de Ingenieria Electrica, CINVESTAV-IPN, Av. IPN 2508, Col. San Pedro Zacatenco, 07360 Mexico City (Mexico); Castro, Christian [Centro de Investigacion en Computacion del IPN, Av. Jose Othon de Mendizabal s/n, Col. Nueva Industrial Vallejo, 07738 Mexico City (Mexico)

    2009-05-15

    A novel experimentally motivated method in order to design a family of easy-to-implement sliding-mode controllers for power converters is proposed. Two main results are presented. First, the relation between sliding-mode control and average control is reinterpreted so that the limitation of the switching frequency for the closed-loop system is achieved in a more direct way than other methods so far reported in the literature. For this purpose, a class of sliding surfaces which makes the associated equivalent control be the system average control is proposed. Second, the achievement of a constant switching frequency in the controlled system is assured without requiring the sliding-mode-based controller to be modified, unlike most previous works. As a result, the proposed sliding surfaces-type can be directly implemented via a pulse-width modulator. The control methodology is implemented for the voltage control in a boost converter prototype in which the load is considered unknown. Experimental results confirm high performance and robustness under parameters variation. Furthermore, the solution proposed is easy to implement and well-suited for other power converters. (author)

  2. 基于自组织小波小脑模型关节控制器的不确定非线性系统鲁棒自适应终端滑模控制%A robust adaptive integral terminal sliding mode control for uncertain nonlinear systems using self-organizing wavelet cerebella model articulation controller

    张强; 于宏亮; 许德智; 于美娟

    2016-01-01

    针对一类不确定非线性系统的跟踪控制问题,在考虑建模误差、参数不确定和外部干扰情况下,以良好的跟踪性能及强鲁棒性为目标,提出基于自组织小脑模型(self-organizing wavelet cerebellar model articulation controller, SOWCMAC)的鲁棒自适应积分末端(terminal)滑模控制策略。首先,将小脑模型、自组织神经网络和小波函数各自优势相结合,给出一种SOWCMAC,以保证干扰估计方法具有快速学习能力和更好的泛化能力。其次,设计两种改进的terminal滑模面构造方法,并分别给出各自的收敛时间。然后,基于SOWCMAC和改进的积分terminal滑模面,给出不确定非线性系统鲁棒自适应非奇异terminal控制器的设计过程,其中通过构造自适应鲁棒项抑制干扰估计误差对系统跟踪性能的影响,并利用Lyapunov理论证明闭环系统的稳定性。最后,将该方法应用于近空间飞行器姿态的控制仿真实验,结果表明所提出方法有效性。%We propose a robust adaptive integral terminal sliding mode control method using self-organizing wavelet cerebella model articulation controller (SOWCMAC) for a class of uncertain nonlinear systems with modeling error, parameter uncertainty and external disturbances to achieve the desired tracking performance and strong robustness. Firstly, we make use of the advantages of cerebella model articulation controller, self-organizing neural networks and wavelet function in developing the SOWCMAC to ensure the fast learning ability and desirable generalization ability. Next, we design two kinds of improved integral terminal sliding surfaces and express their convergence time in the analytical form. With the SOWCMAC and improved integral terminal sliding surfaces, we develop the robust adaptive nonsingular terminal controller for the uncertain nonlinear systems. The adaptive robust term can offset the impact of the approximation errors for the system. The stability of

  3. A novel sliding mode nonlinear proportional-integral control scheme for controlling chaos

    Yu Dong-Chuan; Wu Ai-Guo; Yang Chao-Ping

    2005-01-01

    A novel sliding mode nonlinear proportional-integral control (SMNPIC) scheme is proposed for driving a class of time-variant chaotic systems with uncertainty to arbitrarily desired trajectory with high accuracy. The SMNPIC differs from the previous sliding mode techniques in the sense that a nonlinear proportional-integral action of sliding function is involved in control law, so that both the steady-state error and the high-frequency chattering are reduced,and meanwhile, robustness and fastness are guaranteed. In addition, the proposed SMNPIC actually acts as a class of nonlinear proportional-integral-differential (PID) controller, in which the tracking error and its derivatives up to (n-1)thorder as well as the integral of tracking error are considered, so that more useful information than traditional PID can be implemented and better dynamic and static characteristics can obtained. Its good performance for chaotic control is illustrated through a During-Holmes system with uncertainty.

  4. Development of a Novel Fractional Order Sliding Mode Controller for a Gun

    Qiang Gao

    2013-09-01

    Full Text Available To solve the nonlinearity phenomenon of a Gun Control System (GCS, a novel Fractional order Sliding Mode Control (FoSMC strategy is proposed in this study. By inducing the fractional order calculus, a Fractional Order PID (FOPID type sliding surface is especially designed and consequently an equivalent control discipline with fractional order dynamics is induced. The saturation function is employed as the switch function. By numerical simulation, the dynamic characteristics of the FoSMC based control system are analyzed and compared with Conventional Sliding Mode Control (CSMC system. The results demonstrate that the FoSMC system could reach up to the equilibrium state more smoothly, which shall significantly suppress the inherent chatter effects. Besides, the FoSMC based gun control system is of high response rate, better positioning accuracy and high robustness, which is suitable for fast, smooth and accurate adjustments of the gun.

  5. Parameter Identification and Synchronization of Uncertain Chaotic Systems Based on Sliding Mode Observer

    Li-lian Huang

    2013-01-01

    Full Text Available The synchronization of nonlinear uncertain chaotic systems is investigated. We propose a sliding mode state observer scheme which combines the sliding mode control with observer theory and apply it into the uncertain chaotic system with unknown parameters and bounded interference. Based on Lyapunov stability theory, the constraints of synchronization and proof are given. This method not only can realize the synchronization of chaotic systems, but also identify the unknown parameters and obtain the correct parameter estimation. Otherwise, the synchronization of chaotic systems with unknown parameters and bounded external disturbances is robust by the design of the sliding surface. Finally, numerical simulations on Liu chaotic system with unknown parameters and disturbances are carried out. Simulation results show that this synchronization and parameter identification has been totally achieved and the effectiveness is verified very well.

  6. Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot

    ERBATUR, Kemalettin; Çallı, Berk; Calli, Berk

    2008-01-01

    Chattering in the control signal is a significant problem in sliding mode control (SMC). The boundary layer approach is one of the many modifications proposed in the literature to avoid the chattering. In this approach, instead of the discontinuous sliding mode control, a continuous feedback control law is employed in a boundary layer around the sliding surface. The thickness of the boundary layer is an important design parameter. This paper proposes a fuzzy online tuning method to adjust the...

  7. Energy-Saving Sliding Mode Control for Synchronous Drive Fed by Renewable Energy Source

    Ryvkin, S.; Chomát, Miroslav

    Side: TU Side, 2015, s. 582-587. ISBN 978-1-4673-7239-8. [ACEMP-OPTIM-ELECTROMOTION 2015. Side (TR), 02.09.2015-04.09.2015] Institutional support: RVO:61388998 Keywords : energy efficiency * renewable energy variability * sliding mode control Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering

  8. Estimation of precursor concentration in a research reactor by using second order sliding mode observer

    Qaiser, S. Hameed [Center for Advanced Studies in Engineering (CASE), 19, Ataturk Avenue G-5/1, Islamabad (Pakistan)], E-mail: h_qaiser@yahoo.com; Bhatti, Aamer Iqbal [Mohammad Ali Jinnah University (MAJU), Islamabad (Pakistan); Iqbal, Masood [Pakistan Institute of Nuclear Science and Technology (PINSTECH), Islamabad (Pakistan); Samar, Raza [Mohammad Ali Jinnah University (MAJU), Islamabad (Pakistan); Qadir, Javed [Pakistan Institute of Nuclear Science and Technology (PINSTECH), Islamabad (Pakistan)

    2009-10-15

    The paper pertains to novel higher order sliding mode observer (SMO) design for estimating precursor concentration of a nuclear research reactor. The linear and nonlinear models of Pakistan Research Reactor-1 (PARR-1) have been tuned and validated with experimental data. These models are subsequently used for higher order sliding mode observer design and performance evaluation. In thermal reactors, precursor concentration is a very important reactor variable because it is responsible for delayed neutron production and finally for reactor control. Linear observers have been used in the past to estimate precursor concentration, but the bandwidth is much limited and performance degraded as the operating point is changed. The nonlinear observer can cater for this problem in a much efficient manner. In this paper a robust nonlinear observer for estimating precursor concentration has been developed by using second order sliding mode technique. The higher order sliding mode observer is efficient and has the main advantage of reduced chattering. The observer estimates the precursor concentration with the measurement of neutron flux only and the estimated value is in close agreement with the theoretically calculated value.

  9. Implementation of Sliding Mode Controller with Boundary Layer for Saccharomyces cerevisiae Fed-batch Cultivation

    Stoyan Tzonkov

    2005-04-01

    Full Text Available An implementation of sliding mode control for yeast fed-batch cultivation is presented in this paper. Developed controller has been implemented on two real fed-batch cultivations of Saccharomyces cerevisiae. The controller successfully stabilizes the process and shows a very good performance at high input disturbances.

  10. Designing of Proportional Sliding Mode Controller for Linear One Stage Inverted Pendulum

    Anirban Banrejee

    2011-01-01

    Full Text Available The control of Inverted Pendulum (IP is a hugely complex task. A great deal of nonlinearity is present inherently and as well as affected by the surrounding external conditions. The sliding mode controller (SMC is very robust inherently. It is used in this paper to control the IP. This paper examines the designing of sliding mode controller (SMC for a linear inverted pendulum (IP. The paper highlights the important features of the sliding mode and also throws ample lights on the designing guidelines. The paper puts special impetus on the mathematical modeling of the controller. The robustness of the design of SMC with proportional control is amply displayed with the help of simple mathematics. It gives rise to a controller which can control a highly nonlinear system like IP quite efficiently. The performance of the SMC is compared with fuzzy and PID controller. The edge this controller poses is the key aspect of this paper. External disturbances and internal inaccuracies are also introduced to the system to bring out the robustness of the controller to the fore. Background on sliding mode and the pendulum are provided. Simulation results are displayed in a vivid manner and explained suitably.

  11. Sliding Modes after the First Decade of the 21st Century State of the Art

    Moreno, Jaime; Iriarte, Rafael

    2012-01-01

    The book presents the newest results of the major world research groups working in the area of Variable Structure Systems and Sliding Mode Control (VSS/SMC). The research activity of these groups is coordinated by the IEEE Technical Committee on Variable Structure Systems (VSS) and Sliding Modes (SM). The presented results include the reports of the research groups collaborating in a framework of the Unión European Union – México project of Fondo de Cooperación Internacional en Ciencia y Tecnología (FONCICyT) 93302 titled "Automatization and Monitoring of Energy Production Processes via Sliding Mode Control". The book starts with the overview of the sliding mode control concepts and algorithms that were developed and discussed in the last two decades The research papers are combined in three sections: Part I: VSS and SM Algorithms and their Analysis Part II: SMC Design Part III: Applications of VSS and SMC The book will be of interests of engineers, researchers and graduate students working in the area ...

  12. Super-twisting sliding mode direct torque contol of induction machine drives

    Lascu, Cristian; Blaabjerg, Frede

    2014-01-01

    This paper presents a new super-twisting sliding modes direct torque and flux controller (STSM-DTC) for induction motor (IM) drives. The STSM is a second-order (type two) variable-structure control which operates without high-frequency chattering. The proposed STSM scheme is a torque and stator...

  13. Estimation of precursor concentration in a research reactor by using second order sliding mode observer

    The paper pertains to novel higher order sliding mode observer (SMO) design for estimating precursor concentration of a nuclear research reactor. The linear and nonlinear models of Pakistan Research Reactor-1 (PARR-1) have been tuned and validated with experimental data. These models are subsequently used for higher order sliding mode observer design and performance evaluation. In thermal reactors, precursor concentration is a very important reactor variable because it is responsible for delayed neutron production and finally for reactor control. Linear observers have been used in the past to estimate precursor concentration, but the bandwidth is much limited and performance degraded as the operating point is changed. The nonlinear observer can cater for this problem in a much efficient manner. In this paper a robust nonlinear observer for estimating precursor concentration has been developed by using second order sliding mode technique. The higher order sliding mode observer is efficient and has the main advantage of reduced chattering. The observer estimates the precursor concentration with the measurement of neutron flux only and the estimated value is in close agreement with the theoretically calculated value.

  14. Synchronizing Spatiotemporal Chaos via a Composite Disturbance Observer-Based Sliding Mode Control

    Congyan Chen

    2014-01-01

    Full Text Available The sliding mode control schemes are investigated to synchronize two spatiotemporal chaotic systems, which are two arrays of a large number of coupled chaotic oscillators. Firstly, sliding mode manifolds with the desired performance are designed. The asymptotic convergence to the origin of the synchronization errors is also proved. However, the terms from parameter fluctuations in equivalent controls are usually impossible to be measured directly. So we regard them as lumped disturbances, but, for practical application, it is difficult to obtain the upper bound of lumped disturbances in advance which often results in a conservative sliding mode control law with large control effort, causing a large amount of chattering. To reduce the chattering and improve the performance of the system, a disturbance observer is designed to estimate the lumped disturbances. A composite synchronization controller that consists of a sliding mode feedback part and a feedforward compensation part based on disturbance observer is developed. The numerical simulation results are presented to show the effectiveness of the proposed methods.

  15. Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

    Niu Xuemei

    2015-05-01

    Full Text Available This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupled sliding mode control strategy is proposed for the parallel manipulator; the idea behind this strategy is to design a nonsingular terminal sliding mode controller for each subsystem, which can drive states of three subsystems to the original equilibrium points simultaneously by two intermediate variables. Additionally, a RBF neural network is used to compensate the cross-coupling force and gravity to enhance the control precision. Simulation and experimental results show that the proposed DNTSMC can achieve better control performances compared with the conventional sliding mode controller (SMC and the DNTSMC without compensator.

  16. Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

    Merheb Abdel-Razzak

    2015-09-01

    Full Text Available Abstract In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA, a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques

  17. Super Twisting Second Order Sliding Mode Control for Position Tracking Control of Hydraulic Drives

    Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.;

    2013-01-01

    In this paper a control strategy based on second order sliding modes, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD), is proposed. The main target is to overcome problems with linear controllers deteriorating performance due to the strong...

  18. Super-twisting sliding mode control of torque and flux in permanent magnet synchronous machine drives

    Lascu, Christian; Boldea, Ion; Blaabjerg, Frede

    2013-01-01

    This paper investigates a permanent magnet synchronous motor drive controlled by a second-order variable structure control technique, known as the super-twisting sliding modes (STSM) control. The STSM controller is designed as a direct torque and flux controller and it works in the stator flux...

  19. Sliding Mode Control of PMSG Wind Turbine Based on Enhanced Exponential Reaching Law

    2016-01-01

    This paper proposes a Sliding Mode Control (SMC) based scheme for a variable speed, direct-driven Wind Energy Conversion Systems (WECS) equipped with Permanent Magnet Synchronous Generator (PMSG) connected to the grid. In this work, diode rectifier, boost converter, Neutral Point Clamped (NPC) in...

  20. Asymptotic Stability for Coupled Modal Sliding Mode Control of Vibration in a Flexible Structure

    Ming-Chang Pai

    2009-01-01

    Full Text Available This paper deals with the asymptotic stability of the coupled modal sliding mode control of a vibratory structure in the presence of parametric uncertainties. The method is based on the linear fractional transformation and the small gain theorem / μ analysis. Using a flexible tetrahedral truss structure, a numerical example is presented to verify the theoretical analysis.

  1. Sliding-Mode Observer for Speed and Position Sensorless Control of Linear-PMSM

    Kazraji Saeed Masoumi

    2014-05-01

    Full Text Available The paper presents a sliding-mode observer that utilizes sigmoid function for speed and position sensorless control of permanent-magnet linear synchronous motor (PMLSM. In conventional sliding mode observer method there are the chattering phenomenon and the phase lag. Thus, in order to avoid the usage of the low pass filter and the phase compensator based on back EMF, in this paper a sliding mode observer with sigmoid function for detecting the back EMF in a PMLSM is designed to estimate the speed and the position of the rotor. Most of conventional sliding mode observers use sign or saturation functions which need low pass filter in order to detect back electromotive force (back EMF. In this paper a sigmoid function is used instead of discontinuous sign function to decrease undesirable chattering phenomenon. By reducing the chattering, detecting of the back EMF can be made directly from switching signal without any low pass filter. Thus the delay time in the proposed observer is eliminated because of the low pass filter. Furthermore, there is no need to compensate phase fault in position and speed estimating of linear-PMSM. Advantages of the proposed observer have been shown by simulation with MATLAB software.

  2. Design Intelligent PID like Fuzzy Sliding Mode Controller for Spherical Motor

    Farzin Matin

    2014-04-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy Sliding Mode Controller (SMC with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing especially in nonlinear and uncertain systems. Proportional Integral Derivative methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions, we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and good trajectory follow disturbance to control of spherical motor. However Sliding Mode Controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor’s dynamic equation which caused to challenge in uncertain system. This research is used to reduce or eliminate the Sliding Mode Controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  3. Power Efficient Higher Order Sliding Mode Control of SR Motor for Speed Control Applications

    Muhammad Rafiq

    2011-05-01

    Full Text Available This paper presents a novel scheme for speed regulation/tracking of Switched Reluctance (SR motors based on Higher-Order Sliding-Mode technique. In particular, a Second-Order Sliding-Mode Controller (SOSMC based on Super Twisting algorithm is devel-oped. Owing to the peculiar structural properties of SRM, torque produced by each motor phase is a function of phase current as well as rotor position. More importantly, unlike many other motors the polarity of the phase torque in SR motors is solely determined by the rotor position and is independent of the polarity of the applied voltage or phase current. The proposed controller takes advantage of this property and incorporates a commutation scheme which, at any time instant, selects only those motor phases for the computation of control law, which can contribute torque of the desired polarity at that instant. This feature helps in achieving the desired speed regulation/tracking objective in a power efficient manner as control efforts are applied through selective phases and counterproductive phases are left un-energized. This approach also minimizes the power loss in the motor windings thus reducing the heat generation within the motor. In order to highlight the advantages of Higher-Order Sliding-Mode controllers, a classical First-Order Sliding-Mode controller (FOSMC is also developed and applied to the same system. The comparison of the two schemes shows much reduced chattering in case of SOSMC. The performance of the proposed SOSMC controller for speed regulation is also compared with that of another sliding mode speed controller published in the literature.

  4. Hybrid Fuzzy Sliding Mode Control of a DFIG Integrated into the Network

    Belabbas Belkacem

    2013-12-01

    Full Text Available This paper presents the study of a variable speed wind energy conversion system using a Doubly Fed Induction Generator (DFIG based on a Fuzzy sliding mode control (FSMC applied to achieve control of active and reactive powers exchanged between the stator of the DFIG and the grid to ensure a Maximum Power Point Tracking (MPPT of a wind energy conversion system. However the principal drawback of the sliding mode, is the chattering effect which characterized by torque ripple, this phenomena is undesirable and harmful for the machines, it generates noises and additional forces of torsion on the machine shaft. In order to reduce the chattering effect, the Sign function of sliding mode controller’s discontinuous part is replaced by a fuzzy logic; we will have the fuzzy sliding mode controller (FSMC. The FSMC makes it possible to combine the performances of the two types of controllers (SMC and FLC and eliminates the chattering effect. The proposed control algorithm is applied to a DFIG where the stator is directly connected to the grid and the rotor is connected to a three-level converter structure NPC to suppress low level harmonics, higher frequencies will be filtered out by the machine. Second goal of this paper is to extract a maximum of power; the rotor side converter is controlled by using a stator flux-oriented strategy. The decoupling created by the control between active and reactive stator power allows keeping the power factor close to unity. Simulation results show that the wind turbine can operate at its optimum energy for a wide range of wind speed. Both simulation and validation results show effectiveness of the proposed control strategy is in terms of power regulation. Moreover, the fuzzy sliding mode approach is arranged so as to reduce the chattering produced in the generated power that could lead to increased mechanical stress because of strong torque variations.

  5. Spatiotemporal chaos synchronization of an uncertain network based on sliding mode control

    The sliding mode control method is used to study spatiotemporal chaos synchronization of an uncertain network. The method is extended from synchronization between two chaotic systems to the synchronization of complex network composed of N spatiotemporal chaotic systems. The sliding surface of the network and the control input are designed. Furthermore, the effectiveness of the method is analysed based on the stability theory. The Burgers equation with spatiotemporal chaos behavior is taken as an example to simulate the experiment. It is found that the synchronization performance of the network is very stable

  6. X33 Reusable Launch Vehicle Control on Sliding Modes: Concepts for a Control System Development

    Shtessel, Yuri B.

    1998-01-01

    Control of the X33 reusable launch vehicle is considered. The launch control problem consists of automatic tracking of the launch trajectory which is assumed to be optimally precalculated. It requires development of a reliable, robust control algorithm that can automatically adjust to some changes in mission specifications (mass of payload, target orbit) and the operating environment (atmospheric perturbations, interconnection perturbations from the other subsystems of the vehicle, thrust deficiencies, failure scenarios). One of the effective control strategies successfully applied in nonlinear systems is the Sliding Mode Control. The main advantage of the Sliding Mode Control is that the system's state response in the sliding surface remains insensitive to certain parameter variations, nonlinearities and disturbances. Employing the time scaling concept, a new two (three)-loop structure of the control system for the X33 launch vehicle was developed. Smoothed sliding mode controllers were designed to robustly enforce the given closed-loop dynamics. Simulations of the 3-DOF model of the X33 launch vehicle with the table-look-up models for Euler angle reference profiles and disturbance torque profiles showed a very accurate, robust tracking performance.

  7. Design of a Sliding Mode Controller for Two-Wheeled Balancing Robot

    Ehsan Abbas nejad

    2014-10-01

    Full Text Available Nowadays, the control of mechanical systems with fewer inputs than outputs (Under-actuated systems has become a challenging problem for control engineers. Two-wheeled balancing robots is one of the appealing examples of this category. This type of robot contains two parallel wheels and an inverted pendulum. In this research, designing of controller have been investigated for flat surfaces. For controller design, the extract dynamics of the system has been achieved based on Kane's method. Then for the two-wheeled balancing robot, one sliding mode controller has been designed for yaw angle, and another sliding mode controller has been designed to control both position and pitch angle based on a proposed sliding surface. The main feature of the proposed controllers is that all of controllers have been designed based on the nonlinear dynamics of system. Also, considering the limits of uncertainties while designing systems, the robustness of controllers have been increased. The common problem of sliding mode control is chattering phenomenon that has been greatly reduced using saturation function instead of sign function. Simulation results comparision of the designed controller with a LQR controller, validates the effectiveness of the proposed controller.

  8. An Acceleration Slip Regulation Strategy for Four-Wheel Drive Electric Vehicles Based on Sliding Mode Control

    Hongwen He

    2014-06-01

    Full Text Available This paper presents an acceleration slip regulation (ASR system for four-wheel drive (4WD electric vehicles, which are driven by the front and rear axles simultaneously. The ASR control strategy includes three control modes: average distribution of inter-axle torque, optimal distribution of inter-axle torque and independent control of optimal slip rate, respectively, which are designed based on the torque adaptive principle of inter-axle differential and sliding mode control theory. Furthermore, in order to accurately describe the longitudinal tyre force characteristic, a slip rate calculation formula in the form of a state equation was used for solving the numerical problem posed by the traditional way. A simulation was carried out with the MATLAB/Simulink software. The simulation results show that the proposed ASR system can fully use the road friction condition, inhibit the drive-wheels from slipping, and improve the vehicle longitudinal driving stability.

  9. Fuzzy sliding mode control of a doubly fed induction generator for wind energy conversion

    A. Meroufel

    2013-12-01

    Full Text Available In this paper we present a nonlinear control using fuzzy sliding mode for wind energy conversion system based on a doubly-fed induction generator (DFIG supplied by an AC-AC converter. In the first place, we carried out briefly a study of modeling on the whole system. In order to control the power flowing between the stator of the DFIG and the grid, a proposed control design uses fuzzy logic technique is applied for implementing a fuzzy hitting control law to remove completely the chattering phenomenon on a conventional sliding mode control. The use of this method provides very satisfactory performance for the DFIG control, and the chattering effect is also reduced by the fuzzy mode. The machine is tested in association with a wind turbine. Simulations results are presented and discussed for the whole system.

  10. Decomposed Sliding Mode Control of the Drive with Interior Permanent Magnet Synchronous Motor and Flexible Coupling

    Jan Vittek

    2013-01-01

    Full Text Available A decomposed sliding mode control of the drive with an interior permanent magnet synchronous motor and flexible coupling is presented. Decomposition exploits principles of vector control to divide motor into channel for control of magnetic flux and channel for control of torque separately. Sliding mode control principles are exploited to keep demanded value of magnetic flux and to control load angle in the presence of vibration modes and external disturbances. To obtain continues voltage as a control variable a smoothing integrator follows signum function in both channels. As a modification the switching governed by signum function is replaced by the high gain including rearrangement of the control system block diagram. The simulations indicate that the control system yields the desired robustness and further investigations are recommended.