WorldWideScience

Sample records for adaptive sliding mode

  1. Adaptive Sliding Mode Control for Hydraulic Drives

    DEFF Research Database (Denmark)

    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 robust controller based on integral sliding mode concept

    Science.gov (United States)

    Taleb, M.; Plestan, F.

    2016-09-01

    This paper proposes, for a class of uncertain nonlinear systems, an adaptive controller based on adaptive second-order sliding mode control and integral sliding mode control concepts. The adaptation strategy solves the problem of gain tuning and has the advantage of chattering reduction. Moreover, limited information about perturbation and uncertainties has to be known. The control is composed of two parts: an adaptive one whose objective is to reject the perturbation and system uncertainties, whereas the second one is chosen such as the nominal part of the system is stabilised in zero. To illustrate the effectiveness of the proposed approach, an application on an academic example is shown with simulation results.

  3. Robust observer-based adaptive fuzzy sliding mode controller

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  5. Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

    Directory of Open Access Journals (Sweden)

    Taochang Li

    2014-01-01

    Full Text Available Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

  6. Adaptive second-order sliding mode control with uncertainty compensation

    Science.gov (United States)

    Bartolini, G.; Levant, A.; Pisano, A.; Usai, E.

    2016-09-01

    This paper endows the second-order sliding mode control (2-SMC) approach with additional capabilities of learning and control adaptation. We present a 2-SMC scheme that estimates and compensates for the uncertainties affecting the system dynamics. It also adjusts the discontinuous control effort online, so that it can be reduced to arbitrarily small values. The proposed scheme is particularly useful when the available information regarding the uncertainties is conservative, and the classical `fixed-gain' SMC would inevitably lead to largely oversized discontinuous control effort. Benefits from the viewpoint of chattering reduction are obtained, as confirmed by computer simulations.

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

    Directory of Open Access Journals (Sweden)

    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.

  8. Adaptive backstepping slide mode control of pneumatic position servo system

    Science.gov (United States)

    Ren, Haipeng; Fan, Juntao

    2016-06-01

    With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental results show that the designed controller can achieve better tracking performance, as compared with some existing methods.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    OpenAIRE

    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...

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

    Directory of Open Access Journals (Sweden)

    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.

  13. Robust Adaptive Neural Sliding Mode Approach for Tracking Control of a MEMS Triaxial Gyroscope

    Directory of Open Access Journals (Sweden)

    Juntao Fei

    2012-05-01

    Full Text Available In this paper, a neural network adaptive sliding mode control is proposed for an MEMS triaxial gyroscope with unknown system nonlinearities. An input‐output linearization technique is incorporated into the neural adaptive tracking control to cancel the nonlinearities, and the neural network whose parameters are updated from the Lyapunov approach is used to perform the linearization control law. The sliding mode control is utilized to\tcompensate the neural network’s approximation errors. The stability of the closed‐loop system can be guaranteed with the proposed adaptive neural sliding mode control. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive neural sliding mode control scheme.

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

    Directory of Open Access Journals (Sweden)

    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. Adaptive Multivariable Super-Twisting Sliding Mode Controller and Disturbance Observer Design for Hypersonic Vehicle

    Directory of Open Access Journals (Sweden)

    Wenru Fan

    2016-01-01

    Full Text Available A multivariable super-twisting sliding mode controller and disturbance observer with gain adaptation, chattering reduction, and finite time convergence are proposed for a generic hypersonic vehicle where the boundary of aerodynamic uncertainties exists but is unknown. Firstly, an input-output linearization model is constructed for the purpose of controller design. Then, the sliding manifold is designed based on the homogeneity theory. Furthermore, an integrated adaptive multivariable super-twisting sliding mode controller and disturbance observer are designed in order to achieve the tracking for step changes in velocity and altitude. Finally, some simulation results are provided to verify the effectiveness of the proposed method.

  16. Adaptive Output Feedback Sliding Mode Control for Complex Interconnected Time-Delay Systems

    Directory of Open Access Journals (Sweden)

    Van Van Huynh

    2015-01-01

    Full Text Available We extend the decentralized output feedback sliding mode control (SMC scheme to stabilize a class of complex interconnected time-delay systems. First, sufficient conditions in terms of linear matrix inequalities are derived such that the equivalent reduced-order system in the sliding mode is asymptotically stable. Second, based on a new lemma, a decentralized adaptive sliding mode controller is designed to guarantee the finite time reachability of the system states by using output feedback only. The advantage of the proposed method is that two major assumptions, which are required in most existing SMC approaches, are both released. These assumptions are (1 disturbances are bounded by a known function of outputs and (2 the sliding matrix satisfies a matrix equation that guarantees the sliding mode. Finally, a numerical example is used to demonstrate the efficacy of the method.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

  19. Adaptive fuzzy sliding mode control for synchronization of uncertain fractional order chaotic systems

    Energy Technology Data Exchange (ETDEWEB)

    Lin, Tsung-Chih, E-mail: tclin@fcu.edu.tw [Department of Electronic Engineering, Feng-Chia University, Taichung, Taiwan (China); Lee, Tun-Yuan [Department of Electronic Engineering, Feng-Chia University, Taichung, Taiwan (China); Balas, Valentina E. [Aurel Vlaicu University of Arad, B-dul Revolutiei 77, 310130 Arad (Romania)

    2011-10-15

    Highlights: > We study uncertain fractional order chaotic systems synchronization. > Lyapunov synthesis is used to derive control law and adaptive laws. > Based on sliding mode control, chattering phenomena in the control effort can be reduced. - Abstract: This paper deals with chaos synchronization between two different uncertain fractional order chaotic systems based on adaptive fuzzy sliding mode control (AFSMC). With the definition of fractional derivatives and integrals, a fuzzy Lyapunov synthesis approach is proposed to tune free parameters of the adaptive fuzzy controller on line by output feedback control law and adaptive law. Moreover, chattering phenomena in the control efforts can be reduced. The sliding mode design procedure not only guarantees the stability and robustness of the proposed AFSMC, but also the external disturbance on the synchronization error can be attenuated. The simulation example is included to confirm validity and synchronization performance of the advocated design methodology.

  20. Adaptive sliding mode control of tethered satellite deployment with input limitation

    Science.gov (United States)

    Ma, Zhiqiang; Sun, Guanghui

    2016-10-01

    This paper proposes a novel adaptive sliding mode tension control method for the deployment of tethered satellite, where the input tension limitation is taken into account. The underactuated governing equations of the tethered satellites system are firstly derived based on Lagrangian mechanics theory. Considering the fact that the tether can only resist axial stretching, the tension input is modelled as input limitation. New adaptive sliding mode laws are addressed to guarantee the stability of the tethered satellite deployment with input disturbance, meanwhile to eliminate the effect of the limitation features of the tension input. Compared with the classic control strategy, the newly proposed adaptive sliding mode control law can deploy the satellite with smaller overshoot of the in-plane angle and implement the tension control reasonably and effectively in engineering practice. The numerical results validate the effectiveness of the proposed methods.

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

    Directory of Open Access Journals (Sweden)

    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.

  2. Adaptive uniform finite-/fixed-time convergent second-order sliding-mode control

    Science.gov (United States)

    Basin, Michael; Bharath Panathula, Chandrasekhara; Shtessel, Yuri

    2016-09-01

    This paper presents an adaptive gain algorithm for second-order sliding-mode control (2-SMC), specifically a super-twisting (STW)-like controller, with uniform finite/fixed convergence time, that is robust to perturbations with unknown bounds. It is shown that a second-order sliding mode is established as exact finite-time convergence to the origin if the adaptive gain does not have the ability to get reduced and converge to a small vicinity of the origin if the adaptation algorithm does not overestimate the control gain. The estimate of fixed convergence time of the studied adaptive STW-like controller is derived based on the Lyapunov analysis. The efficacy of the proposed adaptive algorithm is illustrated in a tutorial example, where the adaptive STW-like controller with uniform finite/fixed convergence time is compared to the adaptive STW controller with non-uniform finite convergence time.

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

    Directory of Open Access Journals (Sweden)

    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.

  4. Position Control of Synchronous Motor Drive by Modified Adaptive Two-phase Sliding Mode Controller

    Institute of Scientific and Technical Information of China (English)

    Mohamed Said Sayed Ahmed; Ping Zhang; Yun-Jie Wu

    2008-01-01

    A modified adaptive two-phase sliding mode controller for the synchronous motor drive that is highly robust to uncertain-ties and external disturbances is proposed in this paper. The proposed controller uses two-phase sliding mode control (SMC) where the 1st phase mainly controls the system in steady states and disturbed states-it is a smoothing phase. The 2nd phase is used mainly in the case of disturbed states. Also, it is an autotuning phase and uses a simple adaptive algorithm to tune the gain of conventional variable structure control (VSC). The modified controller is useful in position control of a permanent magnet synchronous drive.

  5. Certainty equivalence adaptation combined with super-twisting sliding-mode control

    Science.gov (United States)

    Barth, A.; Reichhartinger, M.; Wulff, K.; Horn, M.; Reger, J.

    2016-09-01

    In this paper, a Lyapunov-based control concept is presented that combines variable structure and adaptive control. The considered system class consists of nonlinear single input systems which are affected by matched structured and unstructured uncertainties. Resorting to the certainty equivalence principle, the controller exploits advantages of both the sliding-mode and the adaptive control methodology. It is demonstrated that the gains of the discontinuous control action may be reduced remarkably when compared with pure sliding-mode-based approaches. The efficiency of the presented concept is demonstrated in detail, using results of numerical simulations.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    International Nuclear Information System (INIS)

    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)

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  15. Adaptive fuzzy integral sliding mode velocity controlfor the cutting system of a trench cutte~

    Institute of Scientific and Technical Information of China (English)

    Qi-yan TIAN; Jian-hua WEI; Jin-hui FANG; Kai GUO

    2016-01-01

    This paper presents a velocity controller for the cutting system of a trench cutter (TC). The cutting velocity of a cutting system is affected by the unknown load characteristics of rock and soil. In addition, geological conditions vary with time. Due to the complex load characteristics of rock and soil, the cutting load torque of a cutter is related to the geological conditions and the feeding velocity of the cutter. Moreover, a cutter's dynamic model is subjected to uncertainties with unknown effects on its function. In this study, to deal with the particular characteristics of a cutting system, a novel adaptive fuzzy integral sliding mode control (AFISMC) is designed for controlling cutting velocity. The model combines the robust characteristics of an integral sliding mode controller with the adaptive adjusting characteristics of an adaptive fuzzy controller. The AFISMC cutting velocity con- troller is synthesized using the backstepping technique. The stability of the whole system including the fuzzy inference system, integral sliding mode controller, and the cutting system is proven using the Lyapunov theory. Experiments have been conducted on a TC test bench with the AFISMC under different operating conditions. The experimental results demonstrate that the proposed AFISMC cutting velocity controller gives a superior and robust velocity tracking performance.

  16. Adaptive terminal sliding-mode control strategy for DC-DC buck converters.

    Science.gov (United States)

    Komurcugil, Hasan

    2012-11-01

    This paper presents an adaptive terminal sliding mode control (ATSMC) strategy for DC-DC buck converters. The idea behind this strategy is to use the terminal sliding mode control (TSMC) approach to assure finite time convergence of the output voltage error to the equilibrium point and integrate an adaptive law to the TSMC strategy so as to achieve a dynamic sliding line during the load variations. In addition, the influence of the controller parameters on the performance of closed-loop system is investigated. It is observed that the start up response of the output voltage becomes faster with increasing value of the fractional power used in the sliding function. On the other hand, the transient response of the output voltage, caused by the step change in the load, becomes faster with decreasing the value of the fractional power. Therefore, the value of fractional power is to be chosen to make a compromise between start up and transient responses of the converter. Performance of the proposed ATSMC strategy has been tested through computer simulations and experiments. The simulation results of the proposed ATSMC strategy are compared with the conventional SMC and TSMC strategies. It is shown that the ATSMC exhibits a considerable improvement in terms of a faster output voltage response during load changes.

  17. 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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  20. Terminal Sliding Mode Control with Adaptive Law for Uncertain Nonlinear System

    Directory of Open Access Journals (Sweden)

    Zhanshan Zhao

    2015-01-01

    Full Text Available A novel nonsingular terminal sliding mode controller is proposed for a second-order system with unmodeled dynamics uncertainties and external disturbances. We need not achieve the knowledge for boundaries of uncertainties and external disturbances in advance. The adaptive control gains are obtained to estimate the uncertain parameters and external disturbances which are unknown but bounded. The closed loop system stability is ensured with robustness and adaptation by the Lyapunov stability theorem in finite time. An illustrative example of second-order nonlinear system with unmodeled dynamics and external disturbances is given to demonstrate the effectiveness of the presented scheme.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  3. Adaptive discrete-time sliding-mode control of nonlinear systems described by Wiener models

    Science.gov (United States)

    Salhi, Houda; Kamoun, Samira; Essounbouli, Najib; Hamzaoui, Abdelaziz

    2016-03-01

    In this paper, we propose an adaptive control scheme that can be applied to nonlinear systems with unknown parameters. The considered class of nonlinear systems is described by the block-oriented models, specifically, the Wiener models. These models consist of dynamic linear blocks in series with static nonlinear blocks. The proposed adaptive control method is based on the inverse of the nonlinear function block and on the discrete-time sliding-mode controller. The parameters adaptation are performed using a new recursive parametric estimation algorithm. This algorithm is developed using the adjustable model method and the least squares technique. A recursive least squares (RLS) algorithm is used to estimate the inverse nonlinear function. A time-varying gain is proposed, in the discrete-time sliding mode controller, to reduce the chattering problem. The stability of the closed-loop nonlinear system, with the proposed adaptive control scheme, has been proved. An application to a pH neutralisation process has been carried out and the simulation results clearly show the effectiveness of the proposed adaptive control scheme.

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

    Directory of Open Access Journals (Sweden)

    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.

  5. Robust Adaptive Control Design for Rotorcraft Unmanned Aerial Vehicles Based on Sliding Mode Approach

    Institute of Scientific and Technical Information of China (English)

    郭建川; 鲜斌

    2014-01-01

    This paper presents a nonlinear robust control design method for a generic rotorcraft unmanned aerial ve-hicle (RUAV). The control objective is to let the RUAV track some pre-defined time-varying position and heading trajectories. The proposed controller employs feedback linearization process to realize the dynamic decoupling control and applies adaptive sliding mode control to compensate for the parametric uncertainties and external disturbances. The global asymptotical stability is proved via stability analysis. Compared with the cascaded controller, the proposed controller demonstrates a superior tracking performance and robustness through numerical simulation in the presence of parametric uncertainties and unknown disturbances.

  6. Attitude Analysis and Robust Adaptive Backstepping Sliding Mode Control of Spacecrafts Orbiting Irregular Asteroids

    Directory of Open Access Journals (Sweden)

    Chunhui Liang

    2014-01-01

    Full Text Available Attitude stability analysis and robust control algorithms for spacecrafts orbiting irregular asteroids are investigated in the presence of model uncertainties and external disturbances. Rigid spacecraft nonlinear attitude models are considered and detailed attitude stability analysis of spacecraft subjected to the gravity gradient torque in an irregular central gravity field is included in retrograde orbits and direct orbits using linearized system model. The robust adaptive backstepping sliding mode control laws are designed to make the attitude of the spacecrafts stabilized and responded accurately to the expectation in the presence of disturbances and parametric uncertainties. Numerical simulations are included to illustrate the spacecraft performance obtained using the proposed control laws.

  7. Decentralized adaptive sliding mode control of a space robot actuated by control moment gyroscopes

    Institute of Scientific and Technical Information of China (English)

    Jia Yinghong; Xu Shijie

    2016-01-01

    An adaptive sliding mode control (ASMC) law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot. Each joint of the system is a free ball joint capable of rotating with three degrees of freedom (DOF). A cluster of control moment gyroscopes (CMGs) is mounted on each link and the base to actuate the system. The modified Rodrigues parameters (MRPs) are employed to describe the angular displacements, and the equations of motion are derived using Kane’s equations. The controller for each link or the base is designed sep-arately in decentralized scheme. The unknown disturbances, inertia parameter uncertainties and nonlinear uncertainties are classified as a ‘‘lumped” matched uncertainty with unknown upper bound, and a continuous sliding mode control (SMC) law is proposed, in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty. A gen-eral amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input. Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov’s method. Simulation results based on a three-link system verify the effectiveness of the proposed controller.

  8. Decentralized adaptive sliding mode control of a space robot actuated by control moment gyroscopes

    Directory of Open Access Journals (Sweden)

    Jia Yinghong

    2016-06-01

    Full Text Available An adaptive sliding mode control (ASMC law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot. Each joint of the system is a free ball joint capable of rotating with three degrees of freedom (DOF. A cluster of control moment gyroscopes (CMGs is mounted on each link and the base to actuate the system. The modified Rodrigues parameters (MRPs are employed to describe the angular displacements, and the equations of motion are derived using Kane’s equations. The controller for each link or the base is designed separately in decentralized scheme. The unknown disturbances, inertia parameter uncertainties and nonlinear uncertainties are classified as a “lumped” matched uncertainty with unknown upper bound, and a continuous sliding mode control (SMC law is proposed, in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty. A general amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input. Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov’s method. Simulation results based on a three-link system verify the effectiveness of the proposed controller.

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

    Science.gov (United States)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    DEFF Research Database (Denmark)

    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....

  12. Adaptive double-integral-sliding-mode-maximum-power-point tracker for a photovoltaic system

    Directory of Open Access Journals (Sweden)

    Bidyadhar Subudhi

    2015-10-01

    Full Text Available This study proposed an adaptive double-integral-sliding-mode-controller-maximum-power-point tracker (DISMC-MPPT for maximum-power-point (MPP tracking of a photovoltaic (PV system. The objective of this study is to design a DISMC-MPPT with a new adaptive double-integral-sliding surface in order that MPP tracking is achieved with reduced chattering and steady-state error in the output voltage or current. The proposed adaptive DISMC-MPPT possesses a very simple and efficient PWM-based control structure that keeps switching frequency constant. The controller is designed considering the reaching and stability conditions to provide robustness and stability. The performance of the proposed adaptive DISMC-MPPT is verified through both MATLAB/Simulink simulation and experiment using a 0.2 kW prototype PV system. From the obtained results, it is found out that this DISMC-MPPT is found to be more efficient compared with that of Tan's and Jiao's DISMC-MPPTs.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    Abdul Kareem

    2012-08-01

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

  1. Sliding mode control and observation

    CERN Document Server

    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...

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  4. 6-DOF robust adaptive terminal sliding mode control for spacecraft formation flying

    Science.gov (United States)

    Wang, Jianying; Sun, Zhaowei

    2012-04-01

    This paper addresses the tracking control problem of the leader-follower spacecraft formation, by which we mean that the relative motion between the leader and the follower is required to track a desired time-varying trajectory given in advance. Using dual number, the six-degree-of-freedom motion of the follower spacecraft relative to the leader spacecraft is modeled, where the coupling effect between the translational motion and the rotational one is accounted. A robust adaptive terminal sliding mode control law, including the adaptive algorithms, is proposed to ensure the finite time convergence of the relative motion tracking errors despite the presence of model uncertainties and external disturbances, based on which a modified controller is furthermore developed to solve the dual-equilibrium problem caused by dual quaternion representation. In addition, to alleviate the chattering, hyperbolic tangent function is adopted to substitute for the sign function. And by theoretical analysis, it is proved that the tracking error in such case will converge to a neighborhood of the origin in finite time. Finally, numerical simulations are performed to demonstrate the validity of the proposed approaches.

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

    Directory of Open Access Journals (Sweden)

    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.

  6. An Adaptive Sliding Mode Tracking Controller Using BP Neural Networks for a Class of Large-scale Nonlinear Systems

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A new type controller, BP neural-networks-based sliding mode controller is developed for a class of large-scale nonlinear systems with unknown bounds of high-order interconnections in this paper. It is shown that decentralized BP neural networks are used to adaptively learn the uncertainty bounds of interconnected subsystems in the Lyapunov sense, and the outputs of the decentralized BP neural networks are then used as the parameters of the sliding mode controller to compensate for the effects of subsystems uncertainties. Using this scheme, not only strong robustness with respect to uncertainty dynamics and nonlinearities can be obtained, but also the output tracking error between the actual output of each subsystem and the corresponding desired reference output can asymptotically converge to zero. A simulation example is presented to support the validity of the proposed BP neural-networks-based sliding mode controller.

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

    Indian Academy of Sciences (India)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  9. Adaptive Robust Sliding Mode Vibration Control of a Flexible Beam Using Piezoceramic Sensor and Actuator: An Experimental Study

    Directory of Open Access Journals (Sweden)

    Ruo Lin Wang

    2014-01-01

    Full Text Available This paper presents an experimental study of an adaptive robust sliding mode control scheme based on the Lyapunov’s direct method for active vibration control of a flexible beam using PZT (lead zirconate titanate sensor and actuator. PZT, a type of piezoceramic material, has the advantages of high reliability, high bandwidth, and solid state actuation and is adopted here in forms of surface-bond patches for vibration control. Two adaptive robust sliding mode controllers for vibration suppression are designed: one uses a discontinuous bang-bang robust compensator and the other uses a smooth compensator with a hyperbolic tangent function. Both controllers guarantee asymptotic stability, as proved by the Lyapunov’s direct method. Experimental results verified the effectiveness and the robustness of both adaptive sliding mode controllers. However, from the experimental results, the bang-bang robust compensator causes small-magnitude chattering because of the discontinuous switching actions. With the smooth compensator, vibration is quickly suppressed and no chattering is induced. Furthermore, the robustness of the controllers is successfully demonstrated with ensured effectiveness in vibration control when masses are added to the flexible beam.

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

    Directory of Open Access Journals (Sweden)

    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.

  11. Adaptive Fuzzy Sliding Mode Control for the Probe Soft Landing on the Asteroids with Weak Gravitational Field

    Directory of Open Access Journals (Sweden)

    Yuanchun Li

    2015-01-01

    Full Text Available For the trajectory control of the probe soft landing on the asteroids with weak gravitational field, this paper presents a combined integral sliding mode control with an adaptive fuzzy logic system, named adaptive fuzzy sliding mode control (AFSMC scheme. Considering the uncertainty of the orbit dynamics model in the small body fixed coordinate system, and the polyhedron modeling uncertainty in the gravitational potential, a fuzzy logic system is adopted to approximate the upper bound of the uncertainties. In addition, a robust control item is introduced to compensate for the approximation error of fuzzy logic system. The designed adaptive law and robust item make the closed-loop control stable and the tracking errors are convergent to zero. The controller not only guarantees the rapidity and accuracy of the desired trajectory tracking, but also enhances the robustness of the control system, improving the dynamic tracking performance for the probe soft landing on asteroids. Finally, the contrastive simulation results are presented to show the feasibility and effectiveness of the proposed control scheme.

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

    Institute of Scientific and Technical Information of China (English)

    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.

  13. Adaptive Sliding Mode Control of a 6-DOF RLED Robot Manipulator with Uncertain Parameters and External Disturbances

    Directory of Open Access Journals (Sweden)

    Isro Hutama

    2016-03-01

    Full Text Available This paper addresses the end-effector position and orientation tracking problem of a 6-degrees of freedom (DOF rigid link electrically driven (RLED revolute joint serial robot manipulator with uncertain parameters and external disturbances. System uncertainties and external disturbances are bounded but their upper limits are unknown. The input matrix, which is always invertible and not necessarily a diagonal matrix, is also assumed to be uncertain with a certain bound. An adaptive sliding mode control (ASMC is designed to solve the tracking problem given these uncertainties. Note that the designed control method can be applied to any RLED serial robot manipulator. No regression matrices are required and the uncertainty upper limits are not necessarily known. Furthermore, the controller computation time can be reduced by considering some parts of the system dynamics and the nth time-derivative reference signals of nth order system, in this case desired joint jerk signals, as unknown bounded uncertainties. The desired trajectory is defined in operational space while the designed ASMC works in joint space. The methods to convert the end-effector pose, velocity, acceleration, and jerk from operational space to joint space are also explained. The Lyapunov stability criterion is applied to prove the convergence of the adaptive gain of ASMC, the sliding surface, and system stability. Finally, simulation results verified ASMC performance.

  14. An experimental comparison of proportional-integral, sliding mode, and robust adaptive control for piezo-actuated nanopositioning stages.

    Science.gov (United States)

    Gu, Guo-Ying; Zhu, Li-Min

    2014-05-01

    This paper presents a comparative study of the proportional-integral (PI) control, sliding mode control (SMC), and robust adaptive control (RAC) for applications to piezo-actuated nanopositioning stages without the inverse hysteresis construction. For a fair comparison, the control parameters of the SMC and RAC are selected on the basis of the well-tuned parameters of the PI controller under same desired trajectories and sampling frequencies. The comparative results show that the RAC improves the tracking performance by 17 and 37 times than the PI controller in terms of the maximum tracking error e(m) and the root mean tracking error e(rms), respectively, while the RAC improves the tracking performance by 7 and 9 times than the SMC in terms of e(m) and e(rms), respectively.

  15. Extended State Observer Based Adaptive Back-Stepping Sliding Mode Control of Electronic Throttle in Transportation Cyber-Physical Systems

    Directory of Open Access Journals (Sweden)

    Yongfu Li

    2015-01-01

    Full Text Available Considering the high accuracy requirement of information exchange via vehicle-to-vehicle (V2V communications, an extended state observer (ESO is designed to estimate the opening angle change of an electronic throttle (ET, wherein the emphasis is placed on the nonlinear uncertainties of stick-slip friction and spring in the system as well as the existence of external disturbance. In addition, a back-stepping sliding mode controller incorporating an adaptive control law is presented, and the stability and robustness of the system are analyzed using Lyapunov technique. Finally, numerical experiments are conducted using simulation. The results show that, compared with back-stepping control (BSC, the proposed controller achieves superior performance in terms of the steady-state error and rising time.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  19. 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

    Institute of Scientific and Technical Information of China (English)

    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.

  20. 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

    Institute of Scientific and Technical Information of China (English)

    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。

  1. Tracking with asymptotic sliding mode and adaptive input delay effect compensation of nonlinearly perturbed delayed systems applied to traffic feedback control

    Science.gov (United States)

    Mirkin, Boris; Haddad, Jack; Shtessel, Yuri

    2016-09-01

    Asymptotical sliding mode-model reference adaptive control design for a class of systems with parametric uncertainty, unknown nonlinear perturbation and external disturbance, and with known input and state delays is proposed. To overcome the difficulty to directly predict the plant state under uncertainties, a control design is based on a developed decomposition procedure, where a 'generalised error' in conjunction with auxiliary linear dynamic blocks with adjustable gains is introduced and the sliding variable is formed on the basis of this error. The effect of such a decomposition is to pull the input delay out of first step of the design procedure. As a result, similarly to the classical Smith predictor, the adaptive control architecture based only on the lumped-delays, i.e. without conventional in such cases difficult-implemented distributed-delay blocks. Two new adaptive control schemes are proposed. A linearisation-based control design is constructed for feedback control of an urban traffic region model with uncertain dynamics. Simulation results demonstrate the effectiveness of the developed adaptive control method.

  2. Sliding mode control for mobile welding robot

    Institute of Scientific and Technical Information of China (English)

    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.

  3. Sliding mode control for synchronous electric drives

    CERN Document Server

    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

  4. 时滞TCP网络的自适应滑模控制%Adaptive Sliding Mode Control for TCP Networks with Time-delay

    Institute of Scientific and Technical Information of China (English)

    叶成荫

    2011-01-01

    For the problem of congestion control in TCP networks with input-delay and state-delay, an active queue management algorithm is presented based on an adaptive sliding mode control. A particular linear transformation is used to turn the original time-delay system into a delay-free system and to eliminate the impact of time-delay.Considering the upper bound of the network system uncertainties may not be easily obtained, a simply adaptive law for the upper bound of system uncertainties is presented and a sliding mode controller is designed according to that adaptive law. The controller not only enables the queue length to converge to set value quickly but also keeps the queue oscillation small. Simulation results demonstrate that this algorithm can obtain good transient and steady state responses, and the algorithm is superior to the traditional PI control and sliding mode control.%针对具有输入时滞和状态时滞的TCP网络的拥塞控制问题,提出了一种基于自适应滑模控制的主动队列管理算法.通过引入一个特殊变换将原时滞系统转化为无时滞系统,从而消除时滞带来的影响.考虑到网络系统不确定性上界很难获得,提出了一种自适应律以适应系统的不确定的上界,并根据此自适应律设计了一个滑模控制器,所设计的控制器不仅可以使队列长度快速收敛到设定值,而且维持较小的队列振荡.仿真结果表明,该算法可以获得良好的暂态和稳态响应,该方法优于传统的PI控制和滑模控制.

  5. Fuzzy Backstepping Sliding Mode Control for Mismatched Uncertain System

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

  8. 混合隔振系统自适应模糊滑模控制%Adaptive Fuzzy Sliding-mode Controller for Hybrid Vibration Isolation Systems

    Institute of Scientific and Technical Information of China (English)

    杨理华; 朱石坚; 楼京俊; 李棒

    2014-01-01

    针对机械设备被动隔振在低频段隔振效果较差的问题,建立磁致伸缩作动器的电—磁—机转化数学模型,提出一种基于自适应模糊滑模控制算法,并用李雅普诺夫方法证明控制器的稳定性,将该控制策略与磁致伸缩作动器应用于混合隔振系统中。仿真结果表明:在单频、多频及随即激励条件下,自适应模糊滑模控制器具有良好的动态特性和鲁棒性,能够提高系统隔振效率并拓宽隔振频段,有效减小传至基础的力。%Aiming at the problem of poor vibration isolation effect of passive vibration isolators of mechanical equip-ment in low frequency range, an electric-magnetic-mechanical conversion model for magnetostrictive actuators is estab-lished, and an adaptive fuzzy sliding-mode control algorithm is proposed. The stability of the controller is proved by Lyapu-nov method. Then, the control strategy and the magnetostrictive actuator are used in a hybrid vibration isolation system. The simulation results show that in whatever conditions of single frequency excitation, multi-frequency excitation or random ex-citation, the adaptive fuzzy sliding-mode controller has good dynamic characteristics and robustness. This property can also be used to improve the isolation efficiency and broaden the vibration isolation frequency band of the hybrid system, and ef-fectively reduce the force transmitted to the foundation of the mechanical equipment.

  9. 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

    Institute of Scientific and Technical Information of China (English)

    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.

  10. SLIDING MODE CONTROL FOR ACTIVE AUTOMOBILE SUSPENSIONS

    Institute of Scientific and Technical Information of China (English)

    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.

  11. 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

    Science.gov (United States)

    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.

  12. Sliding Mode Control Design for a Class of SISO Systems with Uncertain Sliding Surface

    Directory of Open Access Journals (Sweden)

    Guofeng Wang

    2013-01-01

    Full Text Available The problem of designing a sliding mode controller with uncertain sliding surface for a class of uncertain single-input-single-output systems is studied. The design case is handled by using the invariant transformation first in order to separate the sliding mode and the reaching mode of the sliding mode control system. It is shown that the sliding mode design needs not to consider the uncertainties of the sliding surface, which can be handled in the reaching phase design. The results generalize the robust design of the reaching phase such that one specific reaching phase design may agree with several sliding surfaces.

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

    DEFF Research Database (Denmark)

    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...... 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....

  14. GA-Based Fuzzy Sliding Mode Controller for Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    W. L. Chiang

    2008-11-01

    Full Text Available Generally, the greatest difficulty encountered when designing a fuzzy sliding mode controller (FSMC or an adaptive fuzzy sliding mode controller (AFSMC capable of rapidly and efficiently controlling complex and nonlinear systems is how to select the most appropriate initial values for the parameter vector. In this paper, we describe a method of stability analysis for a GA-based reference adaptive fuzzy sliding model controller capable of handling these types of problems for a nonlinear system. First, we approximate and describe an uncertain and nonlinear plant for the tracking of a reference trajectory via a fuzzy model incorporating fuzzy logic control rules. Next, the initial values of the consequent parameter vector are decided via a genetic algorithm. After this, an adaptive fuzzy sliding model controller, designed to simultaneously stabilize and control the system, is derived. The stability of the nonlinear system is ensured by the derivation of the stability criterion based upon Lyapunov's direct method. Finally, an example, a numerical simulation, is provided to demonstrate the control methodology.

  15. Finite-time control of DC-DC buck converters via integral terminal sliding modes

    Science.gov (United States)

    Chiu, Chian-Song; Shen, Chih-Teng

    2012-05-01

    This article presents novel terminal sliding modes for finite-time output tracking control of DC-DC buck converters. Instead of using traditional singular terminal sliding mode, two integral terminal sliding modes are introduced for robust output voltage tracking of uncertain buck converters. Different from traditional sliding mode control (SMC), the proposed controller assures finite convergence time for the tracking error and integral tracking error. Furthermore, the singular problem in traditional terminal SMC is removed from this article. When considering worse modelling, adaptive integral terminal SMC is derived to guarantee finite-time convergence under more relaxed stability conditions. In addition, several experiments show better start-up performance and robustness.

  16. Sliding Mode Control of Induction Motor Phase Currents

    DEFF Research Database (Denmark)

    Hansen, R.B.; Hattel, T.; Bork, J;

    1995-01-01

    Sliding mode control of induction motor phase currents are investigated through development of two control concepts.......Sliding mode control of induction motor phase currents are investigated through development of two control concepts....

  17. Fuzzy Sliding Mode Control for Discrete Nonlinear Systems

    Institute of Scientific and Technical Information of China (English)

    F.Qiao.Q.M.Zhu; A.Winfield; C.Melhuish

    2003-01-01

    Sliding mode control is introduced into classical model free fuzzy logic control for discrete time nonlinear systems with uncertainty to the design of a novel fuzzy sliding mode control to meet the requirement of necessary and sufficient reaching conditions of sliding mode control. The simulation results show that the proposed controller outperforms the original fuzzy sliding mode controller and the classical fuzzy logic controller in stability, convergence and robustness.

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

    CERN Document Server

    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

  19. 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

    Institute of Scientific and Technical Information of China (English)

    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.

  20. Interpolating sliding mode observer for a ball and beam system

    Science.gov (United States)

    Luai Hammadih, Mohammad; Hosani, Khalifa Al; Boiko, Igor

    2016-09-01

    A principle of interpolating sliding mode observer is introduced in this paper. The observer incorporates multiple linear observers through interpolation of multiple estimates, which is treated as a type of adaptation. The principle is then applied to the ball and beam system for observation of the slope of the beam from the measurement of the ball position. The linearised model of the ball and beam system using multiple linearisation points is developed. The observer dynamics implemented in Matlab/Simulink Real Time Workshop environment. Experiments conducted on the ball and beam experimental setup demonstrate excellent performance of the designed novel interpolating (adaptive) observer.

  1. 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

    Institute of Scientific and Technical Information of China (English)

    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″。

  2. 基于滑模的神经元网络自适应控制及其应用%Neuron Network Adaptive Control Based on Sliding Mode and Its Application

    Institute of Scientific and Technical Information of China (English)

    杨勇; 粟时平

    2003-01-01

    提出一种基于滑模的神经元网络自适应控制方法,并把它应用于液压伺服系统的位置控制.基于滑模学习策略,根据从一优化了的滑模控制所得到的系统输入/输出信号,设计一神经元网络,离线训练该神经元网络的权值,然后综合一简单的自适应环节,得到完整的基于滑模的神经元网络自适应控制.仿真实验结果表明,相对于纯优化的滑模控制而言,所提出的控制方法能使系统具有响应速度快,控制精度高的特点,综合控制效果明显.%A neuron network adaptive control based on sliding mode is developed and applied to the positioningcontrol of a hydraulic servo system. According to the system's input/output data obtained from an optimizedsliding-mode control, a neuron network control together with an adaptation mechanism is devised and trainedoff-line based on a sliding mode learning strategy, which is used as an adaptive learning algorithm to train theadjustment weights of neuron network. The simulation experiment results applied to a hydraulic servo systemshow that the learning approach of neuron network exhibits fast convergence property and can be effectivelyused for on-line control. The results also show that the system by using the proposed control has better compre-hensive properties than that of by using pure optimized sliding mode control.

  3. Adaptive neural sliding mode control for TCP networks%TCP网络的自适应神经滑模控制

    Institute of Scientific and Technical Information of China (English)

    叶成荫; 井元伟

    2012-01-01

    针对TCP网络的拥塞控制问题,考虑了TCP负载和往返时延具有较大的突发性和时变性的情况,结合滑模控制与RBF神经网络提出了一种主动队列管理算法.考虑到网络系统参数是未知时变的,采用RBF神经网络逼近网络系统参数,从而使得主动队列管理算法易于实现.依据李雅普诺夫稳定性理论设计了RBF神经网络权值的自适应律,使得网络系统参数得到了较好的估计.采用RBF神经网络的输出作为滑模控制器的参数设计了一种主动队列管理算法,使得网络系统是渐近稳定的.仿真结果表明所提出的算法与比例积分控制器和传统的滑模控制器相比具有较快的响应和稳定的队列长度,在网络参数变化时仍能获得较好的鲁棒性.%To save the problem of congestion control in transmission control protocol (TCP) networks, by incorporating sliding mode control with radial basis function ( RBF) neural networks, an active queue management algorithm is presented in presence of TCP load and round trip time which are more abrupt and time-varying. Since network system parameters are unknown and time-varying, the RBF neural networks were used to approximate the network system parameters so that the active queue management algorithm was easily implemented. The network system parameters are well estimated by updating the RBF neural network weights according to Lyapunov theory. By using the output of the RBF neural network as the sliding mode controller parameters, an active queue management algorithm was designed to guarantee the network system was asymptotically stable. Compared with proportional-integral controller and conventional sliding mode controller, simulation results show that the proposed algorithm has fast system response and steady queue length as well as better robustness under various network conditions.

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

    OpenAIRE

    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...

  5. Methodology of Mathematical error-Based Tuning Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2012-04-01

    Full Text Available Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical error-based tuning sliding mode controller (MTSMC for highly nonlinear dynamic robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, sliding mode controller is selected. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers. In order to reduce the chattering this research is used the switching function in presence of mathematical error-based method instead of switching function method in pure sliding mode controller. The results demonstrate that the sliding mode controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Pure sliding mode controller has difficulty in handling unstructured model uncertainties. To solve this problem applied mathematical model-free tuning method to sliding mode controller for adjusting the sliding surface gain (ë . Since the sliding surface gain (ë is adjusted by mathematical model free-based tuning method, it is nonlinear and continuous. In this research new ë is obtained by the previous ë multiple sliding surface slopes updating factor (á. Chattering free mathematical error-based tuning sliding mode controller is stable controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in mathematical error-based tuning sliding mode controller with switching (sign function. This controller has acceptable performance in

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

    Directory of Open Access Journals (Sweden)

    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

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

    OpenAIRE

    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...

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

    Directory of Open Access Journals (Sweden)

    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.

  9. Backstepping adaptive sliding mode control for unmanned surface vessel course tracking with water-jet-propelled%喷水推进型无人艇航向跟踪的反步自适应滑模控制

    Institute of Scientific and Technical Information of China (English)

    廖煜雷; 庞永杰; 庄佳园

    2012-01-01

    This paper presented a method of Backstepping adaptive sliding mode control for the course tracking nonlinear system of the unmanned hydroplane with single water-jet-propelled. The autopilot system consisted of the nonlinear ship response model and the rudder actuator dynamics. The motion response model took account of the modeling errors and external disturbances. It transformed the original system into a nonlinear system based on global diffeomorphism change of coordinate. And propsed an adaptive sliding mode control law based on sliding mode control theory and Backstepping method. By means of Lya-punov function, it proved that the proposed control law could render the course tracking system globally asymptotically stable. Simulations results illustrate the effectiveness of the proposed method.%针对单泵喷水推进型无人滑行艇的航向跟踪非线性系统,提出了一种反步自适应滑模控制方法.该系统由无人艇运动非线性响应模型和舵机伺服系统组成,并考虑运动响应模型的建模误差、外界干扰力等非匹配不确定性,利用全局微分同胚坐标变换将原系统变换为具有下三角特征的非线性系统.基于Backstepping方法和滑模控制理论,提出了一种自适应滑模控制律;利用Lyapunov函数,证明该控制律保证了航向跟踪系统的全局渐近稳定性.仿真对比结果验证了所提出控制器的有效性.

  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

    Institute of Scientific and Technical Information of China (English)

    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. 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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

  13. Robust Sliding Mode Control for Tokamaks

    Directory of Open Access Journals (Sweden)

    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.

  14. Finite time convergent control using terminal sliding mode

    Institute of Scientific and Technical Information of China (English)

    Yiguang HONG; Guowu YANG; Daizhan CHENG; Sarah SPURGEON

    2004-01-01

    A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under consideration, which may be useful in specific applications. The proposed method, different from many existing terminal sliding model control design methods, is studied, and then feedback laws are designed for a class of nonlinear systems, along with illustrative examples.

  15. 不确定欠驱动系统的高阶自适应Super-Twisting滑模控制%High-Order Adaptive Super-Twisting Sliding Mode Control for Uncertain Underactuated Systems

    Institute of Scientific and Technical Information of China (English)

    杨兴明; 高银平

    2014-01-01

    为实现一类不确定欠驱动系统在未知干扰情况下的鲁棒控制,针对传统滑模控制中存在的抖振问题,提出一种基于二次型Lyapunov函数的二阶Super-Twisting自适应滑模控制策略。首先,控制器的不连续项采用二阶Super-Twisting算法,将不连续控制作用在滑模量的二阶导数。然后,针对滑模面受不确定干扰影响的情况,为调节参数设计一种自适应律方法,该方法不受传统二阶滑模控制中干扰项的一阶导数边界已知的条件限制,保证滑模面在有干扰情况下的收敛,削弱控制器输入的抖振现象。最后,以两轮自平衡车为实验对象验证该方法,并与传统滑模及普通二阶滑模方法做仿真对比。仿真结果表明文中所提的二阶自适应滑模控制方法在控制效果和降低抖振方面表现更优。%To achieve good robustness against disturbances for a class of uncertain underactuated systems, a second-order adaptive sliding mode control method is proposed based on quadratic Lyapunov function to reduce the inherent chattering of conventional sliding mode control ( SMC ) . Firstly, a second-order super-twisting algorithm is used by the discontinuous part of controller, which acts on the second-order derivative of sliding mode variables. Secondly, as for the effects of unknown disturbances on sliding mode surface, an adaptive law is designed to adjust the parameters. This method eliminates the restriction of the first derivative of disturbances boundary being known in the traditional second-order sliding mode control, which not only keeps convergence of sliding mode surface but also reduces chattering. Finally, a two-wheeled self-balancing cart is used to test the proposed approach. The simulation results show that compared with conventional SMC and ordinary second-order SMC, the proposed method outperforms the above methods on effectiveness and reducing chattering.

  16. 基于自适应反步滑模控制的主动队列管理%Active Queue Management Based on Adaptive Backstepping Sliding Mode Control

    Institute of Scientific and Technical Information of China (English)

    叶成荫

    2012-01-01

    针对TCP网络的拥塞控制问题,基于自适应反步滑模控制提出了一种主动队列管理算法.由于系统的不确定在实际工程中很难或根本无法事先获得,设计一个自适应律来实时适应系统不确定的值,从而消除系统不确定所带来的影响.利用此自适应律,提出一个自适应反步滑模控制器,使得系统具有较好的暂态性能和鲁棒性能.仿真结果表明,该方法对TCP网络的复杂变化具有较好的鲁棒性和较快的系统响应.%For the problem of congestion control in TCP networks,an active queue management algorithm is proposed based on the adaptive backstepping sliding mode control. Since the lumped uncertainties of the network systems is difficult to obtain in advance in practical applications, an adaptive law is proposed to compensate the effects of the system uncertainties. Using the proposed adaptive law, an adaptive backstepping sliding mode controller is proposed to make systems possesses the advantages of good transient control and robust performance. Simulation results verifies that the proposed algorithm has good robustness and fast system response for complicated changes in TCP networks.

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

    CERN Document Server

    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...

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

    International Nuclear Information System (INIS)

    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)

  19. 磁悬浮球系统的自适应反演滑模控制%Adaptive back-stepping sliding mode control of magnetic levitation ball system

    Institute of Scientific and Technical Information of China (English)

    郑建英; 于占东

    2016-01-01

    磁悬浮球系统是一种典型的开环不稳定系统,为了实现磁悬浮球系统的精确控制,而且使系统更具有实际意义,设计了一种自适应反演滑模控制器。在实际控制系统中,不确定性及外加干扰是未知的,本文基于实际应用,利用该系统的线性化模型,来设计此控制器。实验结果表明:所设计的自适应反演滑模控制器与普通滑模控制器相比,能减小系统的抖振,能较好的实现小球的稳定悬浮并具有良好的动态跟踪性能,与自适应滑模控制器相比,能更好的在实践中应用。%Magnetic levitation ball system is a typical open-loop and unstable system, in order to achieve precise control of the magnetic levitation ball system, and make the system more practical, we design an adaptive back-stepping sliding mode controller. In the actual control system, uncertainties and external disturbances are unknown, we base on the practical application of this system, use a linear model of the system, to design the controller. The results show that:compared with the normal mode controller, the design of adaptive back-stepping sliding mode controller can reduce chattering of the system, can better achieve a stable suspension of the ball and has good dynamic tracking performance, and compared to the adaptive sliding mode controller, the controller we design in this paper can better applied in practice.

  20. 基于自适应模糊滑模控制的船舶航向控制器设计%Controller Design Based on Adaptive Fuzzy Sliding Mode Control for Ship Course

    Institute of Scientific and Technical Information of China (English)

    刘文江; 隋青美; 周风余; 肖海荣

    2012-01-01

    Considering the nonlinear characteristics, modeling uncertainties and external disturbances such as wind, wave and flow in ship motion systems, an adaptive fuzzy sliding mode control (AFSMC) technology is presented to solve the ship course control problem. The fuzzy logic system is used to approximate the unknown system function and the adaptive fuzzy sliding mode controller is designed by combining sliding mode control technology with adaptive fuzzy control technology. The chattering problem of sliding mode control is relieved by adopting PI (proportional-integral) control instead of sliding mode control switching items within the boundary layer. Based on the Lyapunov function, it is theoretically proved that the controller makes all signals in the system of ship motion uniformly bounded, and using Barbalat's lemma, the tracking errors converge to zero. Simulation experiments on the course keeping and change in the presence of parameter perturbation and environment disturbances are conducted, and similar output responses with those under no perturbation and no interference circumstances by the controller based on AFSMC are obtained. The experiment results show that the proposed controller can handle system uncertainties and external disturbances effectively, and has superior controlling performance and strong robustness.%针对船舶运动系统中固有的非线性、模型不确定性和风、浪、流等的干扰.提出了自适应模糊滑模控制(AFSMC)策略解决船舶的航向控制问题.通过采用模糊逻辑系统逼近系统未知函数,将滑模控制技术与自适应模糊控制技术相结合,设计了船舶航向AFSMC控制器.在滑模边界层内应用PI (proportional-integral)控制代替滑模控制中的切换项,削弱了滑模控制带来的抖振现象.借助李亚普诺夫函数证明了船舶运动系统中的信号都一致有界并利用Barbalat引理证明了跟踪误差渐近收敛到零.在参数摄动和外界干扰情况下进

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

    Indian Academy of Sciences (India)

    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.

  2. 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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    CERN Document Server

    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

  5. 自适应模糊滑模变结构在永磁同步电动机的应用%Adaptive Fuzzy Sliding mode Control into Permanent Magnet Synchronous Motor

    Institute of Scientific and Technical Information of China (English)

    2013-01-01

      针对永磁同步电动机存在参数时变、多变量耦合、负载扰动以及非线性等不确定因素,提出一种新颖的、带有扩展反馈和切换增益的自适应模糊滑模变结构控制方法。%Against the indefinite factors of the time variation of parameters, multivariable coupling, load distur-bances and nonlinear of the permanent magnet synchronous motor, an innovative approach to adaptive fuzzy sliding mode control with a new type of extended feedback and switching gains was introduced.

  6. 控制受限的BTT导弹反演自适应滑模控制研究%Adaptive backstepping sliding mode control for BTT missiles with control input constraints

    Institute of Scientific and Technical Information of China (English)

    朱凯; 齐乃明

    2011-01-01

    针对具有非匹配不确定性的倾斜转弯(bank-to-turn,BTT)导弹在控制受限情况下的鲁棒控制问题,提出了一种自适应滑模反演控制方法.反演设计的每一步中,采用自适应算法对不确定性的上界进行估计,给出了具有范数型切换函数的连续的自适应滑模控制律.在实际控制量的设计中显式地考虑了控制量的饱和特性,保证了系统在控制饱和时的稳定性,并采用Lyapunov稳定性理论证明了跟踪误差最终有界.仿真结果表明,在气动参数摄动和控制量存在饱和的情况下,本文的控制方法仍能快速,准确地跟踪指令信号,具有较强的鲁棒性.%Concerning with robust control of a bank-to-turn ( BTT) missile in the presence of unmatched uncertainties and control input saturation, an adaptive backstepping sliding mode controller is designed. The upper bound of uncertainties is adaptively estimated at each step of the backstepping design, and continuous sliding mode control with norm switching funcion is used. To ensure the stability under control input saturation, control saturation is explicitly accounted in the design of real control. Using the Lyapunov stability theorem,the tracking error is shown to be ultimately bounded Simulation results show the good dynamic characteristics and robustness of the proposed method in the presence of aerodynamic dispersion and control input saturation

  7. A novel higher order sliding mode control scheme

    OpenAIRE

    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...

  8. Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2012-08-01

    Full Text Available In this research, a new approach for gradient descent optimal sliding mode controller for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for nonlinear control of continuum manipulators to be employed in various situations has also been proposed and developed. A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers and control by nonlinear methodology (sliding mode method and optimization the sliding surface slope by gradient descent method. It is shown that this type of control methodology, although used to a certain model, can be used to conveniently control the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively controller is more plausible to implement in an actual real-time when compared to other techniques of nonlinear controller methodology of continuum arms. Principles of sliding mode methodology is based on derive the sliding surface slope and nonlinear dynamic model and applied in the system. Based on the gradient descent optimization method, the sliding surface slope and gain updating factor has been developed in certain and partly uncertain continuum robots. This methodology is represented in certain and uncertain area whose only optimization for certain area and test this optimization for uncertainty. The new techniques proposed and methodologies adopted in this paper supported by MATLAB/SIMULINK results represent a significant contribution to the field of design an optimized nonlinear sliding mode controller for continuum robots.

  9. Sliding mode observers for automotive alternator

    Science.gov (United States)

    Chen, De-Shiou

    Estimator development for synchronous rectification of the automotive alternator is a desirable approach for estimating alternator's back electromotive forces (EMFs) without a direct mechanical sensor of the rotor position. Recent theoretical studies show that estimation of the back EMF may be observed based on system's phase current model by sensing electrical variables (AC phase currents and DC bus voltage) of the synchronous rectifier. Observer design of the back EMF estimation has been developed for constant engine speed. In this work, we are interested in nonlinear observer design of the back EMF estimation for the real case of variable engine speed. Initial back EMF estimate can be obtained from a first-order sliding mode observer (SMO) based on the phase current model. A fourth-order nonlinear asymptotic observer (NAO), complemented by the dynamics of the back EMF with time-varying frequency and amplitude, is then incorporated into the observer design for chattering reduction. Since the cost of required phase current sensors may be prohibitive, the most applicable approach in real implementation by measuring DC current of the synchronous rectifier is carried out in the dissertation. It is shown that the DC link current consists of sequential "windows" with partial information of the phase currents, hence, the cascaded NAO is responsible not only for the purpose of chattering reduction but also for necessarily accomplishing the process of estimation. Stability analyses of the proposed estimators are considered for most linear and time-varying cases. The stability of the NAO without speed information is substantiated by both numerical and experimental results. Prospective estimation algorithms for the case of battery current measurements are investigated. Theoretical study indicates that the convergence of the proposed LAO may be provided by high gain inputs. Since the order of the LAO/NAO for the battery current case is one order higher than that of the link

  10. 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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

  13. Robust adaptive synchronization of chaotic neural networks by slide technique

    Institute of Scientific and Technical Information of China (English)

    Lou Xu-Yang; Cui Bao-Tong

    2008-01-01

    In this paper,we focus on the robust adaptive synchronization between two coupled chaotic neural networks with all the parameters unknown and time-varying delay.In order to increase the robustness of the two coupled neural networks,the key idea is that a sliding-mode-type controller is employed.Moreover,without the estimate values of the network unknown parameters taken as an updating object,a new updating object is introduced in the constructing of controller.Using the proposed controller,without any requirements for the boundedness,monotonicity and differentiability of activation functions,and symmetry of connections,the two coupled chaotic neural networks can achieve global robust synchronization no matter what their initial states are.Finally,the numerical simulation validates the effectiveness and feasibility of the proposed technique.

  14. A generalized regular form for multivariable sliding mode control

    Directory of Open Access Journals (Sweden)

    W. Perruquetti

    2001-01-01

    Full Text Available The paper shows how to compute a diffeomorphic state space transformation in order to put the initial mutivariable nonlinear model into an appropriate regular form. This form is an extension of the one proposed by Lukyanov and Utkin [9], and constitutes a guidance for a “natural” choice of the sliding surface. Then stabilization is achieved via a sliding mode strategy. In order to overcome the chattering phenomenon, a new nonlinear gain is introduced.

  15. Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

    Directory of Open Access Journals (Sweden)

    Razvan SOLEA

    2009-12-01

    Full Text Available This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair. The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.

  16. 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

    Institute of Scientific and Technical Information of China (English)

    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.

  17. Hybrid position/force control of a constrained manipulator using adaptive wavelet sliding mode%受限机械臂的自适应小波滑模位置/力混合控制

    Institute of Scientific and Technical Information of China (English)

    周芳; 朱齐丹; 姜迈; 汪瞳

    2009-01-01

    针对终端运动受约束的机械臂位置/力混合控制问题,提出了一种自适应小波滑模控制算法.该控制方案将滑模控制的鲁棒性及自适应调整能力与小波神经网络相结合,根据坐标变换得到降阶位置/力模型,针对降阶模型采用小波神经网络在线学习系统未知动力学模型中的非线性部分,同时引入滑模控制自动调整小波网络权值参数,从而对神经网络的固有逼近误差进行有效补偿,达到期望的跟踪性能.二自由度机械臂的仿真结果表明该控制器能保证系统快速有效跟踪指定参考信号.%The hybrid position/force control of the robotic manipulator whose motion was constrained in the end was discussed. An adaptive wavelet sling mode control strategy was proposed, in which in-tegrating the robustness and self-adjustment advantages of sliding mode control were integrated into the wavelet network controller. A reduced position/force model was obtained according to the nonlinear translation, a wavelet network was used to learn the unknown nonlinear dynamic of system. Sim-ultaneous, the sliding mode technique was designed such that the wavelet weighted parameters could be automatically tuned thereby compensating the approximate error of the wavelet network in order to obtain the desired tracking performances. Simulation results of two-degree of freedom manipulator show the designed controller ensures the system track the desired reference signals quickly and efficiency.

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

    Directory of Open Access Journals (Sweden)

    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. Tensor product model transformation based decoupled terminal sliding mode control

    Science.gov (United States)

    Zhao, Guoliang; Li, Hongxing; Song, Zhankui

    2016-06-01

    The main objective of this paper is to propose a tensor product model transformation based decoupled terminal sliding mode controller design methodology. The methodology is divided into two steps. In the first step, tensor product model transformation is applied to the single-input-multi-output system and a parameter-varying weighted linear time-invariant system is obtained. Then, decoupled terminal sliding mode controller is designed based on the linear time-invariant systems. The main novelty of this paper is that the nonsingular terminal sliding mode control design is based on a numerical model rather than an analytical one. Finally, simulations are tested on cart-pole system and translational oscillations with a rotational actuator system.

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

    Directory of Open Access Journals (Sweden)

    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. Fuzzy Sliding Mode Control for a Fuel Cell System

    Directory of Open Access Journals (Sweden)

    Liping Fan

    2013-05-01

    Full Text Available Fuel cell powered systems have low voltage and high current output characteristics. Therefore, the output voltage of the fuel cell must be stepped up by DC-DC converter. In this paper an integrated mathematical model for proton exchange membrane fuel cell power system with DC-DC converter is described by analyzing the working mechanism of the proton exchange membrane fuel cell and the boost DC-DC converter. Fuzzy sliding mode control scheme is proposed to realize stable output voltage under different loads. Simulation operations are carried out and results are compared with fuzzy control and sliding mode control. It is shown that the use of the proposed fuzzy sliding mode controller can achieve good control effect.

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

    Directory of Open Access Journals (Sweden)

    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.

  3. Adaptive Terminal Sliding Mode Control for Air-breathing Hypersonic Vehicles Under Control Input Constraints%输入受限的吸气式高超声速飞行器自适应Terminal滑模控制

    Institute of Scientific and Technical Information of China (English)

    李静; 左斌; 段洣毅; 张俊

    2012-01-01

    An adaptive terminal sliding mode control method based on the inner-loop and outer-loop systems is designed and analyzed for the longitudinal dynamics of air-breathing hypersonic vehicles under control input constraints. Considering the angle of attack and the pitch rate as the states of the inner-loop system with aeroelastic modes and disturbances, an adaptive terminal sliding mode control law of the elevator deflection is proposed based on backstepping design. Considering the velocity as the state of the outer-loop system, a dynamic inversion adaptive control law of the equivalence ratio is also obtained based on dynamic inversion design. Moreover, two multilayer neural networks are used for the approximation of the saturation property of two control inputs, respectively. Based on Lyapunov stability theorem, all signals of the closed-loop system are bounded and exponentially converge to the neighborhood of the origin globally. Furthermore, aeroelastic modes of air-breathing hypersonic vehicles are asymptotically stable. Simulation results demonstrate the effectiveness of the proposed control method in saturation alleviation of the longitudinal dynamics of air-breathing hypersonic vehicles. In additional, the control method not only realizes the control aim, but also improves transient performance of the controlled system.%针对吸气式高超声速飞行器的纵向运动模型,研究了输入受限时控制系统的设计问题,提出了一种内外环相结合的自适应Terminal滑模控制方法.以迎角和俯仰角速度作为内环控制对象,考虑到气动弹性模态和外部干扰,采用反步设计方法,设计出升降舵的自适应Terminal滑模控制律;以飞行速度作为外环控制对象,采用动态逆设计方法,设计出输入燃料当量比的动态逆自适应控制律,同时利用多层神经网络逼近控制律的饱和特性.基于Lyapunov稳定性理论,证明了采用此控制策略可以保证闭环控制系统的所有信

  4. Adaptive Structural Mode Control Project

    Data.gov (United States)

    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...

  5. Cascade Control of Magnetic Levitation with Sliding Modes

    Directory of Open Access Journals (Sweden)

    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.

  6. Analysis of oversized sliding waveguide by mode matching and multi-mode network theory

    Energy Technology Data Exchange (ETDEWEB)

    Ohkubo, K.; Kubo, S.; Idei, H.; Shimozuma, T.; Yoshimura, Y.; Sato, M.; Takita, Y. [National Inst. for Fusion Science, Toki, Gifu (Japan); Leuterer, F. [Max-Planck Institut fuer Plasmaphysik, Garching (Germany)

    2000-12-01

    Transmission and reflection coefficients of HE{sub 11} hybrid modes in the sliding waveguide are discussed on the basis of mode matching method and multi-mode network theory. The sliding waveguide is composed of the corrugated waveguide with 88.9 mm{phi} and the smooth-wall waveguide with 110 mm{phi} in inner diameter. It is confirmed that the decrease in power of <0.2% at 84 GHz is obtained for 2 cm in gap of the sliding waveguide. At the sliding length near multi-half-wavelength in vacuum, transmission and reflection powers in the sliding waveguide change slightly, because the very small amount of standing wave of higher-order TE or TM modes is produced resonantly. (author)

  7. Robust antisynchronization of chaos using sliding mode control strategy

    Indian Academy of Sciences (India)

    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.

  8. 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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  10. Sliding-Mode Control of PEM Fuel Cells

    CERN Document Server

    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...

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    NARCIS (Netherlands)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.  

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

    Directory of Open Access Journals (Sweden)

    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.

  18. Management of Automotive Engine Based on Stable Fuzzy Technique with Parallel Sliding Mode Optimization

    Directory of Open Access Journals (Sweden)

    Mansour Bazregar

    2013-12-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

  20. Advances and applications in sliding mode control systems

    CERN Document Server

    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.    

  1. Robust output LQ optimal control via integral sliding modes

    CERN Document Server

    Fridman, Leonid; Bejarano, Francisco Javier

    2014-01-01

    Featuring original research from well-known experts in the field of sliding mode control, this monograph presents new design schemes for implementing LQ control solutions in situations where the output system is the only information provided about the state of the plant. This new design works under the restrictions of matched disturbances without losing its desirable features. On the cutting-edge of optimal control research, Robust Output LQ Optimal Control via Integral Sliding Modes is an excellent resource for both graduate students and professionals involved in linear systems, optimal control, observation of systems with unknown inputs, and automatization. In the theory of optimal control, the linear quadratic (LQ) optimal problem plays an important role due to its physical meaning, and its solution is easily given by an algebraic Riccati equation. This solution turns out to be restrictive, however, because of two assumptions: the system must be free from disturbances and the entire state vector must be kn...

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

    CERN Document Server

    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.  

  3. Sliding mode control of a magnetic levitation system

    Directory of Open Access Journals (Sweden)

    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.

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

    OpenAIRE

    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...

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

    OpenAIRE

    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...

  6. Experimental prototype for PWM – Based Sliding Mode Boost Converter

    Directory of Open Access Journals (Sweden)

    R. A. Abdulhalem

    2011-06-01

    Full Text Available The paper dells with a modified experimental prototype for pulse-width modulation (PWM sliding mode control (SMC applied to a DC-to-DC-boost converter operated in continuous conduction mode (CCM. Experimental results show that the proposed control schme provides good voltage regulation and is suitable for common DC-to-DC conversion purposes. The prototype and its implementation are given in detail. The static and dynamic performances of the The static and dynamic performances of the experimental system are recorded. Experimental results show that the proposed control scheme provides good voltage regulation and is suitable for common DC-to-DC conversion purposes.

  7. 牵引车-飞机系统的自适应滑模变结构控制%Adaptive and variable structure control with sliding mode for tractor-aircraft system

    Institute of Scientific and Technical Information of China (English)

    周丽杰; 王能建; 张德福

    2012-01-01

    For a tractor-aircraft system,we propose a new active four-wheel steering control strategy,in which the lateral displacement and the relative yaw angle are taken as the feedback signals.Considering the lateral and yaw motions of the tractor as well as the aircraft and taking the articulated angle into account,we derive a nonlinear dynamic model of the tractor-aircraft system.The lateral tire stiffness of the tractor and the aircraft are considered as the bounded uncertain parameters,and the crosswind is taken as the unknown external disturbance;the tractor steering controllers are designed by using the adaptive and variable structure control with sliding mode method.Simulation results show that the front and rear steering controllers effectively control the trajectory-tracking with a good steering stability and reduce the impacts from parameter perturbations and external disturbance.%将自动转向技术应用于牵引车–飞机系统,并以侧偏位移和相对横摆角作为反馈,提出一种牵引车四轮主动转向控制策略.重点考虑牵引车和飞机的侧向和横摆运动,建立含铰接角在内的牵引车–飞机系统非线性动力学模型.将牵引车和飞机的轮胎侧偏刚度视为有界的不确定性参数,将侧向风等因素视为未知的外在扰动,采用自适应滑模变结构控制方法设计牵引车转向角控制器.仿真结果表明,设计出的前、后轮转向控制器能使控制系统同时获得很好的轨迹跟踪性和操纵稳定性,并且能够有效的克服参数摄动和外界干扰对系统操作性的影响.

  8. Maximum Power Point Tracking Based on Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  10. 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

    Institute of Scientific and Technical Information of China (English)

    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。

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

    KAUST Repository

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  13. Modified robust sliding-mode control method for wafer scanner

    Directory of Open Access Journals (Sweden)

    Yiguang Wang

    2015-03-01

    Full Text Available This article studies the precision motion control of a long-stroke reticle stage driven by the permanent magnet linear motor in wafer scanner. A robust sliding-mode control method is proposed for tracking the reference trajectory in the presence of un-modeled dynamics, parametric uncertainty and external disturbances including force ripple, cogging and friction in the controlled system. A modified sliding-mode term based on the variable structure technique for eliminating the tracking error is employed in the proposed control law. The system stability and tracking convergence of the closed-loop control system are guaranteed by Lyapunov theory theoretically. The feasibility and effectiveness of the proposed method are demonstrated by comparative experiments on a linear motion testbed. The experimental results show that better tracking performance can be achieved by the proposed method compared with the conventional proportional–integral–derivative method and it can be considered as a possible alternative in the precision motion control system.

  14. Sliding Mode Control Strategy for Wind Turbine Power Maximization

    Directory of Open Access Journals (Sweden)

    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.

  15. Sliding mode control of electromagnetic tethered satellite formation

    Science.gov (United States)

    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.

  16. Dynamical Adaptive Integral Sliding Backstepping Control of Nonlinear Nontriangular Uncertain Systems

    Directory of Open Access Journals (Sweden)

    Mahmood Pervaiz

    2014-01-01

    Full Text Available We present a control strategy for nonlinear nontriangular uncertain systems. The proposed control method is a synergy between the dynamic adaptive backstepping (DAB and integral sliding mode (ISM and is referred to as DAB-ISMC. Our main objective is to find a recursive procedure to transform a nontriangular system into an implementable form that enables designing a control law which almost eliminates the reaching-phase. The proposed method further facilitates minimization of chattering which is believed to be a shortcoming of the sliding mode control. In this methodology, the ISM, as an integrated subsystem of DAB, is introduced at the final stage of backstepping. This strategy works very well to obtain a system that is robust against model imperfections, matching and unmatching uncertainties. The DAB-ISMC method is applied on a continuous stirred tank reactor (CSTR and simulation results obtained on Matlab are found to be very promising.

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

    OpenAIRE

    Farzin Matin; Farzin Piltan; Hamid Cheraghi; Nasim Sobhani; Maryam Rahmani

    2014-01-01

    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...

  18. ROBUST SLIDING MODE DECENTRALIZED CONTROL FOR A CLASS OF NONLINEAR INTERCONNECTED LARGE-SCALE SYSTEM WITH NEURAL NETWORKS

    Institute of Scientific and Technical Information of China (English)

    CHENMou; JIANGChang-sheng; CHENWen-hua

    2004-01-01

    A new decentralized robust control method is discussed for a class of nonlinear interconnected largescale system with unknown bounded disturbance and unknown nonlinear function term. A decentralized control law is proposed which combines the approximation method of neural network with sliding mode control. The decentralized controller consists of an equivalent controller and an adaptive sliding mode controller. The sliding mode controller is a robust controller used to reduce the track error of the control system. The neural networks are used to approximate the unknown nonlinear functions, meanwhile the approximation errors of the neural networks are applied to the weight value updated law to improve performance of the system. Finally, an example demonstrates the availability of the decentralized control method.

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

    Directory of Open Access Journals (Sweden)

    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. Output tracking control of mobile manipulators based on dynamical sliding-mode control

    Institute of Scientific and Technical Information of China (English)

    WU Yuxiang; FENG Ying; HU Yueming

    2007-01-01

    A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investi- gation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajec- tory correctly but also reduce the chattering of sliding-mode control system considerably.

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

    DEFF Research Database (Denmark)

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

    2013-01-01

    Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator dynamics....... chattering. Simulation studies confirm the announced properties when applied to a hydraulic drive model subjected to strong variations in supply pressure and friction.......Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator dynamics...

  2. Robust control of uncertain time delay system: a novel sliding mode control design via LMI

    Institute of Scientific and Technical Information of China (English)

    Qu Shaocheng; Wang Yongji

    2006-01-01

    The sliding mode control problem (SMC) is studied for a class of uncertain delay system in the presence of both parameter uncertainties and external disturbances. A novel virtual feedback control method is presented. Based on Lyapunov theory, sufficient conditions for design of the robust sliding mode plane are derived. Sliding mode controller based on reaching law concept is developed, which is to ensure system trajectories from any initial conditions asymptotically convergent to sliding mode plane. The global asymptotically stability of the closed-loop system is guaranteed. A numerical example with simulation results is given to illustrate the effectiveness of the methodology.

  3. Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

    DEFF Research Database (Denmark)

    Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

    2005-01-01

    towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model......This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...... is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed....

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

    Science.gov (United States)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    DEFF Research Database (Denmark)

    Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede

    2004-01-01

    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...

  7. Hybrid Fuzzy Sliding Mode Controller for Timedelay System

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  9. Fault tolerant control schemes using integral sliding modes

    CERN Document Server

    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...

  10. Longitudinal tire force estimation based on sliding mode observer

    Energy Technology Data Exchange (ETDEWEB)

    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.)

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

    Directory of Open Access Journals (Sweden)

    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.

  12. H∞ Observer-Based Sliding Mode Control for Uncertain Stochastic Systems with Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    Peng Zhang

    2013-01-01

    Full Text Available The paper is concerned with sliding mode control for uncertain time-delay systems subjected to input nonlinearity and stochastic perturbations. Using the sliding mode control, a robust law is derived to guarantee the reachability of the sliding surface in a finite time interval. The sufficient conditions on asymptotic stability of the error system and sliding mode dynamics with disturbance attenuation level are presented in terms of linear matrix inequalities (LMIs. Finally, an example is provided to illustrate the efficiency and effectiveness of the proposed method.

  13. Sliding mode control applied in trajectory-tracking of WMRs and autonomous vehicles

    OpenAIRE

    Solea, Razvan Constantin

    2009-01-01

    The thesis is structured as follows: • Chapter 2: Trajectory tracking problems are summarized. • Chapter 3: Kinematic and dynamic modeling of theWMRs and car-like robots are presented. • Chapter 4: The concept of sliding mode are first introduced. Then the fundamentals of SMC are summarized, including basic definitions, methods of sliding surface and control law design, robustness properties and the methods on handling chattering problems. New sliding-mode trajectory-tracking and sli...

  14. A Feedforward-Feedback Interpretation of a Sliding Mode Control Law

    NARCIS (Netherlands)

    Monsees, Govert; George, Koshy; Scherpen, Jacquelien M.A.; Verhaegen, Michel

    1999-01-01

    In this paper we provide a feedforward-feedback interpretation of a sliding mode control scheme. Given a desired trajectory, the feedforward signal is generated using a stable inversion method, and the feedback signal includes the switching term of the sliding mode control law. In this manner, we in

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

    Science.gov (United States)

    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

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  18. Nonsingular Terminal Sliding Mode Control of Uncertain Second-Order Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    Minh-Duc Tran

    2015-01-01

    Full Text Available This paper presents a high-performance nonsingular terminal sliding mode control method for uncertain second-order nonlinear systems. First, a nonsingular terminal sliding mode surface is introduced to eliminate the singularity problem that exists in conventional terminal sliding mode control. By using this method, the system not only can guarantee that the tracking errors reach the reference value in a finite time with high-precision tracking performance but also can overcome the complex-value and the restrictions of the exponent (the exponent should be fractional number with an odd numerator and an odd denominator in traditional terminal sliding mode. Then, in order to eliminate the chattering phenomenon, a super-twisting higher-order nonsingular terminal sliding mode control method is proposed. The stability of the closed-loop system is established using the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.

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

    OpenAIRE

    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 ...

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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

  2. A Sliding Mode Control for Uncertain Time-delay Systems

    Institute of Scientific and Technical Information of China (English)

    WU Jun-sheng; WENG Zheng-xin; TIAN Zuo-hua; SHI Song-jiao

    2008-01-01

    By means of the feasibility of some linear matrix inequalities (LMIs), delay dependeat sufficient condition is derived for the existence of a linear sliding surface, which guarantees quadratic stability of the reduced-order equivalent system restricted to the sliding surface. And a reaching motion controller is proposed. A numerical simulation shows the effectiveness of the approach.

  3. Sliding mode identifier for parameter uncertain nonlinear dynamic systems with nonlinear input

    Institute of Scientific and Technical Information of China (English)

    张克勤; 庄开宇; 苏宏业; 褚健; 高红

    2002-01-01

    This paper presents a sliding mode(SM) based identifier to deal with the parameter idenfification problem for a class of parameter uncertain nonlinear dynamic systems with input nonlinearity. A sliding mode controller (SMC) is used to ensure the global reaching condition of the sliding mode for the nonlinear system;an identifier is designed to identify the uncertain parameter of the nonlinear system. A numerical example is studied to show the feasibility of the SM controller and the asymptotical convergence of the identifier.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Science.gov (United States)

    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.

  7. Space-based line-of-sight tracking control of GEO target using nonsingular terminal sliding mode

    Science.gov (United States)

    Zhu, Zhenglong; Yan, Ye

    2014-09-01

    This paper addresses the issue of high-precision line-of-sight (LOS) tracking of geosynchronous earth orbit target in highly dynamic conditions via spacecraft attitude maneuver. First, characteristics of the LOS motion are analyzed by a simplified linear relative motion model. Second, after transforming the quaternion-based attitude model into a double integrator system, a new nonsingular terminal sliding mode controller is proposed for spacecraft attitude tracking in a nominal case without parametric uncertainties and external disturbances. Third, an adaptive new nonsingular terminal mode controller is proposed for spacecraft attitude tracking in an uncertain case, which is done via constructing a pair of adaptive laws to estimate the parametric uncertainties and external disturbances online. The robust stability and finite time convergence property of the closed-loop system are demonstrated by Lyapunov theorem. Under control of the proposed controller, zero steady state error tracking of LOS with a smooth transition phase can be achieved in scheduled time, regardless of parametric uncertainties and external disturbances online. Finally, detailed numerical simulation results are presented to illustrate the effectiveness and performance of the proposed controllers. Contrasting simulation results shows that proposed controllers can track the desired trajectories effectively and have better performance against the controllers based on linear sliding mode and the existing fast nonsingular terminal sliding mode.

  8. 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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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

  11. Research on Grey Sliding Mode Control of Motor System of Fruit Harvesting Manipulator Joint

    Directory of Open Access Journals (Sweden)

    Jueping Bu

    2015-03-01

    Full Text Available The sliding mode control algorithm based on grey prediction theory is proposed in this study, aiming at the uncertainties in the servo system of fruit harvesting robot and the external disturbances that may affect the control quality of conventional sliding mode control algorithm. The proposed algorithm uses the grey theory ability to unknown information data to establish the grey model to the uncertainty and real-time compensate the unmodeled dynamics and the interference signal of system. Meanwhile, an improved reaching law direction is proposed to resist chattering and improve control accuracy. The simulation results show that the proposed sliding mode control algorithm effectively predicts and compensates the unmodeled dynamics and disturbances signal in the DC motor servo system of the fruit harvesting robot and improves the control precision of controller which provides the theoretical basis for the industrial application based on the grey prediction theory of sliding mode control algorithm.

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

    Directory of Open Access Journals (Sweden)

    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. 

  13. High-order sliding modes and intelligent PID controllers: First steps toward a practical comparison

    OpenAIRE

    Riachy, Samer; Fliess, Michel; Join, Cédric

    2011-01-01

    International audience; This communication is devoted to a "practical" comparison between high-order sliding modes and the recently introduced model-free control. The perfect knowledge of the relative degree of the output variable, which is a standard assumption for sliding modes, is assumed here. Our comparisons are based on two concrete case-studies and on numerous computer simulations. The smoothness of the input variables, the robustness with respect to noises and the straightforward exte...

  14. Maximum twin shear stress factor criterion for sliding mode fracture initiation

    Institute of Scientific and Technical Information of China (English)

    黎振兹; 李慧剑; 黎晓峰; 周洪彬; 郝圣旺

    2002-01-01

    Previous researches on the mixed mode fracture initiation criteria were mostly focused on opening mode fracture. In this study, the authors proposed a new criterion for mixed mode sliding fracture initiation, which is the maximum twin shear stress factor criterion. The authors studied a finite width plate with central slant crack, subject to a far-field uniform uniaxial tensile or compressive stress.

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

    DEFF Research Database (Denmark)

    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......-gain sliding-mode-like behavior. The experimental tests show that the STSM-DTC controller displays very robust behavior, similar to a conventional sliding controller, and it works without notable steady-state chattering, like the PI controller. The paper presents theoretical aspects for the new STSM-DTC...

  16. The Design of Adaptive Seeking Fuzzy Sliding Mode for Position Controller of Rocket Launcher Servo System%火箭炮位置控制器的自寻迹模糊滑模设计

    Institute of Scientific and Technical Information of China (English)

    李平; 王瑞华; 李伟华; 吴坤

    2013-01-01

    Considering the atrocious load property when the rocket is launched, an adaptive position controller is designed, which comprises of the baseline mode design and the curbing controller design, the first one is for the nominal plant, and the second one is designed to overcome the uncertainties, including parameter variations and external disturbance in the whole control process. Simulated results due to step command shows that the dynamic behaviors of the proposed control system is robust with regard to uncertainties.%针对多管火箭炮随动系统位置控制器转动惯量和外部干扰变化大的特性,设计了一种自寻迹模糊滑模控制器。由自寻迹滑模控制器和模糊滑模控制器组成,自寻迹滑模策略作用于系统名义模型保证全局鲁棒性,模糊滑模策略用于消减外部干扰及系统参数变化等不确定性的影响。仿真结果表明该控制策略有效改善了系统的静、动态特性。

  17. The simplex method for nonlinear sliding mode control

    Directory of Open Access Journals (Sweden)

    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.

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

    CERN Document Server

    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...

  19. Study on the Nonsingular Problem of Fractional-Order Terminal Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Kening Li

    2013-01-01

    Full Text Available An improved type of control strategy combining the fractional calculus with nonsingular terminal sliding mode control named non-singular fractional terminal sliding mode control (NFOTSM is proposed for the nonlinear tire-road friction control system of vehicle in this paper. A fractional-order switching manifold is proposed, and the corresponding control law is formulated based on the Lyapunov stability theory to guarantee the sliding condition. The proposed controller ensures the finite time stability of the closed-loop system. Then, a terminal attractor is introduced to solve the singularity problem of fractional terminal sliding mode control (FOTSM. Finally, the performance of the NFOTSM is fully investigated compared with other related algorithms to find the effectiveness for the tire-road friction system. The results show that the NFOTSM has better performance than other related algorithms.

  20. A Novel Approach to Sliding Mode Control of Time-Delay Systems

    Directory of Open Access Journals (Sweden)

    Hongwei Xia

    2013-01-01

    Full Text Available This paper is concerned with the sliding mode control for a class of linear systems with time-varying delays. By utilizing a novel Lyapunov-Krasovskii functional and combining it with the delay fractioning approach as well as the free-weighting matrix technology, a sufficient condition is established such that the resulting sliding mode dynamics is asymptotically stable. Then, a sliding mode controller for reaching motion is synthesized to guarantee that the trajectories of the resulting closed-loop system can be driven onto a prescribed sliding surface and maintained there for all subsequent time. A numerical example is provided to illustrate the effectiveness of the proposed design approach.

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

    Directory of Open Access Journals (Sweden)

    Mingyue Cui

    2012-11-01

    Full Text Available 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 unknown sliding effect. From Lyapunov‐stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed‐loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

  2. Semi-active Sliding Mode Control of Vehicle Suspension with Magneto-rheological Damper

    Institute of Scientific and Technical Information of China (English)

    ZHANG Hailong; WANG Enrong; ZHANG Ning; MIN Fuhong; SUBASH Rakheja; SU Chunyi

    2015-01-01

    The vehicle semi-active suspension with magneto-rheological damper(MRD) has been a hot topic since this decade, in which the robust control synthesis considering load variation is a challenging task. In this paper, a new semi-active controller based upon the inverse model and sliding mode control (SMC) strategies is proposed for the quarter-vehicle suspension with the magneto-rheological (MR) damper, wherein an ideal skyhook suspension is employed as the control reference model and the vehicle sprung mass is considered as an uncertain parameter. According to the asymptotical stability of SMC, the dynamic errors between the plant and reference systems are used to derive the control damping force acquired by the MR quarter-vehicle suspension system. The proposed modified Bouc-wen hysteretic force-velocity (F-v) model and its inverse model of MR damper, as well as the proposed continuous modulation (CM) filtering algorithm without phase shift are employed to convert the control damping force into the direct drive current of the MR damper. Moreover, the proposed semi-active sliding mode controller (SSMC)-based MR quarter-vehicle suspension is systematically evaluated through comparing the time and frequency domain responses of the sprung and unsprung mass displacement accelerations, suspension travel and the tire dynamic force with those of the passive quarter-vehicle suspension, under three kinds of varied amplitude harmonic, rounded pulse and real-road measured random excitations. The evaluation results illustrate that the proposed SSMC can greatly suppress the vehicle suspension vibration due to uncertainty of the load, and thus improve the ride comfort and handling safety. The study establishes a solid theoretical foundation as the universal control scheme for the adaptive semi-active control of the MR full-vehicle suspension decoupled into four MR quarter-vehicle sub-suspension systems.

  3. Discrete-Time Sliding-Mode Control of Uncertain Systems with Time-Varying Delays via Descriptor Approach

    Directory of Open Access Journals (Sweden)

    Maode Yan

    2008-01-01

    Full Text Available This paper considers the problem of robust discrete-time sliding-mode control (DT-SMC design for a class of uncertain linear systems with time-varying delays. By applying a descriptor model transformation and Moon's inequality for bounding cross terms, a delay-dependent sufficient condition for the existence of stable sliding surface is given in terms of linear matrix inequalities (LMIs. Based on this existence condition, the synthesized sliding mode controller can guarantee the sliding-mode reaching condition of the specified discrete-time sliding surface for all admissible uncertainties and time-varying delays. An illustrative example verifies the effectiveness of the proposed method.

  4. DOUBLE-BOOST DC-AC CONVERTER WITH SLIDING-MODE CONTROL FOR PORTABLE AUDIO

    DEFF Research Database (Denmark)

    Bolten Maizonave, Gert; Andersen, Michael Andreas E.; Kjærgaard, Claus;

    2009-01-01

    The double-boost topology is studied for operation as a dc-ac converter and single stage audio amplifier. A sliding-mode controller is designed in order to achieve fast enough response for the whole audio frequency range. Symmetric, asymmetric and interleaved operation modes are analyzed....

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    OpenAIRE

    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...

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

    CERN Document Server

    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...

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

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

    Directory of Open Access Journals (Sweden)

    Yigeng Huangfu

    2012-01-01

    Full Text Available 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 as a step-down converter is usually adopted in wind power system, because of its simple structure and good linearity. Under those conditions, the second order sliding mode controller is designed based on Buck converter, especially in high-power wind generation system. The experimental results illustrate that the theory of second order sliding mode can be used in high-power Buck converter. It provides one novel avoidance high frequency chattering method for the technology development of new energy generation system.

  12. Robust Sliding Mode Fuzzy Control of a Car Suspension System

    Directory of Open Access Journals (Sweden)

    Ayman A. Aly

    2013-07-01

    Full Text Available Different characteristics can be considered in a suspension system design like: ride comfort, body travel, road handling and suspension travel. No suspension system can optimize all these parameters together but a better tradeoff among these parameters can be achieved in active suspension system.Objective of this paper is to establish a robust control technique of the active suspension system for a quarter-car model. The paper describes also the model and controller used in the study and discusses the vehicle response results obtained from a range of road input simulations. A comparison of robust suspension sliding fuzzy control and passive control is shown using MATLAB simulations.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  15. Active Disturbance Rejection with Sliding Mode Control Based Course and Path Following for Underactuated Ships

    Directory of Open Access Journals (Sweden)

    Ronghui Li

    2013-01-01

    Full Text Available The compound control of active-disturbance-rejection control (ADRC with sliding mode is proposed to improve the performance of the closed-loop system and deal with the constraint condition problem of a surface ship. The advantages of ADRC with sliding mode were verified by ship course control simulations. Meanwhile, to solve the path-following problem of underactuated surface ships with uncertainties of internal dynamic and external disturbances, the ADRC controller with sliding mode is introduced to steer the ship to follow the desired path. In order to overcome the cross-track error caused by wind and current, drift angle is compensated in the controller by designing a coordinate transformation equation. Simulations were performed on a nonlinear kinematics model of a training ship to validate the stability and excellent robustness of the proposed path-following controller.

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

    International Nuclear Information System (INIS)

    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

  17. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit‐Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non‐singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non‐singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  18. Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

    Institute of Scientific and Technical Information of China (English)

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

    A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

  19. Uncertain Unified Chaotic Systems Control with Input Nonlinearity via Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Zhi-ping Shen

    2016-01-01

    Full Text Available This paper studies the stabilization problem for a class of unified chaotic systems subject to uncertainties and input nonlinearity. Based on the sliding mode control theory, we present a new method for the sliding mode controller design and the control law algorithm for such systems. In order to achieve the goal of stabilization unified chaotic systems, the presented controller can make the movement starting from any point in the state space reach the sliding mode in limited time and asymptotically reach the origin along the switching surface. Compared with the existing literature, the controller designed in this paper has many advantages, such as small chattering, good stability, and less conservative. The analysis of the motion equation and the simulation results all demonstrate that the method is effective.

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

    Institute of Scientific and Technical Information of China (English)

    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.

  1. The Angle of Attack Control for Air-breathing Hypersonic Cruise Vehicle Based on the Adaptive Sliding Mode with Reference Model%吸气式高超声速巡航飞行器飞行攻角的模型参考自适应滑模控制

    Institute of Scientific and Technical Information of China (English)

    熊柯; 夏智勋; 郭振云

    2011-01-01

    An angle of attack control law for air-breathing hypersonic cruise vehicle is presented.Due to the various dynamics and modeling uncertainties among engine cowl closing, engine cowl opening and engine working, an adaptive parameter adjuster control rule is introduced into the sliding mode control.The adaptive law is used to approximate the model perturbation and external disturbances.This method can effectively improve the performance of dynamics and stable characteristics in the pitch channel, and it also has strong adaptability to the changes of aerodynamic parameters and elevator trimming.The simulation results show that the control method has the excellent tracking-point performance and the strong robustness against the disturbances and the uncertainties.%针对吸气式高超声速巡航飞行器发动机进气道关闭、进气道打开、发动机点火工作3个状态下俯仰通道气动系数和配平舵偏角变化大的特点,设计了一种基于参考模型的自适应滑模攻角控制律.在滑模控制中引入了自适应参数调节律来逼近不确定的模型参数变化和外界干扰,有效地改善了飞行器俯仰通道的动态和稳态性能,同时对于气动系数和配平舵偏角的变化具有自适应性.数学仿真结果表明,所设计的控制律具有良好的指令跟踪性能和抗干扰能力.

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

    Institute of Scientific and Technical Information of China (English)

    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.

  3. Second Order Sliding Mode Control with Prescribed Convergence Law for Electro-Hydraulic Drives

    DEFF Research Database (Denmark)

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

    2013-01-01

    This paper discusses the application of second order sliding modes for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The target is to introduce increased tracking- and transient performance compared to conventional linear approaches, without extending the number...... approach, and that control chattering is eliminated without introducing a boundary layer, normally seen in first order sliding mode controlled systems....... of tuning parameters. The proposed controller utilizes basic component knowledge commonly available from data sheets, as well as pressure-, valve position-, piston position- and velocity measurements. Results demonstrate improved position tracking- and transient performance, compared to a linear control...

  4. Some Remarks on the Boundedness and Convergence Properties of Smooth Sliding Mode Controllers

    Institute of Scientific and Technical Information of China (English)

    Wallace Moreira Bessa

    2009-01-01

    Conventional sliding mode controllers are based on the assumption of switching control, but a well-known drawback of such controllers is the chattering phenomenon. To overcome the undesirable chattering effects, the discontinuity in the control law can be smoothed out in a thin boundary layer neighboring the switching surface. In this paper, rigorous proofs of the boundedness and convergence properties of smooth sliding mode controllers are presented. This result corrects flawed conclusions previously reached in the literature. An illustrative example is also presented in order to confirm the convergence of the tracking error vector to the defined bounded region.

  5. Super-Twisting-Algorithm-Based Terminal Sliding Mode Control for a Bioreactor System

    Directory of Open Access Journals (Sweden)

    Sendren Sheng-Dong Xu

    2014-01-01

    control (TSMC for a bioreactor system with second-order type dynamics. TSMC not only can retain the advantages of conventional sliding mode control (CSMC, including easy implementation, robustness to disturbances, and fast response, but also can make the system states converge to the equivalent point in a finite amount of time after the system states intersect the sliding surface. The chattering phenomena in TSMC will originally exist on the sliding surface after the system states achieve the sliding surface and before the system states reach the equivalent point. However, by using the super twisting algorithm (STA, the chattering phenomena can be obviously reduced. The proposed method is also compared with two other methods: (1 CSMC without STA and (2 TSMC without STA. Finally, the control schemes are applied to the control of a bioreactor system to illustrate the effectiveness and applicability. Simulation results show that it can achieve better performance by using the proposed method.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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)

  8. 一类非最小相位随机系统的离散自适应滑动模态控制%Discrete Sliding Mode Control of an Input-output System with Stochastic Disturbance

    Institute of Scientific and Technical Information of China (English)

    蔡素芬; 张志平; 尹增刚

    2006-01-01

    This paper presents the discrete adaptive sliding mode control of input-output non-minimum phase system in the presence of the stochastic disturbance. The non-minimum phase system can be transformed into a minimum phase system by a operator. According to the minimum phase system, the controller and the adaptive algorithm we designed ensures the stability of system and holds that the mean-square deviation from the sliding surface is minimized.

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

    Institute of Scientific and Technical Information of China (English)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  12. 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

    Institute of Scientific and Technical Information of China (English)

    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

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

    OpenAIRE

    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...

  14. Study on Machine Tool Crossbeam Magnetic Levitation System Based on Backstepping Self-adaptive Dynamic Sliding Mode Control%机床横梁悬浮系统的反演自适应动态滑模变结构控制研究

    Institute of Scientific and Technical Information of China (English)

    王通; 迟青光

    2011-01-01

    Disturbance and the system parameters time variation have effects on magnetic levitation system when the tool was cutting. In order to achieve levitation gaps precision control, a backstepping self-adaptive dynamic sliding mode controller was designed at the moving crossbeam levitation system of the gantry NC machining center. Using this method, chatting of the system could be effectively decreased and the stability of levitation system could be kept. Due to the introduction of self-adaptive control strategy, the control ability restraining parameters uncertainty was greatly improved. The simulated result shows that this controller has powerful anti-disturbance ability and makes the system has high rigidity. It can achieve steady levitation.%在龙门数控加工中心移动横梁磁悬浮系统中,刀具切削工件过程中磁悬浮系统所受到扰动和系统自身参数的时变性对悬浮高度有影响.为了实现悬浮高度的精确控制,设计了控制悬浮高度的反演自适应动态滑模控制器,该控制器可有效削弱系统抖振并保持悬浮高度的稳定性;引入自适应控制策略,大大改进了滑模控制对不确定性系统参数的控制能力.仿真结果表明:该控制器具有很强的抗扰性,并使系统具有较高刚度,实现了稳定悬浮.

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

    CERN Document Server

    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 ...

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    DEFF Research Database (Denmark)

    Mozayan, Seyed Mehdi; Saad, Maarouf; Fortin-Blanchette, Handy;

    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...

  20. Simulation of sliding mode impedance control for a 6 DOF antrhopomorphic robot

    NARCIS (Netherlands)

    Broenink, Jan F.; Visser, Martijn; Tiernego, Martin L.J.; Zobel, Richard; Moeller, Ditmar

    1998-01-01

    Robust control is a way of dealing with model uncertainties that can render the controller less sensitive to modelling errors and disturbances. Herein, the properties of sliding mode control are applied to impedance control to form a robust impedance con-troller. The proposed controller consists of

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

    Directory of Open Access Journals (Sweden)

    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

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

    DEFF Research Database (Denmark)

    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...

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

    Directory of Open Access Journals (Sweden)

    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.

  4. A Mode Switching Sliding-mode Controller with Observer-based State-Dependent Boundary Layer and Its Application

    Directory of Open Access Journals (Sweden)

    Chao-Yu Hsu

    2007-06-01

    Full Text Available This paper presents a mode-switching sliding-mode control (MSMC scheme that combines different sliding-mode control schemes to alleviate adverse effect while achieving precise control tasks. To achieve certain robustness and chattering alleviation, a design of disturbance observer based state-dependent boundary layer is proposed. The proposed method will provide a state-dependent boundary-layer in which the unknown dynamics is estimated a disturbance observer and then utilize it to calculate the width of boundary layer on-line. The convergent analysis of this state-dependent boundary-layer is provided with two theorems. Finally, its efficacy is further validated through experiments on the regulation control of a maglev platform.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  8. Higher-order sliding mode control of a diesel generator set

    Energy Technology Data Exchange (ETDEWEB)

    Goh, K.B.; Spurgeon, S.K.; Jones, B. [University of Leicester (United Kingdom). Dept. of Engineering

    2003-06-01

    Diesel engines are used as prime movers and independent power sources in many applications because of their advantages in terms of fuel efficiency, robustness and reliability. This paper presents the results of isochronous speed controller design and experimental analysis of robustness and efficiency of a turbocharged diesel generator set (genset). The steady state performance and transient response of the genset speed utilizing second-order sliding mode techniques with a super twisting sliding mode control algorithm are assessed. The algorithm does not require the time derivative of the sliding variable. It only uses the measured genset speed and does not require the use of an observer. A modification made to the algorithm shows improvement of the genset performance over a wide operating envelope. The influence of this methodology and modification of the algorithm on overall generator performance, in particular in the presence of large load changes and in terms of fuel efficiency, exhaust emissions, starting speed transient response and steady speed variation, are assessed. An algorithm for tuning the higher-order sliding mode (HOSM) controller for the genset is established and presented. The robustness of the controller is investigated and the performance is compared with that obtained by a commercial genset controller and a classical proportional-integral controller. (author)

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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  14. Sliding Mode Control for Multiagent System with Time-Delay and Uncertainties: An LMI Approach

    Directory of Open Access Journals (Sweden)

    Pengfei Guo

    2013-01-01

    Full Text Available This paper considers the sliding mode control of multiagent systems (MAS with time-delay and uncertainties in terms of linear matrix inequality (LMI. By constructing virtual feedback control method, the design of control system is simplified for time-delay independent system without uncertainties. For a class of uncertain systems with single time-delay, the essence of SMC design is analyzed in order to acquire a simple method for designing sliding surface. In terms of multiple timedelay system with uncertainties, a sufficient condition for sliding surface with independent time-delay is acquired, while control law is also designed to ensure the robust stability of closed-loop system. Finally, the effectiveness of conclusion is demonstrated by simulation results.

  15. Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 侯恕萍

    2016-01-01

    The problem of diving control for an underactuated unmanned undersea vehicle (UUV) considering the presence of parameters perturbations and wave disturbances was addressesed. The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving. To stabilize the vertical motion system, the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control (IFTSMC). It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface. With a unified control parameters for different motion states, a series of numerical simulation results illustrate the effectiveness of the above designed control scheme, which also shows strong robustness against parameters perturbations and wave disturbances.

  16. An Adaptive Supervisory Sliding Fuzzy Cerebellar Model Articulation Controller for Sensorless Vector-Controlled Induction Motor Drive Systems

    Directory of Open Access Journals (Sweden)

    Shun-Yuan Wang

    2015-03-01

    Full Text Available This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC in the speed sensorless vector control of an induction motor (IM drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes—the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC—were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes.

  17. Discrete-time sliding mode control for MR vehicle suspension system

    International Nuclear Information System (INIS)

    This paper presents control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers via a discrete-time sliding mode control algorithm (DSMC). A cylindrical MR damper is designed by incorporating Bingham model of the MR fluid and the field-dependent damping characteristics of the MR damper are evaluated. A full-vehicle suspension model installed with independent four MR dampers is constructed and the governing equations which include vertical, pitch and roll motion are derived. A discrete-time control model is established with considering system uncertainties and a discrete-time sliding mode controller which has inherent robustness to model uncertainty and external disturbance is formulated. Vibration control performances under bump excitation are evaluated and presented.

  18. Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Iman Nazari

    2014-03-01

    Full Text Available Sliding mode controller (SMC is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness. In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.

  19. Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2013-06-01

    Full Text Available Sliding mode controller (SMC is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness.  In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.

  20. Position Sensorless Control for Permanent Magnet Synchronous Motor Using Sliding Mode Observer

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    An approach of position sensorless control for permanent magnet synchronous motor (PMSM) is put forward based on a sliding mode observer. The mathematical model of PMSM in a stationary αβ reference frame is adopted, and the system is controlled by the digital signal processor (DSP) TMS320LF2407 according to the control theory of sliding mode observer. In order to achieve closed loop operation of the motor, the stator magnetic field should be vertical with the rotor magnetic field and be synchronous with rotor rotating, so the position and speed of PMSM is estimated in real time and the estimated position is modified continuously. The simulation results indicate that the proposed observer has high precision in estimation of PMSM position and speed, and is more robust to the parametric variation and load torque disturbance.

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

    Directory of Open Access Journals (Sweden)

    He Zhang

    2014-01-01

    Full Text Available 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 feedforward controller, is proposed in order to realize the position tracking of DC motor system. The gains of feedback controller are obtained by means of linear quadratic regulator (LQR optimal control theory. Simulation results present that the proposed control scheme possesses better tracking properties and stronger robustness against modeling errors, parameter variations, and friction moment disturbances. Moreover, its structure is simple; therefore it is easy to be implemented in engineering.

  2. Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Daxiong Ji

    2014-01-01

    Full Text Available A solution to the path following problem for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty is proposed. For a general class of vehicles moving in 2D space, we demonstrated a path following control law based on multiple variable sliding mode that yields global boundedness and convergence of the position tracking error to a small neighborhood and robustness to parametric modeling uncertainty. An error integration element is added into the “tanh” function of the traditional sliding mode control. We illustrated our results in the context of the vehicle control applications that an underwater vehicle moves along with the desired paths in 2D space. Simulations show that the control objectives were accomplished.

  3. Fault Tolerant Flight Control Using Sliding Modes and Subspace Identification-Based Predictive Control

    KAUST Repository

    Siddiqui, Bilal A.

    2016-07-26

    In this work, a cascade structure of a time-scale separated integral sliding mode and model predictive control is proposed as a viable alternative for fault-tolerant control. A multi-variable sliding mode control law is designed as the inner loop of the flight control system. Subspace identification is carried out on the aircraft in closed loop. The identified plant is then used for model predictive controllers in the outer loop. The overall control law demonstrates improved robustness to measurement noise, modeling uncertainties, multiple faults and severe wind turbulence and gusts. In addition, the flight control system employs filters and dead-zone nonlinear elements to reduce chattering and improve handling quality. Simulation results demonstrate the efficiency of the proposed controller using conventional fighter aircraft without control redundancy.

  4. Sliding Mode Predictive Control of Main Steam Pressure in Coal-fired Power Plant Boiler

    Institute of Scientific and Technical Information of China (English)

    史元浩; 王景成; 章云锋

    2012-01-01

    Since the combustion system of coal-fired boiler in thermal power plant is characterized as time varying, strongly coupled, and nonlinear, it is hard to achieve a satisfactory performance by the conventional proportional integral derivative (PID) control scheme. For the characteristics of the main steam pressure in coal-fired power plant boiler, the sliding mode control system with Smith predictive structure is proposed to look for performance and robustness improvement. First, internal model control (IMC) and Smith predictor (SP) is used to deal with the time delay, and sliding mode controller (SMCr) is designed to overcome the model mismatch. Simulation results show the effectiveness of the proposed controller compared with conventional ones.

  5. A new design of robust H∞ sliding mode control for uncertain stochastic T-S fuzzy time-delay systems.

    Science.gov (United States)

    Gao, Qing; Feng, Gang; Xi, Zhiyu; Wang, Yong; Qiu, Jianbin

    2014-09-01

    In this paper, a novel dynamic sliding mode control scheme is proposed for a class of uncertain stochastic nonlinear time-delay systems represented by Takagi-Sugeno fuzzy models. The key advantage of the proposed scheme is that two very restrictive assumptions in most existing sliding mode control approaches for stochastic fuzzy systems have been removed. It is shown that the closed-loop control system trajectories can be driven onto the sliding surface in finite time almost certainly. It is also shown that the stochastic stability of the resulting sliding motion can be guaranteed in terms of linear matrix inequalities; moreover, the sliding-mode controller can be obtained simultaneously. Simulation results illustrating the advantages and effectiveness of the proposed approaches are also provided.

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

    OpenAIRE

    Niu Xuemei; Guoqin Gao; Xinjun Liu; Zhiming Fang

    2015-01-01

    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 decoupl...

  7. Control and fault diagnosis based sliding mode observer of a multicellular converter: Hybrid approach

    KAUST Repository

    Benzineb, Omar

    2013-01-01

    In this article, the diagnosis of a three cell converter is developed. The hybrid nature of the system represented by the presence of continuous and discrete dynamics is taken into account in the control design. The idea is based on using a hybrid control and an observer-type sliding mode to generate residuals from the observation errors of the system. The simulation results are presented at the end to illustrate the performance of the proposed approach. © 2013 FEI STU.

  8. Sliding Mode Control of the Battery Bank for the Fuel Cell-based Distributed Generation System

    OpenAIRE

    Junsheng Jiao

    2013-01-01

    The dynamic models for the fuel cell power and the configuration of the fuel cell distributed generation system are shown in this paper. Due to nonlinear characteristics of fuel cell model, the output voltage of fuel cell varies greatly when the load changes. A novel interface is designed to provide a constant output voltage for charging of the battery bank of the fuel cell distributed generation. The thesis presents a sliding mode control design of PEMFC distributed generation system. A casc...

  9. Sliding Mode Control for Nonlinear System Based on T-S Model

    Institute of Scientific and Technical Information of China (English)

    WU Zhong-qiang

    2002-01-01

    Using T-S model as an approximation for nonlinear system, the nonlinear system has been fuzzy into local linear model. The variable structure controller designed by using Lyapunov theory insures the stability of system. The sliding mode controller is designed by using unit vector style, and it suit the uncertain elements satisfying matching condition or do not satisfy matching condition. The effect of the scheme has been tasted with a simulation of an inverted pendulum.

  10. On sliding mode observer for a hybrid three-cell converter

    KAUST Repository

    Khelouat, Samir

    2013-10-01

    In this paper, we propose a sliding mode observer to estimate the capacitor voltages of the 3-cell converter. New concept recently introduced, based on geometrical condition for observability analysis is used. The convergence of estimation error based on the solution of an LMI system is shown. Finally, illustrative results are given in order to show the efficiency of the designed observer. © 2013 IEEE.

  11. Integral Sliding Mode Control Strategy of D-STATCOM for Unbalanced Load Compensation under Various Disturbances

    OpenAIRE

    Mingchao Xia; Yanhui Mao

    2013-01-01

    Control strategies of D-STATCOM for unbalanced load compensation under internal and external disturbances were discussed. Linear control strategies do not have a satisfactory dynamic performance and become invalid under internal or external disturbances. To guarantee a good precision and robustness, a control strategy combining input-output feedback linearization technique with integral sliding mode control (ISMC) method was applied to D-STATCOM for unbalanced load compensation. The strategy ...

  12. Model Reference Sliding Mode Control of Small Helicopter X.R.B based on Vision

    OpenAIRE

    Wei Wang; Kenzo Nonami; Yuta Ohira

    2008-01-01

    This paper presents autonomous control for indoor small helicopter X.R.B. In case of natural disaster like earthquake, a MAV (Micro Air Vehicle) which can fly autonomously will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be helpful to prevent secondary disaster. This paper describes vision based autonomous hovering control, guidance control for X.R.B by model reference sliding mode control.

  13. Sensorless Vector Control of AC Induction Motor Using Sliding-Mode Observer

    Directory of Open Access Journals (Sweden)

    Phuc Thinh Doan

    2013-06-01

    Full Text Available This paper develops a sensorless vector controlled method for AC induction motor using sliding-mode observer. For developing the control algorithm, modeling of AC induction motor is presented. After that, a sliding mode observer is proposed to estimate the motor speed, the rotor flux, the angular position of the rotor flux and the motor torque from monitored stator voltages and currents. The use of the nonlinear sliding mode observer provides very good performance for both low and high speed motor operation. Furthermore, the proposed system is robust in motor losses and load variations. The convergence of the proposed observer is obtained using the Lyapunov theory. Hardware and software for simulation and experiment of the AC induction motor drive are introduced. The hardware consists of a 1.5kw AC induction motor connected in series with a torque sensor and a powder brake. A controller is developed based on DSP TMS320F28355. The simulation and experimental results illustrate that fast torque and speed response with small torque ripples can be achieved. The proposed control scheme is suitable to the application fields that require high performance of torque response such as electric vehicles. doi:http://dx.doi.org/10.12777/ijse.4.2.2013.39-43 [How to cite this article: Doan, P. T., Nguyen, T. T., Jeong, S. K., Oh, S. J., & Kim, S. B. (2013. Sensorless Vector Control of AC Induction Motor Using Sliding-Mode Observer. INTERNATIONAL JOURNAL OF SCIENCE AND ENGINEERING, 4(2, 39-43; doi: http://dx.doi.org/10.12777/ijse.4.2.2013.39-43

  14. An integrated class D audio amplifier based on sliding mode control

    OpenAIRE

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

    2008-01-01

    International audience Class D amplifiers are becoming the most feasible solution for embedded audio application. However, distortions due to the non-linear nature of switching stage are the main drawback for this amplifier topology. This paper discusses the design and implementation of high fidelity audio class D using sliding mode control scheme. This design method proves to be a cost effective solution for industrial circuit. Experimental IC results, using commercial 0.13 µm CMOS techno...

  15. RTDS implementation of an improved sliding mode based inverter controller for PV system.

    Science.gov (United States)

    Islam, Gazi; Muyeen, S M; Al-Durra, Ahmed; Hasanien, Hany M

    2016-05-01

    This paper proposes a novel approach for testing dynamics and control aspects of a large scale photovoltaic (PV) system in real time along with resolving design hindrances of controller parameters using Real Time Digital Simulator (RTDS). In general, the harmonic profile of a fast controller has wide distribution due to the large bandwidth of the controller. The major contribution of this paper is that the proposed control strategy gives an improved voltage harmonic profile and distribute it more around the switching frequency along with fast transient response; filter design, thus, becomes easier. The implementation of a control strategy with high bandwidth in small time steps of Real Time Digital Simulator (RTDS) is not straight forward. This paper shows a good methodology for the practitioners to implement such control scheme in RTDS. As a part of the industrial process, the controller parameters are optimized using particle swarm optimization (PSO) technique to improve the low voltage ride through (LVRT) performance under network disturbance. The response surface methodology (RSM) is well adapted to build analytical models for recovery time (Rt), maximum percentage overshoot (MPOS), settling time (Ts), and steady state error (Ess) of the voltage profile immediate after inverter under disturbance. A systematic approach of controller parameter optimization is detailed. The transient performance of the PSO based optimization method applied to the proposed sliding mode controlled PV inverter is compared with the results from genetic algorithm (GA) based optimization technique. The reported real time implementation challenges and controller optimization procedure are applicable to other control applications in the field of renewable and distributed generation systems.

  16. RTDS implementation of an improved sliding mode based inverter controller for PV system.

    Science.gov (United States)

    Islam, Gazi; Muyeen, S M; Al-Durra, Ahmed; Hasanien, Hany M

    2016-05-01

    This paper proposes a novel approach for testing dynamics and control aspects of a large scale photovoltaic (PV) system in real time along with resolving design hindrances of controller parameters using Real Time Digital Simulator (RTDS). In general, the harmonic profile of a fast controller has wide distribution due to the large bandwidth of the controller. The major contribution of this paper is that the proposed control strategy gives an improved voltage harmonic profile and distribute it more around the switching frequency along with fast transient response; filter design, thus, becomes easier. The implementation of a control strategy with high bandwidth in small time steps of Real Time Digital Simulator (RTDS) is not straight forward. This paper shows a good methodology for the practitioners to implement such control scheme in RTDS. As a part of the industrial process, the controller parameters are optimized using particle swarm optimization (PSO) technique to improve the low voltage ride through (LVRT) performance under network disturbance. The response surface methodology (RSM) is well adapted to build analytical models for recovery time (Rt), maximum percentage overshoot (MPOS), settling time (Ts), and steady state error (Ess) of the voltage profile immediate after inverter under disturbance. A systematic approach of controller parameter optimization is detailed. The transient performance of the PSO based optimization method applied to the proposed sliding mode controlled PV inverter is compared with the results from genetic algorithm (GA) based optimization technique. The reported real time implementation challenges and controller optimization procedure are applicable to other control applications in the field of renewable and distributed generation systems. PMID:26606852

  17. Current Sensor Fault Diagnosis Based on a Sliding Mode Observer for PMSM Driven Systems

    Directory of Open Access Journals (Sweden)

    Gang Huang

    2015-05-01

    Full Text Available This paper proposes a current sensor fault detection method based on a sliding mode observer for the torque closed-loop control system of interior permanent magnet synchronous motors. First, a sliding mode observer based on the extended flux linkage is built to simplify the motor model, which effectively eliminates the phenomenon of salient poles and the dependence on the direct axis inductance parameter, and can also be used for real-time calculation of feedback torque. Then a sliding mode current observer is constructed in αβ coordinates to generate the fault residuals of the phase current sensors. The method can accurately identify abrupt gain faults and slow-variation offset faults in real time in faulty sensors, and the generated residuals of the designed fault detection system are not affected by the unknown input, the structure of the observer, and the theoretical derivation and the stability proof process are concise and simple. The RT-LAB real-time simulation is used to build a simulation model of the hardware in the loop. The simulation and experimental results demonstrate the feasibility and effectiveness of the proposed method.

  18. Designing Flexible Neuro-Fuzzy System Based on Sliding Mode Controller for Magnetic Levitation Systems

    Directory of Open Access Journals (Sweden)

    Zahra Mohammadi

    2011-07-01

    Full Text Available This study presents a novel controller of magnetic levitation system by using new neuro-fuzzy structures which called flexible neuro-fuzzy systems. In this type of controller we use sliding mode control with neuro-fuzzy to eliminate the Jacobian of plant. At first, we control magnetic levitation system with Mamdanitype neuro-fuzzy systems and logical-type neuro-fuzzy systems separately and then we use two types of flexible neuro-fuzzy systems as controllers. Basic flexible OR-type neuro-fuzzy inference system and basic compromise AND-type neuro-fuzzy inference system are two new flexible neuro-fuzzy controllers which structure of fuzzy inference system (Mamdani or logical is determined in the learning process. We can investigate with these two types of controllers which of the Mamdani or logical type systems has better performance for control of this plant. Finally we compare performance of these controllers with sliding mode controller and RBF sliding mode controller.

  19. The grid-connected PV inverter control basing the exponential sliding mode

    Energy Technology Data Exchange (ETDEWEB)

    Huo, Qunhai; Kong, Li; Pei, Wei; Huang, Shengli; Zhou, Jing [Institute of Electrical Engineering, CAS, Beijing (China)

    2008-07-01

    In order to improve the dynamic performance of the grid-connected PV inverter control system, reduce the hardware and software cost of inverter control design, in view of grid-connected inverter non-linear mathematical model, this paper proposes the design of single-phase current closed loop grid-connected PV inverter control system using the Exponential Sliding Mode Control of the modern control theory. Theory testify of the Exponential Sliding Mode Approach Law applied in the grid-connected inverter is completed, and system stability was proven using Lyapunov theorem. In view of the question of chosen Sliding Mode Approach Law existence the non-linearity possibly to cause system buffeting, used the unit to control continuous method, it can enable smooth after the control having high gain characteristic nearby the cut surface, and it has the resistance disturbance and parameter perturbation ability. Compared with the conventional control system, the result had proven proposed the control strategy accurate, and the system has a good control precision and followed characteristic. (orig.)

  20. Darkfield adapter for whole slide imaging: adapting a darkfield internal reflection illumination system to extend WSI applications.

    Science.gov (United States)

    Kawano, Yoshihiro; Higgins, Christopher; Yamamoto, Yasuhito; Nyhus, Julie; Bernard, Amy; Dong, Hong-Wei; Karten, Harvey J; Schilling, Tobias

    2013-01-01

    We present a new method for whole slide darkfield imaging. Whole Slide Imaging (WSI), also sometimes called virtual slide or virtual microscopy technology, produces images that simultaneously provide high resolution and a wide field of observation that can encompass the entire section, extending far beyond any single field of view. For example, a brain slice can be imaged so that both overall morphology and individual neuronal detail can be seen. We extended the capabilities of traditional whole slide systems and developed a prototype system for darkfield internal reflection illumination (DIRI). Our darkfield system uses an ultra-thin light-emitting diode (LED) light source to illuminate slide specimens from the edge of the slide. We used a new type of side illumination, a variation on the internal reflection method, to illuminate the specimen and create a darkfield image. This system has four main advantages over traditional darkfield: (1) no oil condenser is required for high resolution imaging (2) there is less scatter from dust and dirt on the slide specimen (3) there is less halo, providing a more natural darkfield contrast image, and (4) the motorized system produces darkfield, brightfield and fluorescence images. The WSI method sometimes allows us to image using fewer stains. For instance, diaminobenzidine (DAB) and fluorescent staining are helpful tools for observing protein localization and volume in tissues. However, these methods usually require counter-staining in order to visualize tissue structure, limiting the accuracy of localization of labeled cells within the complex multiple regions of typical neurohistological preparations. Darkfield imaging works on the basis of light scattering from refractive index mismatches in the sample. It is a label-free method of producing contrast in a sample. We propose that adapting darkfield imaging to WSI is very useful, particularly when researchers require additional structural information without the use of

  1. Darkfield adapter for whole slide imaging: adapting a darkfield internal reflection illumination system to extend WSI applications.

    Directory of Open Access Journals (Sweden)

    Yoshihiro Kawano

    Full Text Available We present a new method for whole slide darkfield imaging. Whole Slide Imaging (WSI, also sometimes called virtual slide or virtual microscopy technology, produces images that simultaneously provide high resolution and a wide field of observation that can encompass the entire section, extending far beyond any single field of view. For example, a brain slice can be imaged so that both overall morphology and individual neuronal detail can be seen. We extended the capabilities of traditional whole slide systems and developed a prototype system for darkfield internal reflection illumination (DIRI. Our darkfield system uses an ultra-thin light-emitting diode (LED light source to illuminate slide specimens from the edge of the slide. We used a new type of side illumination, a variation on the internal reflection method, to illuminate the specimen and create a darkfield image. This system has four main advantages over traditional darkfield: (1 no oil condenser is required for high resolution imaging (2 there is less scatter from dust and dirt on the slide specimen (3 there is less halo, providing a more natural darkfield contrast image, and (4 the motorized system produces darkfield, brightfield and fluorescence images. The WSI method sometimes allows us to image using fewer stains. For instance, diaminobenzidine (DAB and fluorescent staining are helpful tools for observing protein localization and volume in tissues. However, these methods usually require counter-staining in order to visualize tissue structure, limiting the accuracy of localization of labeled cells within the complex multiple regions of typical neurohistological preparations. Darkfield imaging works on the basis of light scattering from refractive index mismatches in the sample. It is a label-free method of producing contrast in a sample. We propose that adapting darkfield imaging to WSI is very useful, particularly when researchers require additional structural information without the

  2. Application on the Series Multi-cells Converter for Implementation and Comparison between a Higher Order Sliding Mode Control and Simple Order

    Directory of Open Access Journals (Sweden)

    SKENDER Mohamed Redha

    2015-05-01

    Full Text Available In this paper, a sliding mode control of a series multi-cells converter is introduced. Multi-cells topologies have gained a lot of popularity because of their advantages over classical energy conversion structures. These advantages include: modularity, reduction of component constraints, high efficiency. In order to highlight the performance of higher order sliding mode control, it is compared to a simple order of sliding mode control. The results show the higher order sliding mode control is able to eliminate the phenomenon of chattering caused by a simple order of sliding mode control.

  3. A new method to minimize the chattering phenomenon in sliding mode control based on intelligent control for induction motor drives

    Directory of Open Access Journals (Sweden)

    Bendaas Ismail

    2013-01-01

    Full Text Available This paper presents new method toward the design of hybrid control with sliding-mode (SMC plus fuzzy logic control (FLC for induction motors. As the variations of both control system parameters and operating conditions occur, the conventional control methods may not be satisfied further. Sliding mode control is robust with respect to both induction motor parameter variations and external disturbances. By embedding a fuzzy logic control into the sliding mode control, the chattering (torque-ripple problem with varying parameters, which are the main disadvantage in sliding-mode control, can be suppressed, Simulation results of the proposed control theme present good dynamic and steady-state performances as compared to the classical SMC from aspects for torque-ripple minimization, the quick dynamic torque response and robustness to disturbance and variation of parameters.

  4. Zero-Disturbance Control of Free-Floating Space Manipulators Using Integral-Type Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Heping Li

    2015-01-01

    Full Text Available A free-floating space manipulator is an underactuated system, of which the spacecraft is permitted to rotate freely in response to the manipulator motions. The dynamic coupling property between the spacecraft and the manipulator makes motion control of such systems a significant challenge. In the paper, a zero-disturbance control method for free-floating space manipulators operating in task space is presented. An explicit direct relationship between the spacecraft attitude quaternions and the manipulator joint variables is established using nonholonomic constraints of the angular momentum conservation. By this means the kinematic redundancy of the system is used to adjust the spacecraft attitude. An integral-type sliding mode controller with adaptive switching gains is developed for coordinated motion control of the spacecraft and the manipulator. Simulations on three-link planar model show that the spacecraft remains undisturbed during the whole process of manipulations, which confirms the effectiveness of the proposed method.

  5. Simulation to Implementation as Good Practices for Teaching Power Electronics to Undergraduate Students: Fuzzy Sliding Mode Control for DC Motors

    Directory of Open Access Journals (Sweden)

    Paul Cepeda

    2014-01-01

    Full Text Available How can students be given experience in the confused realities of engineering processes? How can undergraduate students be convinced that processes can be analyzed and improved? Computer simulations properly designed and applied could answer these challenges revolutionizing education in Power Electronics. In recent years, computer simulation has been commonly used in education to motivate students in their learning and help teachers to improve their teaching level. The present paper focuses on developing a speed controller for DC motors starting from theoretical aspects, passing through simulations, and finally reaching a control prototype. The control theory is based on a nonlinear technique known as Sliding Mode Control (SMC involving artificial intelligence for optimization such as Fuzzy Logic (FL, Adaptive Neurofuzzy Inference Systems (ANFIS, and Genetic Algorithms (GAs.

  6. Improved estimation of rotor position for sensorless control of a PMSM based on a sliding mode observer

    Institute of Scientific and Technical Information of China (English)

    Wahyu Kunto Wibowo; Seok-Kwon Jeong

    2016-01-01

    This work proposes a new strategy to improve the rotor position estimation of a permanent magnet synchronous motor (PMSM) over wide speed range. Rotor position estimation of a PMSM is performed by using sliding mode observer (SMO). An adaptive observer gain was designed based on Lyapunov function and applied to solve the chattering problem caused by the discontinuous function of the SMO in the wide speed range. The cascade low-pass filter (LPF) with variable cut-off frequency was proposed to reduce the chattering problem and to attenuate the filtering capability of the SMO. In addition, the phase shift caused by the filter was counterbalanced by applying the variable phase delay compensation for the whole speed area. High accuracy estimation result of the rotor position was obtained in the experiment by applying the proposed estimation strategy.

  7. Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer.

    Science.gov (United States)

    Ren, Jun-Jie; Liu, Yan-Cheng; Wang, Ning; Liu, Si-Yuan

    2015-01-01

    This paper proposes a sensorless speed control strategy for ship propulsion interior permanent magnet synchronous motor (IPMSM) based on a new sliding-mode observer (SMO). In the SMO the low-pass filter and the method of arc-tangent calculation of extended electromotive force (EMF) or phase-locked loop (PLL) technique are not used. The calculation of the rotor speed is deduced from the Lyapunov function stability analysis. In order to reduce system chattering, sigmoid functions with switching gains being adaptively updated by fuzzy logic systems are innovatively incorporated into the SMO. Finally, simulation results for a 4.088 MW ship propulsion IPMSM and experimental results from a 7.5 kW IPMSM drive are provided to verify the effectiveness of the proposed SMO method.

  8. Sliding mode based fault detection, reconstruction and fault tolerant control scheme for motor systems.

    Science.gov (United States)

    Mekki, Hemza; Benzineb, Omar; Boukhetala, Djamel; Tadjine, Mohamed; Benbouzid, Mohamed

    2015-07-01

    The fault-tolerant control problem belongs to the domain of complex control systems in which inter-control-disciplinary information and expertise are required. This paper proposes an improved faults detection, reconstruction and fault-tolerant control (FTC) scheme for motor systems (MS) with typical faults. For this purpose, a sliding mode controller (SMC) with an integral sliding surface is adopted. This controller can make the output of system to track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. But this controller cannot deal directly with total system failures. However an appropriate combination of the adopted SMC and sliding mode observer (SMO), later it is designed to on-line detect and reconstruct the faults and also to give a sensorless control strategy which can achieve tolerance to a wide class of total additive failures. The closed-loop stability is proved, using the Lyapunov stability theory. Simulation results in healthy and faulty conditions confirm the reliability of the suggested framework. PMID:25747198

  9. Sliding Mode Output Feedback Control of a Flexible Rotor Supported by Magnetic Bearings

    Directory of Open Access Journals (Sweden)

    A. S. Lewis

    2001-01-01

    Full Text Available A new sliding mode feedback algorithm is applied to control the vibration of a flexible rotor supported by magnetic bearings. It is assumed that the number of states is greater than the number of sensors. A mathematical model of the rotor]magnetic bearing system is presented in terms of partial differential equations. These equations are then discretized into a finite number of ordinary differential equations through Galerkin’s method. The sliding mode control law is designed to be robust to rotor unbalance and transient disturbances. A boundary layer is introduced around each sliding hyperplane to eliminate the chattering phenomenon. The results from numerical simulations are presented that not only corroborate the validity of the proposed controller, but also show the effects of various control parameters as a function of the angular speed of the rotor. In addition, results are presented that indicate how the current required by the magnetic bearings is affected by control parameters and the angular speed of the rotor.

  10. Variable speed wind turbine control by discrete-time sliding mode approach.

    Science.gov (United States)

    Torchani, Borhen; Sellami, Anis; Garcia, Germain

    2016-05-01

    The aim of this paper is to propose a new design variable speed wind turbine control by discrete-time sliding mode approach. This methodology is designed for linear saturated system. The saturation constraint is reported on inputs vector. To this end, the back stepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a stabilization control objective. It is well known that the mechanisms are investigated in term of the most proposed assumptions to deal with the damping, shaft stiffness and inertia effect of the gear. The objectives are to synthesize robust controllers that maximize the energy extracted from wind, while reducing mechanical loads and rotor speed tracking combined with an electromagnetic torque. Simulation results of the proposed scheme are presented.

  11. Variable speed wind turbine control by discrete-time sliding mode approach.

    Science.gov (United States)

    Torchani, Borhen; Sellami, Anis; Garcia, Germain

    2016-05-01

    The aim of this paper is to propose a new design variable speed wind turbine control by discrete-time sliding mode approach. This methodology is designed for linear saturated system. The saturation constraint is reported on inputs vector. To this end, the back stepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a stabilization control objective. It is well known that the mechanisms are investigated in term of the most proposed assumptions to deal with the damping, shaft stiffness and inertia effect of the gear. The objectives are to synthesize robust controllers that maximize the energy extracted from wind, while reducing mechanical loads and rotor speed tracking combined with an electromagnetic torque. Simulation results of the proposed scheme are presented. PMID:26804750

  12. Super-Twisting Algorithm Second-Order Sliding Mode Control for a Synchronous Reluctance Motor Speed Drive

    Directory of Open Access Journals (Sweden)

    Wen-Bin Lin

    2013-01-01

    Full Text Available This paper presents the design and implementation of a super-twisting algorithm second-order sliding mode controller (SOSMC for a synchronous reluctance motor. SOSMC is an effective tool for the control of uncertain nonlinear systems since it overcomes the main drawbacks of conventional sliding mode control, that is, large control effort and chattering. The practical implementation of SOSMC has simple control laws and assures an improvement in sliding accuracy with respect to conventional sliding mode control. This paper proposes a control scheme based on super-twisting algorithm SOSMC. The SOSMC is mathematically derived, and its performance is verified by simulation and experiments. The proposed SOSMC is robust against motor parameter variation and mitigates chattering.

  13. Adaptive Control of Flexible Structures Using Residual Mode Filters

    Science.gov (United States)

    Balas, Mark J.; Frost, Susan

    2010-01-01

    Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter. We have proposed a modified adaptive controller with a residual mode filter. The RMF is used to accommodate troublesome modes in the system that might otherwise inhibit the adaptive controller, in particular the ASPR condition. This new theory accounts for leakage of the disturbance term into the Q modes. A simple three-mode example shows that the RMF can restore stability to an otherwise unstable adaptively controlled system. This is done without modifying the adaptive controller design.

  14. A Sliding Mode Control for a Sensorless Tracker: Application on a Photovoltaic System

    OpenAIRE

    Rhif, Ahmed

    2012-01-01

    The photovoltaic sun tracker allows us to increase the energy production. The sun tracker considered in this study has two degrees of freedom (2-DOF) and especially specified by the lack of sensors. In this way, the tracker will have as a set point the sun position at every second during the day for a period of five years. After sunset, the tracker goes back to the initial position (which of sunrise). The sliding mode control (SMC) will be applied to ensure at best the tracking mechanism and,...

  15. Sliding Mode Control for NSVs with Input Constraint Using Neural Network and Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Yan-long Zhou

    2013-01-01

    Full Text Available The sliding mode control (SMC scheme is proposed for near space vehicles (NSVs with strong nonlinearity, high coupling, parameter uncertainty, and unknown time-varying disturbance based on radial basis function neural networks (RBFNNs and the nonlinear disturbance observer (NDO. Considering saturation characteristic of rudders, RBFNNs are constructed as a compensator to overcome the saturation nonlinearity. The stability of the closed-loop system is proved, and the tracking error as well as the disturbance observer error can converge to the origin through the Lyapunov analysis. Simulation results are presented to demonstrate the effectiveness of the proposed flight control scheme.

  16. Drag-based composite super-twisting sliding mode control law design for Mars entry guidance

    Science.gov (United States)

    Zhao, Zhenhua; Yang, Jun; Li, Shihua; Guo, Lei

    2016-06-01

    In this paper, the drag-based trajectory tracking guidance problem is investigated for Mars entry vehicle subject to uncertainties. A composite super twisting sliding mode control method based on finite-time disturbance observer is proposed for guidance law design. The proposed controller not only eliminates the effects of matched and mismatched disturbances due to uncertainties of atmospheric models and vehicle aerodynamics but also guarantees the continuity of control action. Numerical simulations are carried out on the basis of Mars Science Laboratory mission, where the results show that the proposed methods can improve the Mars entry guidance precision as compared with some existing guidance methods including PID and ADRC.

  17. Sliding mode control of reaction flywheel-based brushless DC motor with buck converter

    Institute of Scientific and Technical Information of China (English)

    Liu Gang; Zhang Cong

    2013-01-01

    Reaction flywheel is a significant actuator for satellites' attitude control.To improve out-put torque and rotational speed accuracy for reaction flywheel,this paper reviews the modeling and control approaches of DC-DC converters and presents an application of the variable structure system theory with associated sliding regimes.Firstly,the topology of reaction flywheel is constructed.The small signal linearization process for a buck converter is illustrated.Then,based on the state averaging models and reaching qualification expressed by the Lee derivative,the general results of the sliding mode control (SMC) are analyzed.The analytical equivalent control laws for reaction flywheel are deduced detailedly by selecting various sliding surfaces at electromotion,energy consumption braking,reverse connection braking stages.Finally,numerical and experimental examples are presented for illustrative purposes.The results demonstrate that favorable agreement is established between the simulations and experiments.The proposed control strategy achieves preferable rotational speed regulation,strong rejection of modest disturbances,and high-precision output torque and rotational speed tracking abilities.

  18. Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton.

    Science.gov (United States)

    Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Dong, Wei

    2016-01-01

    A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems. PMID:27069353

  19. Observer-Based Robust Passive Control for a Class of Uncertain Neutral Systems: An Integral Sliding Mode Approach

    Directory of Open Access Journals (Sweden)

    Ruiping Xu

    2015-01-01

    Full Text Available The problem of integral sliding mode control (ISMC with passivity is investigated for a class of uncertain neutral systems with time-varying delay (NTSTD and external disturbance. The system states are unavailable. An ISMC strategy is proposed based on the state estimate. By employing a novel sliding functional, a new sufficient criterion of robust asymptotic stability and passivity for both the error system and the sliding mode (SM dynamic system is derived via linear matrix inequality (LMI technique. Then, a SM controller is synthesized to guarantee the reachability of the sliding surface predefined in the state estimate space. Finally, a numerical example shows the feasibility and superiority of the obtained result.

  20. Two modified discrete PID-based sliding mode controllers for piezoelectric actuators

    Science.gov (United States)

    Cao, Y.; Chen, X. B.

    2014-01-01

    Hysteresis is a nonlinear effect that can result in the degraded performance of piezoelectric actuators (PEAs). To counteract the effect, several control methods have been developed and reported in the literature. One promising method for compensation is the use of a proportional-integral-derivative (PID)-based sliding mode control (SMC), in which the PEA hysteresis is treated as an unknown disturbance to the PEA input. If the hysteresis can be modelled or partially modelled, the integration of the hysteresis models into the control schemes may lead to further improved performance. On this philosophy, this paper presents the development of two modified discrete PID-based sliding mode controllers (PID-SMCs) for the PEAs, namely an inversion-based PID-SMC and a disturbance-observer (DOB)-based PID-SMC, in which the PEA hysteresis is predicted or partially predicted through the use of existing models for the PEA hysteresis. Experiments were performed to verify the effectiveness of the proposed control schemes. The results were compared to those of the nominal PID-SMC. By employing the inversion hysteresis and the DOB, the PEA performance was greatly improved.

  1. Robust fuzzy neural network sliding mode control scheme for IPMSM drives

    Science.gov (United States)

    Leu, V. Q.; Mwasilu, F.; Choi, H. H.; Lee, J.; Jung, J. W.

    2014-07-01

    This article proposes a robust fuzzy neural network sliding mode control (FNNSMC) law for interior permanent magnet synchronous motor (IPMSM) drives. The proposed control strategy not only guarantees accurate and fast command speed tracking but also it ensures the robustness to system uncertainties and sudden speed and load changes. The proposed speed controller encompasses three control terms: a decoupling control term which compensates for nonlinear coupling factors using nominal parameters, a fuzzy neural network (FNN) control term which approximates the ideal control components and a sliding mode control (SMC) term which is proposed to compensate for the errors of that approximation. Next, an online FNN training methodology, which is developed using the Lyapunov stability theorem and the gradient descent method, is proposed to enhance the learning capability of the FNN. Moreover, the maximum torque per ampere (MTPA) control is incorporated to maximise the torque generation in the constant torque region and increase the efficiency of the IPMSM drives. To verify the effectiveness of the proposed robust FNNSMC, simulations and experiments are performed by using MATLAB/Simulink platform and a TI TMS320F28335 DSP on a prototype IPMSM drive setup, respectively. Finally, the simulated and experimental results indicate that the proposed design scheme can achieve much better control performances (e.g. more rapid transient response and smaller steady-state error) when compared to the conventional SMC method, especially in the case that there exist system uncertainties.

  2. Maneuver and vibration reduction of flexible spacecraft using sliding mode/command shaping technique

    Institute of Scientific and Technical Information of China (English)

    HU Qing-lei; MA Guang-fu; ZHANG Wei

    2006-01-01

    A generalized scheme based on the sliding mode and component synthesis vibration suppression (CSVS) method has been proposed for the rotational maneuver and vibration suppression of an orbiting spacecraft with flexible appendages. The proposed control design process is twofold: design of the attitude controller followed by the design of a flexible vibration attenuator. The attitude controller using only the attitude and the rate information for the flexible spacecraft (FS) is designed to serve two purposes: it forces the attitude motion onto a pre-selected sliding surface and then guides it to the state space origin. The shaped command input controller based on the CSVS method is designed for the reduction of the flexible mode vibration, which only requires information about the natural frequency and damping of the closed system. This information is used to discretize the input so that minimum energy is injected via the controller to the flexible nodes of the spacecraft. Additionally, to extend the CSVS method to the system with the on-off actuators, the pulse-width pulse-frequency ( PWPF) modulation is introduced to control the thruster firing and integrated with the CSVS method. PWPF modulation is a control method that provides pseudo-linear operation for an on-off thruster. The proposed control strategy has been implemented on a FS, which is a hub with symmetric cantilever flexible beam appendages and can undergo a single axis rotation. The results have been proven the potential of this technique to control FS.

  3. Direct Torque Control of Saturated Doubly-Fed Induction Generator using High Order Sliding Mode Controllers

    Directory of Open Access Journals (Sweden)

    Elhadj BOUNADJA

    2016-07-01

    Full Text Available The present work examines a direct torque control strategy using a high order sliding mode controllers of a doubly-fed induction generator (DFIG incorporated in a wind energy conversion system and working in saturated state. This research is carried out to reach two main objectives. Firstly, in order to introduce some accuracy for the calculation of DFIG performances, an accurate model considering magnetic saturation effect is developed. The second objective is to achieve a robust control of DFIG based wind turbine. For this purpose, a Direct Torque Control (DTC combined with a High Order Sliding Mode Control (HOSMC is applied to the DFIG rotor side converter. Conventionally, the direct torque control having hysteresis comparators possesses major flux and torque ripples at steady-state and moreover the switching frequency varies on a large range. The new DTC method gives a perfect decoupling between the flux and the torque. It also reduces ripples in these grandeurs. Finally, simulated results show, accurate dynamic performances, faster transient responses and more robust control are achieved.

  4. Smooth Sliding Mode Control for Trajectory Tracking of Greenhouse Spraying Mobile Robot

    Directory of Open Access Journals (Sweden)

    Fang Zhiming

    2013-02-01

    Full Text Available For the spraying mobile robot working in greenhouse, due to the inconsistency of drive motors and the rough walking surface, it is easy to track off. For the liquidity of pesticide, the load always changes even the speed jumps. Because of these uncertainties, external disturbances and the difficulty of constructing the system dynamic model, it is hard to implement the trajectory tracking control of the spraying mobile robot steadily, precisely and quickly. In order to solve the problem, a smooth sliding mode trajectory tracking control method is proposed based on the distribute control strategy for each branch. Moreover, its stability is proved using the Lyapunov function. The simulation results show that the proposed method can track the reference trajectories precisely, quickly and steadily under the strong white noise. The chattering phenomenon of the control law is restrained compared to the conventional sliding mode control. The trajectory tracking performance is better than that of the fuzzy control. The designed method is easy to realize and doesn’t need to construct the precise mathematical model, so, it affords an economical and convenient control method for solving the trajectory tracking problem of the greenhouse spraying mobile robot under various uncertain interferences.

  5. Speed Control of Induction Motor Using New Sliding Mode Control Technique

    Directory of Open Access Journals (Sweden)

    Aamir Hashim Obeid Ahmed

    2010-06-01

    Full Text Available Induction Motors have been used as the workhorse in the industry for a long time due to its easy build, high robustness, and generally satisfactory efficiency. However, they are significantly more difficult to control than DC motors. One of the problems which might cause unsuccessful attempts for designing a proper controller would be the time varying nature of parameters and variables which might be changed while working with the motion systems. One of the best suggested solutions to solve this problem would be the use of Sliding Mode Control (SMC. This paper presents the design of a new controller for a vector control induction motor drive that employs an outer loop speed controller using SMC. Several tests were performed to evaluate the performance of the new controller method, and two other sliding mode controller techniques. From the comparative simulation results, one can conclude that the new controller law provides high performance dynamic characteristics and is robust with regard to plant parameter variations.

  6. Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

    Directory of Open Access Journals (Sweden)

    Shanhai Jin

    2012-01-01

    Full Text Available This paper presents the results of quantitative performance evaluation of an authors’ new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF, but its phase lag is smaller (maximum 150 degree than that of 2-LPF (maximum 180 degree. Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.

  7. Analytical impact time and angle guidance via time-varying sliding mode technique.

    Science.gov (United States)

    Zhao, Yao; Sheng, Yongzhi; Liu, Xiangdong

    2016-05-01

    To concretely provide a feasible solution for homing missiles with the precise impact time and angle, this paper develops a novel guidance law, based on the nonlinear engagement dynamics. The guidance law is firstly designed with the prior assumption of a stationary target, followed by the practical extension to a moving target scenario. The time-varying sliding mode (TVSM) technique is applied to fulfill the terminal constraints, in which a specific TVSM surface is constructed with two unknown coefficients. One is tuned to meet the impact time requirement and the other one is targeted with a global sliding mode, so that the impact angle constraint as well as the zero miss distance can be satisfied. Because the proposed law possesses three guidance gain as design parameters, the intercept trajectory can be shaped according to the operational conditions and missile׳s capability. To improve the tolerance of initial heading errors and broaden the application, a new frame of reference is also introduced. Furthermore, the analytical solutions of the flight trajectory, heading angle and acceleration command can be totally expressed for the prediction and offline parameter selection by solving a first-order linear differential equation. Numerical simulation results for various scenarios validate the effectiveness of the proposed guidance law and demonstrate the accuracy of the analytic solutions.

  8. Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

    Directory of Open Access Journals (Sweden)

    Zool H. Ismail

    2015-01-01

    Full Text Available The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC, gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.

  9. Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

    Science.gov (United States)

    Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

    2016-09-01

    In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).

  10. Decoupling control based on terminal sliding mode and wavelet network for the speed and tension system of reversible cold strip rolling mill

    Science.gov (United States)

    Fang, Yiming; Liu, Le; Li, Jianxiong; Xu, Yanze

    2015-08-01

    To weaken the nonlinear coupling influences among the variables in the speed and tension system of reversible cold strip rolling mill, a novel dynamic decoupling control strategy is proposed based on nonsingular fast terminal sliding mode (NFTSM) and wavelet neural network (WNN). First, nonlinear disturbance observers are developed to counteract the mismatched uncertainties, and then input/output dynamic decoupling and linearisation for the speed and tension nonlinear coupling system are realised by utilising the inverse system theory. Second, nonsingular fast terminal sliding mode controller (NFTSMC) for each pseudo linear subsystem is presented based on backstepping and two-power reaching law, so as to improve the global convergence speed and robust stability of the system. Third, adaptive WNNs are used to approximate the uncertain items of the system, so as to improve the control precision of the speed and tension of reversible cold strip rolling mill. Theoretical analyses show that the NFTSMs satisfy reachability condition, the system error variables can converge to equilibrium point in finite time, and the resulting closed-loop system is globally asymptotically stable. Finally, simulation research is carried out on the speed and tension system of a 1422 mm reversible cold strip rolling mill by using the actual data, and results show the superiority of the proposed control strategy in comparison with the strategies of cascade PI, linear sliding mode control and internal model control.

  11. Full-Order Sliding Mode Control for High-Order Nonlinear System Based on Extended State Observer

    Institute of Scientific and Technical Information of China (English)

    CHEN Qiang; TAO Liang; NAN Yurong

    2016-01-01

    In this paper,a full-order sliding mode control based on extended state observer (FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties.The extended state observer (ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed,and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control.Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.

  12. Fault Diagnosis and Fault-Tolerant Control of Uncertain Robot Manipulators Using High-Order Sliding Mode

    Directory of Open Access Journals (Sweden)

    Mien Van

    2016-01-01

    Full Text Available A robust fault diagnosis and fault-tolerant control (FTC system for uncertain robot manipulators without joint velocity measurement is presented. The actuator faults and robot manipulator component faults are considered. The proposed scheme is designed via an active fault-tolerant control strategy by combining a fault diagnosis scheme based on a super-twisting third-order sliding mode (STW-TOSM observer with a robust super-twisting second-order sliding mode (STW-SOSM controller. Compared to the existing FTC methods, the proposed FTC method can accommodate not only faults but also uncertainties, and it does not require a velocity measurement. In addition, because the proposed scheme is designed based on the high-order sliding mode (HOSM observer/controller strategy, it exhibits fast convergence, high accuracy, and less chattering. Finally, computer simulation results for a PUMA560 robot are obtained to verify the effectiveness of the proposed strategy.

  13. Super-Twisting Differentiator-Based High Order Sliding Mode Voltage Control Design for DC-DC Buck Converters

    Directory of Open Access Journals (Sweden)

    Yigeng Huangfu

    2016-06-01

    Full Text Available This paper aims to focus on the smooth output of DC-DC buck converters in wireless power transfer systems under input perturbations and load disturbances using the high-order sliding mode controller (HOSM and HOSM with super-twisting differentiator (HOSM + STD. The proposed control approach needs only measurement of converter output voltage. Theoretical analysis and design procedures, as well as the super-twisting differentiator of the proposed controller are presented in detail with the prescribed convergence law of high-order sliding modes. Comparisons of both simulation and experimental results among conventional proportional-integral (PI control, traditional sliding mode control (SMC, HOSM and HOSM + STD under various test conditions such as steady state, input voltage perturbations and output load disturbances, are presented and discussed. The results demonstrate and validate the effectiveness and robustness of the proposed control method.

  14. Reducing False Negative Reads in RFID Data Streams Using an Adaptive Sliding-Window Approach

    Directory of Open Access Journals (Sweden)

    Herman Vermaak

    2012-03-01

    Full Text Available Unreliability of the data streams generated by RFID readers is among the primary factors which limit the widespread adoption of the RFID technology. RFID data cleaning is, therefore, an essential task in the RFID middleware systems in order to reduce reading errors, and to allow these data streams to be used to make a correct interpretation and analysis of the physical world they are representing. In this paper we propose an adaptive sliding-window based approach called WSTD which is capable of efficiently coping with both environmental variation and tag dynamics. Our experimental results demonstrate the efficacy of the proposed approach.

  15. Robust Stability for Nonlinear Systems with Time-Varying Delay and Uncertainties via the H∞ Quasi-Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Yi-You Hou

    2014-01-01

    Full Text Available This paper considers the problem of the robust stability for the nonlinear system with time-varying delay and parameters uncertainties. Based on the H∞ theorem, Lyapunov-Krasovskii theory, and linear matrix inequality (LMI optimization technique, the H∞ quasi-sliding mode controller and switching function are developed such that the nonlinear system is asymptotically stable in the quasi-sliding mode and satisfies the disturbance attenuation (H∞-norm performance. The effectiveness and accuracy of the proposed methods are shown in numerical simulations.

  16. A Hybrid Fuzzy Sliding Mode Controller for Time-delay System

    Directory of Open Access Journals (Sweden)

    N. K. Yadav

    2013-07-01

    Full Text Available This paper is concerned with the problems of stability analysis and stabilization control design for aclassof discrete-time T-S fuzzy systems with state-delayfor multi-input and multi-output. The nonlinear fuzzycontroller helps to overcome the problems of the ill - defined model of the systems, which are creating theundesirable performance. . Here sliding surface isbeing designed for error function of nonlinear systemand sliding mode control is being designed here. The switching surface is being proven for its asymptoticstability. The generated error signal and change oferror signal will be utilized for application heuristicknowledge to design the rule base in the fuzzy logic control and fuzzy logic controller is designed here. Theproposed technique also brings in a systematic approach to the fuzzy logic control, thus overcoming lots ofheuristics that were in vogue with earlier fuzzy logic applications. Fuzzy logic control has been applied to asecond order model of a roll autopilot. It has beenfound that the proposed scheme is robust and workssatisfactorily even when parameters are perturbed as much as fifteen percent of their geometric meanvalue. This designed algorithm will be more effective for highly unstable nonlinear systems such asaerospace system.

  17. 伺服系统的滑模变结构控制器设计%Design of Sliding Mode Controller for Servo System

    Institute of Scientific and Technical Information of China (English)

    李伟; 韩崇伟; 位红军; 赵宇和

    2011-01-01

    The uncertainty and discrete exponential reaching law in servo system cause the system buffeting, traditional PID control can not reach the requirements of system accuracy and stability. The paper studied the sliding mode variable structure control problem of. Uncertain discrete - time system. The parameter identification method was adopted to obtain the models of the controlled objects under the conditions of no - load and full load respectively, Based on th no - load testingg data and according to the second - order mode structure, the approximate model of the object was identified as the nominal model of discrete sliding moe controller design. Adaptive sliding mode reaching law was used to design the discrete sliding mode variable structure controller, with which, two control simulations were carried out respectively with two controlled object modes. The results show that the design of discrete sliding mode variable structure controller realizes stable servo system and accurate transfer guns, and is robust under the parameter perturbation and external disturbance, with smooth controller outputs.%伺服系统不确定性和离散指数趋近律造成系统的系统抖振,传统的PID控制方法难以实现系统对精度和稳定性的要求.为了提高控制系统的性能,提出滑模变结构控制问题.采用参数辨识法,分别获取被控对象在空载和满载模型,并将空载测试数据按二阶模型结构辨识得到被控对象近似模型,作为离散滑模控制器设计的标称模型,并采用自适应趋近律设计了离散滑模控制器,分别对被控对象的两个模型进行控制仿真.结果表明,离散滑模变结构控制器能够使伺服系统满足要求,对参数摄动和外部干扰具有较强的鲁棒性,提高了控制器性能,为设计提供了依据.

  18. 基于dSPACE的新型双滑模PMSM控制方法%New dual-sliding mode control method of PMSM based on dSPACE

    Institute of Scientific and Technical Information of China (English)

    高雅; 刘卫国; 骆光照

    2015-01-01

    设计一种基于滑模理论的永磁同步电机控制系统,利用滑模控制器代替传统的PID控制器,用滑模观测器代替传统的位置传感器。滑模控制器中针对传统滑模控制的抖振问题,引入准滑模和趋近律的概念,设计一种新的滑模控制器。滑模观测器使用连续饱和函数代替传统的开关函数,有效地减少高频噪声信号,经李亚普诺夫稳定方程证明系统的稳定性。本设计方法充分发挥滑模控制的优势。通过 dSPACE 实验平台的验证和 ControlDesk环境的实时观测,证明所设计的新的滑模控制器在消除抖振和抗干扰方面明显优于传统的滑模控制器和PID控制器,滑模观测器能准确地观测位置信号,而且针对具有噪声干扰的场合,加入卡尔曼滤波器,有效地减少了干扰信号。%Based on the sliding mode theory, a new control system of permanent magnet synchronous motor was designed. It used a new sliding mode controller to replace the traditional one and PID one, and used the sliding mode observer to replace the position sensors. Aimed at the chattering question of conventional sliding mode controller, the concept of reaching law and quasi-sliding mode were introduced. In the designing processes of the sliding mode observer, using a continuous saturation function instead of the traditional switch function, high frequency noise signal was reduced. By dSPACE platform experimenting and ControlDesk real-time observing, the results show that the new sliding mode controller has a better effect for eliminating the chattering and the noise disturbed signal, and the position signal can be accurately observed by the sliding mode observer. Furthermore, Kalman filter controller is used in this control system for adapting to the noise disturbed area. According to the result, this design can decrease the noise signals effectively.

  19. Integral Sliding Mode Control for Helicopter via Disturbance Observer and Quantum Information Technique

    Directory of Open Access Journals (Sweden)

    Qiang Qu

    2015-01-01

    Full Text Available A novel self-repairing control scheme is proposed for a helicopter with unknown disturbance. Firstly, a disturbance observer is introduced to observe the disturbance of the system, which can produce corresponding control signals according to the disturbance signals. Secondly, an integral sliding mode controller is designed to compensate the unobserved disturbance and uncertainties. All of the closed-loop poles can be arbitrarily placed and the output errors converge to zero effectively through the controller. Besides, a robust closed-loop system against disturbance and parameter uncertainties is achieved. In addition, quantum information technique is used to increase the self-repairing control accuracy of helicopter. Finally, simulation results demonstrate the effectiveness and feasibility of the proposed self-repairing control scheme.

  20. Simulation of a Matrix Converter Fed Drive With Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Jan Bauer

    2012-01-01

    Full Text Available Induction machines are among the most widely used electrical-to-mechanical converters in electric drives. Their advantageous robustness and simplicity goes hand-in-hand with complicated control. A converter with a suitable control algorithm is needed in order to withdraw maximum power and dynamics from the drive. In recent times, control methods such as those based on DTC and sliding mode methods have come to the forefront, due to their robustness and relative simplicity.In the field of power converters, new converter topologies are emerging with improved efficiency that pushes the operation limits of the drive. This paper focuses on the development of a control of this kind of strategy for an induction machine fed from a matrix converter.

  1. Speed Synchronization of Multi Induction Motors with Fuzzy Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    HACHEMI Glaoui

    2013-05-01

    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. Aspeed 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 controlstrategy 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 designedcontroller are proved by using Lyapunov method. Simulation results demonstrate the effectiveness of the proposed method.

  2. Experimental Study of Flexible Plate Vibration Control by Using Two-Loop Sliding Mode Control Strategy

    Science.gov (United States)

    Yang, Jingyu; Lin, Jiahui; Liu, Yuejun; Yang, Kang; Zhou, Lanwei; Chen, Guoping

    2016-06-01

    It is well known that intelligent control theory has been used in many research fields, novel modeling method (DROMM) is used for flexible rectangular active vibration control, and then the validity of new model is confirmed by comparing finite element model with new model. In this paper, taking advantage of the dynamics of flexible rectangular plate, a two-loop sliding mode (TSM) MIMO approach is introduced for designing multiple-input multiple-output continuous vibration control system, which can overcome uncertainties, disturbances or unstable dynamics. An illustrative example is given in order to show the feasibility of the method. Numerical simulations and experiment confirm the effectiveness of the proposed TSM MIMO controller.

  3. Sliding Mode Control of the Battery Bank for the Fuel Cell-based Distributed Generation System

    Directory of Open Access Journals (Sweden)

    Junsheng Jiao

    2013-07-01

    Full Text Available The dynamic models for the fuel cell power and the configuration of the fuel cell distributed generation system are shown in this paper. Due to nonlinear characteristics of fuel cell model, the output voltage of fuel cell varies greatly when the load changes. A novel interface is designed to provide a constant output voltage for charging of the battery bank of the fuel cell distributed generation. The thesis presents a sliding mode control design of PEMFC distributed generation system. A cascaded control structure is chosen for ease of control realization and to exploit the motion separation property of power converters. The simulation results confirm the output current and voltage of the PEM fuel cell array converge rapidly to their reference values.

  4. Sliding Mode Implementation of an Attitude Command Flight Control System for a Helicopter in Hover

    Directory of Open Access Journals (Sweden)

    D. J. McGeoch

    2005-01-01

    Full Text Available This paper presents an investigation into the design of a flight control system, using a decoupled non-linear sliding mode control structure, designed using a linearised, 9th order representation of the dynamics of a PUMA helicopter in hover. The controllers are then tested upon a higher order, non-linear helicopter model, called RASCAL. This design approach is used for attitude command flight control implementation and the control performance is assessed in the terms of handling qualities through the Aeronautical Design Standards for Rotorcraft (ADS-33. In this context a linearised approximation of the helicopter system is used to design an SMC control scheme. These controllers have been found to yield a system that satisfies the Level 1 handling qualities set out by ADS-33. 

  5. Fuzzy sliding mode controller of a pneumatic active isolating system using negative stiffness structure

    International Nuclear Information System (INIS)

    A novel active vibration isolation system using negative stiffness structure (active system with NSS) for low excitation frequency ranges (< 5 Hz) is developed successfully. Here, the negative stiffness structure (NSS) is used to minimize the attraction of vibration. Then, the fuzzy sliding mode controller (FSMC) is designed to improve the vibration isolation performance of the active system with NSS. Based on Lyapunov stability theorem, the fuzzy control rules are constructed. Next, the experimental apparatus is built for evaluating the isolation efficiency of the proposed system controlled by the FSMC corresponding to various excitation conditions. In addition, the isolation performance of the active system with NSS, the active system without NSS and the passive the system with NSS is compared. The experimental results confirmed that the active system with NSS gives better isolation efficiency than the active system without NSS and the passive system with NSS in low excitation frequency areas

  6. Two wheel speed robust sliding mode control for electric vehicle drive

    Directory of Open Access Journals (Sweden)

    Abdelfatah Nasri

    2008-01-01

    Full Text Available Nowadays the uses of electrical power resources are integrated in the modern vehicle motion traction chain so new technologies allow the development of electric vehicles (EV by means of static converters-related electric motors. All mechanical transmission devices are eliminated and vehicle wheel motion can be controlled by means of power electronics. The proposed propulsing system consists of two induction motors (IM that ensure the drive of the two back driving wheels. The proposed control structure-called independent machines- for speed control permit the achievement of an electronic differential. The electronic differential system ensures the robust control of the vehicle behavior on the road. It also allows controlling independently, every driving wheel to turn at different speeds in any curve. This paper presents the study and the sliding mode control strategy of the electric vehicle driving wheels.

  7. Wind turbine efficiency optimization. Comparative study of controllers based on second order sliding modes

    Energy Technology Data Exchange (ETDEWEB)

    Evangelista, C.; Puleston, P.; Valenciaga, F. [CONICET and LEICI, Faculty of Engineering, National University of La Plata, C.C.91 (1900) La Plata (Argentina)

    2010-06-15

    This paper studies the applicability of second order sliding mode control strategies to a wind energy conversion system aiming to optimise its power conversion efficiency. Four different controllers are designed and analysed, based on the ''sub-optimal'', ''twisting'', ''super-twisting'' and ''with a prescribed law of variation'' algorithms, which present finite-time convergence, robustness, chattering and mechanical stress reduction, and are of quite simple online operation and implementation. Representative simulation results are shown, using a complete model of the system under realistic operating conditions, where the performance of the controlled system can be appreciated for each of the controllers and some comparisons can be made. (author)

  8. Sliding mode control for synchronization of chaotic systems with structure or parameters mismatching

    Institute of Scientific and Technical Information of China (English)

    LI Xiao-run; ZHAO Liao-ying; ZHAO Guang-zhou

    2005-01-01

    This paper deals with the synchronization of chaotic systems with structure or parameters difference. Nonlinear differential geometry theory was applied to transform the chaotic discrepancy system into canonical form. A feedback control for synchronizing two chaotic systems is proposed based on sliding mode control design. To make this controller physically realizable,an extended state observer is used to estimate the error between the transmitter and receiver. Two illustrative examples were carried out: (1) The Chua oscillator was used to show that synchronization was achieved and the message signal was recovered in spite of parametric variations; (2) Two second-order driven oscillators were presented to show that the synchronization can be achieved and that the message can be recovered in spite of the strictly different model.

  9. A reduced-order nonlinear sliding mode observer for vehicle slip angle and tyre forces

    Science.gov (United States)

    Chen, Yuhang; Ji, Yunfeng; Guo, Konghui

    2014-12-01

    In this paper, a reduced-order sliding mode observer (RO-SMO) is developed for vehicle state estimation. Several improvements are achieved in this paper. First, the reference model accuracy is improved by considering vehicle load transfers and using a precise nonlinear tyre model 'UniTire'. Second, without the reference model accuracy degraded, the computing burden of the state observer is decreased by a reduced-order approach. Third, nonlinear system damping is integrated into the SMO to speed convergence and reduce chattering. The proposed RO-SMO is evaluated through simulation and experiments based on an in-wheel motor electric vehicle. The results show that the proposed observer accurately predicts the vehicle states.

  10. Sliding mode-based lateral vehicle dynamics control using tyre force measurements

    Science.gov (United States)

    Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

    2015-11-01

    In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

  11. Decentralized sliding-mode control for spacecraft attitude synchronization under actuator failures

    Science.gov (United States)

    Wu, Baolin; Wang, Danwei; Poh, Eng Kee

    2014-12-01

    This paper examines attitude synchronization and tracking problems with model uncertainties, external disturbances, actuator failures and control torque saturation. Two decentralized sliding mode control laws are proposed and analyzed based on algebraic graph theory. Using Barbalat's Lemma, it is shown that the control laws guarantee each spacecraft approaches the desired time-varying attitude and angular velocity while maintaining attitude synchronization among the other spacecraft in the formation. The first controller is designed in the presence of model uncertainties, external disturbances, and actuator failures. The results are extended to the case with control input saturation in the second controller. Both control laws do not require online identification of failures. Numerical simulations are presented to show the effectiveness of the proposed attitude synchronization and tracking approaches.

  12. Combined Sliding Mode Control with a Feedback Linearization for Speed Control of Induction Motor

    Directory of Open Access Journals (Sweden)

    Aamir Hashim Obeid Ahmed

    2011-06-01

    Full Text Available Induction Motor (IM speed control is an area of research that has been in prominence for some time now. In this paper, a nonlinear controller is presented for IM drives. The nonlinear controller is designed based on input-output feedback linearization control technique, combined with sliding mode control (SMC to obtain a robust, fast and precise control of IM speed. The input-output feedback linearization control decouples the flux control from the speed control and makes the synthesis of linear controllers possible. To validate the performances of the proposed control scheme, we provided a series of simulation results and a comparative study between the performances of the proposed control strategy and those of the feedback linearization control (FLC schemes. Simulation results show that the proposed control strategy scheme shows better performance than the FLC strategy in the face of system parameters variation

  13. Generalized reduced-order synchronization of chaotic system based on fast slide mode

    Institute of Scientific and Technical Information of China (English)

    Gao Tie-Gang; Chen Zeng-Qiang; Yuan Zhu-Zhi

    2005-01-01

    A new kind of generalized reduced-order synchronization of different chaotic systems is proposed in this paper.It is shown that dynamical evolution of third-order oscillator can be synchronized with the canonical projection of a fourth-order chaotic system generated through nonsingular states transformation from a cell neural net chaotic system.In this sense, it is said that generalized synchronization is achieved in reduced-order. The synchronization discussed here expands the scope of reduced-order synchronization studied in relevant literatures. In this way, we can achieve generalized reduced-order synchronization between many famous chaotic systems such as the second-order D(u)ffing system and the third-order Lorenz system by designing a fast slide mode controller. Simulation results are provided to verify the operation of the designed synchronization.

  14. Sliding mode control for an aerodynamic missile based on backstepping design

    Institute of Scientific and Technical Information of China (English)

    Wenjin GU; Hongchao ZHAO; Changpeng PAN

    2005-01-01

    In order to solve the mismatched uncertainties of a class of nonlinear systems,a control method of sliding mode control (SMC) based on the backstepping design is proposed.It introduces SMC in to the last step of backstepping design to modify the backstepping algorithm.This combination not only enables the generalization of the backstepping design to be applied to more general nonlinear systems,but also makes the SMC method become effective in solving the mismatched uncertainties.The SMC based on the backstepping design is applied to the flight control system design of an aerodynamic missile.The control system is researched through simulation.The simulation results show the effectiveness of the proposed control method.

  15. Direct Torque Control of Sensorless Induction Motor Drives: A Sliding-Mode Approach

    DEFF Research Database (Denmark)

    Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede

    2004-01-01

    Direct torque control (DTC) is known to produce fast response and robust control in ac adjustable-speed drives. However, in the steady-state operation, notable torque, flux, and current pulsations occur. A new, direct torque and flux control strategy based on variable-structure control and space......-vector pulsewidth modulation is proposed for induction motor sensorless drives. The DTC transient merits and robustness are preserved and the steady-state behaviour is improved by reducing the torque and flux pulsations. A sliding-mode observer using a dual reference frame motor model is introduced and tested....... Simulations and comparative experimental results with the proposed control scheme, versus classic DTC, are presented. Very-low-speed sensorless operation (3 r/min) is demonstrated....

  16. Robust sliding mode control for uncertain servo system using friction observer and recurrent fuzzy neural networks

    Energy Technology Data Exchange (ETDEWEB)

    Han, Seong Ik [Pusan National University, Busan (Korea, Republic of); Jeong, Chan Se; Yang, Soon Yong [University of Ulsan, Ulsan (Korea, Republic of)

    2012-04-15

    A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme.

  17. Fuzzy sliding mode controller of a pneumatic active isolating system using negative stiffness structure

    Energy Technology Data Exchange (ETDEWEB)

    Le, Thanh Danh; Ahn, Kyoung Kwan [Univ. of Ulsan, Ulsan (Korea, Republic of)

    2012-12-15

    A novel active vibration isolation system using negative stiffness structure (active system with NSS) for low excitation frequency ranges (< 5 Hz) is developed successfully. Here, the negative stiffness structure (NSS) is used to minimize the attraction of vibration. Then, the fuzzy sliding mode controller (FSMC) is designed to improve the vibration isolation performance of the active system with NSS. Based on Lyapunov stability theorem, the fuzzy control rules are constructed. Next, the experimental apparatus is built for evaluating the isolation efficiency of the proposed system controlled by the FSMC corresponding to various excitation conditions. In addition, the isolation performance of the active system with NSS, the active system without NSS and the passive the system with NSS is compared. The experimental results confirmed that the active system with NSS gives better isolation efficiency than the active system without NSS and the passive system with NSS in low excitation frequency areas.

  18. Robust sliding mode control for uncertain servo system using friction observer and recurrent fuzzy neural networks

    International Nuclear Information System (INIS)

    A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme

  19. Integral Sliding Mode Control Strategy of D-STATCOM for Unbalanced Load Compensation under Various Disturbances

    Directory of Open Access Journals (Sweden)

    Mingchao Xia

    2013-01-01

    Full Text Available Control strategies of D-STATCOM for unbalanced load compensation under internal and external disturbances were discussed. Linear control strategies do not have a satisfactory dynamic performance and become invalid under internal or external disturbances. To guarantee a good precision and robustness, a control strategy combining input-output feedback linearization technique with integral sliding mode control (ISMC method was applied to D-STATCOM for unbalanced load compensation. The strategy has features of simple structure and is easy to implement. A 10 MVar/10 kV D-STATCOM simulation system was built in PSCAD/EMTDC to verify the effectiveness and robustness of the control strategy proposed. Simulation results show that the control strategy can compensate reactive power and eliminate unbalance simultaneously under various disturbances.

  20. Impedance Control of the Rehabilitation Robot Based on Sliding Mode Control

    Science.gov (United States)

    Zhou, Jiawang; Zhou, Zude; Ai, Qingsong

    As an auxiliary treatment, the 6-DOF parallel robot plays an important role in lower limb rehabilitation. In order to improve the efficiency and flexibility of the lower limb rehabilitation training, this paper studies the impedance controller based on the position control. A nonsingular terminal sliding mode control is developed to ensure the trajectory tracking precision and in contrast to traditional PID control strategy in the inner position loop, the system will be more stable. The stability of the system is proved by Lyapunov function to guarantee the convergence of the control errors. Simulation results validate the effectiveness of the target impedance model and show that the parallel robot can adjust gait trajectory online according to the human-machine interaction force to meet the gait request of patients, and changing the impedance parameters can meet the demands of different stages of rehabilitation training.

  1. Cytopathology whole slide images and virtual microscopy adaptive tutorials: A software pilot

    Directory of Open Access Journals (Sweden)

    Simone L Van Es

    2015-01-01

    Full Text Available Background: The constant growth in the body of knowledge in medicine requires pathologists and pathology trainees to engage in continuing education. Providing them with equitable access to efficient and effective forms of education in pathology (especially in remote and rural settings is important, but challenging. Methods: We developed three pilot cytopathology virtual microscopy adaptive tutorials (VMATs to explore a novel adaptive E-learning platform (AeLP which can incorporate whole slide images for pathology education. We collected user feedback to further develop this educational material and to subsequently deploy randomized trials in both pathology specialist trainee and also medical student cohorts. Cytopathology whole slide images were first acquired then novel VMATs teaching cytopathology were created using the AeLP, an intelligent tutoring system developed by Smart Sparrow. The pilot was run for Australian pathologists and trainees through the education section of Royal College of Pathologists of Australasia website over a period of 9 months. Feedback on the usability, impact on learning and any technical issues was obtained using 5-point Likert scale items and open-ended feedback in online questionnaires. Results: A total of 181 pathologists and pathology trainees anonymously attempted the three adaptive tutorials, a smaller proportion of whom went on to provide feedback at the end of each tutorial. VMATs were perceived as effective and efficient E-learning tools for pathology education. User feedback was positive. There were no significant technical issues. Conclusion: During this pilot, the user feedback on the educational content and interface and the lack of technical issues were helpful. Large scale trials of similar online cytopathology adaptive tutorials were planned for the future.

  2. Sliding Mode Extremum Seeking Control Scheme Based on PSO for Maximum Power Point Tracking in Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Her-Terng Yau

    2013-01-01

    Full Text Available An extremum seeking control (ESC scheme is proposed for maximum power point tracking (MPPT in photovoltaic power generation systems. The robustness of the proposed scheme toward irradiance changes is enhanced by implementing the ESC scheme using a sliding mode control (SMC law. In the proposed approach, the chattering phenomenon caused by high frequency switching is suppressed by means of a sliding layer concept. Moreover, in implementing the proposed controller, the optimal value of the gain constant is determined using a particle swarm optimization (PSO algorithm. The experimental and simulation results show that the proposed PSO-based sliding mode ESC (SMESC control scheme yields a better transient response, steady-state stability, and robustness than traditional MPPT schemes based on gradient detection methods.

  3. A Class of Speed-Sensorless Sliding-Mode Observers for High-Performance Induction Motor Drives

    DEFF Research Database (Denmark)

    Lascu, Christian; Boldea, Ion; Blaabjerg, Frede

    2009-01-01

    A new family of speed-sensorless sliding-mode observers for induction motor drives has been developed. Three topologies are investigated in order to determine their feasibility, parameter sensitivity, and practical applicability. The most significant feature of all schemes is that they do...

  4. Fuzzy Sliding Mode Observer with Grey Prediction for the Estimation of the State-of-Charge of a Lithium-Ion Battery

    Directory of Open Access Journals (Sweden)

    Daehyun Kim

    2015-11-01

    Full Text Available We propose a state-of-charge (SOC estimation method for Li-ion batteries that combines a fuzzy sliding mode observer (FSMO with grey prediction. Unlike the existing methods based on a conventional first-order sliding mode observer (SMO and an adaptive gain SMO, the proposed method eliminates chattering in SOC estimation. In this method, which uses a fuzzy inference system, the gains of the SMO are adjusted according to the predicted future error and present estimation error of the terminal voltage. To forecast the future error value, a one-step-ahead terminal voltage prediction is obtained using a grey predictor. The proposed estimation method is validated through two types of discharge tests (a pulse discharge test and a random discharge test. The SOC estimation results are compared to the results of the conventional first-order SMO-based and the adaptive gain SMO-based methods. The experimental results show that the proposed method not only reduces chattering, but also improves estimation accuracy.

  5. Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

    Science.gov (United States)

    Frost, Susan A.; Balas, Mark J.

    2011-01-01

    Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

  6. Comparing the Power System Stabilizer Based on Sliding Mode Control with the Fuzzy Power System Stabilizer for Single Machine Infinite Bus System (SMIB

    Directory of Open Access Journals (Sweden)

    Atabak Kolabi

    2013-01-01

    Full Text Available This study compares the power system stabilizer based on sliding mode control with the fuzzy power system stabilizer for Single Machine Infinite Bus System (SMIB. Using the sliding mode control, a range is obtained for the changes in system parameters; and a stabilizer is designed to have a proper performance in this wide range. The purpose of designing the sliding mode stabilizer and fuzzy stabilizer is the increased stability and improving the dynamic response of the single machine system connected to the infinite bus in different working conditions. In this study, simulation results are compared in case of conventional PSS, no PSS, PSS based on sliding mode control and PSS based fuzzy logic. The results of simulations performed on the model of nonlinear system shows good performance of sliding mode controller and the Fuzzy controller. SMIB system was selected because of its simple structure, which is very useful in understanding the effects and implications of the PSS.

  7. Design and implementation of a new modified sliding mode controller for grid-connected inverter to controlling the voltage and frequency.

    Science.gov (United States)

    Ghanbarian, Mohammad Mehdi; Nayeripour, Majid; Rajaei, Amirhossein; Mansouri, Mohammad Mahdi

    2016-03-01

    As the output power of a microgrid with renewable energy sources should be regulated based on the grid conditions, using robust controllers to share and balance the power in order to regulate the voltage and frequency of microgrid is critical. Therefore a proper control system is necessary for updating the reference signals and determining the proportion of each inverter in the microgrid control. This paper proposes a new adaptive method which is robust while the conditions are changing. This controller is based on a modified sliding mode controller which provides adapting conditions in linear and nonlinear loads. The performance of the proposed method is validated by representing the simulation results and experimental lab results. PMID:26704720

  8. Adaptive sliding control of non-autonomous active suspension systems with time-varying loadings

    Science.gov (United States)

    Chen, Po-Chang; Huang, An-Chyau

    2005-04-01

    An adaptive sliding controller is proposed in this paper for controlling a non-autonomous quarter-car suspension system with time-varying loadings. The bound of the car-body loading is assumed to be available. Then, the reference coordinate is placed at the static position under the nominal loading so that the system dynamic equation is derived. Due to spring nonlinearities, the system property becomes asymmetric after coordinate transformation. Besides, in practical cases, system parameters are not easy to be obtained precisely for controller design. Therefore, in this paper, system uncertainties are lumped into two unknown time-varying functions. Since the variation bound of one of the unknown functions is not available, conventional adaptive schemes and robust designs are not applicable. To deal with this problem, the function approximation technique is employed to represent the unknown function as a finite combination of basis functions. The Lyapunov direct method can thus be used to find adaptive laws for updating coefficients in the approximating series and to prove stability of the closed-loop system. Since the position and velocity measurements of the unsprung mass are lumped into the unknown function, there is no need to install sensors on the axle and wheel assembly in the actual implementation. Simulation results are presented to show the performance of the proposed strategy.

  9. Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

    Science.gov (United States)

    Keum, Jung-Hoon; Ra, Sung-Woong

    2009-12-01

    Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

  10. A sliding-mode-based observer to identify faults in FBG sensors embedded in composite structures

    Science.gov (United States)

    Cazzulani, Gabriele; Cinquemani, Simone; Ronchi, Marco

    2016-04-01

    Optical strain gauges, such as Fiber Bragg Gratings (FBG), have a great potential for smart structures, thanks to their small transversal size and the possibility to make an array of many sensors. They can be embedded in composite structures and their effect on the structure is nearly negligible. These advantages make them very interesting in the field of active vibration suppression. Unfortunately their low reliability is an obstacle to their use in such applications. For this reason, this paper introduces a fault identification algorithm to identify online those sensors which are not working correctly. The algorithm is based on the use of a sliding mode observer to estimate the coherence of measurements, and then to highlight possible faults. Once identified, the corresponding sensors can be excluded from the feedback loop of the control algorithm to avoid unwanted behaviors or instabilities. Numerical and experimental tests have been carried out on a carbon fiber structure considering different fault conditions. Results show it is possible to identify the faulty sensors and thus improve the signals used in the feedback loop.

  11. LQ optimal and reaching law-based sliding modes for inventory management systems

    Science.gov (United States)

    Ignaciuk, Przemysław; Bartoszewicz, Andrzej

    2012-01-01

    In this article, the theory of discrete sliding-mode control is used to design new supply strategies for periodic-review inventory systems. In the considered systems, the stock used to fulfil an unknown, time-varying demand can be replenished from a single supply source or from multiple suppliers procuring orders with different delays. The proposed strategies guarantee that demand is always entirely satisfied from the on-hand stock (yielding the maximum service level), and the warehouse capacity is not exceeded (which eliminates the cost of emergency storage). In contrast to the classical, stochastic approaches, in this article, we focus on optimising the inventory system dynamics. The parameters of the first control strategy are selected by minimising a quadratic cost functional. Next, it is shown how the system dynamical performance can be improved by applying the concept of a reaching law with the appropriately adjusted reaching phase. The stable, nonoscillatory behaviour of the closed-loop system is demonstrated and the properties of the designed controllers are discussed and strictly proved.

  12. Chattering-Free Neuro-Sliding Mode Control of 2-DOF Planar Parallel Manipulators

    Directory of Open Access Journals (Sweden)

    Tien Dung Le

    2013-01-01

    Full Text Available This paper proposes a novel chattering free neuro‐sliding mode controller for the trajectory tracking control of two degrees of freedom (DOF parallel manipulators which have a complicated dynamic model, including modelling uncertainties, frictional uncertainties and external disturbances. A feedforward neural network (NN is combined with an error estimator to completely compensate the large nonlinear uncertainties and external disturbances of the parallel manipulators. The online weight tuning algorithms of the NN and the structure of the error estimator are derived with the strict theoretical stability proof of the Lyapunov theorem. The upper bound of uncertainties and the upper bound of the approximation errors are not required to be known in advance in order to guarantee the stability of the closed‐loop system. The example simulation results show the effectiveness of the proposed control strategy for the tracking control of a 2‐DOF parallel manipulator. It results in its being chattering‐free, very small tracking errors and its robustness against uncertainties and external disturbances.

  13. State observer-based sliding mode control for semi-active hydro-pneumatic suspension

    Science.gov (United States)

    Ren, Hongbin; Chen, Sizhong; Zhao, Yuzhuang; Liu, Gang; Yang, Lin

    2016-02-01

    This paper proposes an improved virtual reference model for semi-active suspension to coordinate the vehicle ride comfort and handling stability. The reference model combines the virtues of sky-hook with ground-hook control logic, and the hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high-speed condition. Suspension state observer based on unscented Kalman filter is designed. A sliding mode controller (SMC) is developed to track the states of the reference model. The stability of the SMC strategy is proven by means of Lyapunov function taking into account the nonlinear damper characteristics and sprung mass variation of the vehicle. Finally, the performance of the controller is demonstrated under three typical working conditions: the random road excitation, speed bump road and sharp acceleration and braking. The simulation results indicated that, compared with the traditional passive suspension, the proposed control algorithm can offer a better coordination between vehicle ride comfort and handling stability. This approach provides a viable alternative to costlier active suspension control systems for commercial vehicles.

  14. Sliding Mode Real-Time Control of Photovoltaic Systems Using Neural Estimators

    Directory of Open Access Journals (Sweden)

    J. A. Ramos-Hernanz

    2016-01-01

    Full Text Available The maximum power point tracking (MPPT problem has attracted the attention of many researchers, because it is convenient to obtain the maximum power of a photovoltaic module regardless of the weather conditions and the load. In this paper, a novel control for a boost DC/DC converter has been introduced. It is based on a sliding mode controller (SMC that takes a current signal as reference instead of a voltage, which is generated by a neuronal reference current generator. That reference current indicates the current (IMPP at the maximum power point (MPP for given weather conditions. In order to test the designed control system, a photovoltaic module model based on a second artificial neuronal network (ANN has been obtained from experimental data gathered during 18 months in the Faculty of Engineering Vitoria-Gasteiz (Spain. We have analyzed the performance of such model and we found that it is very accurate (MSE = 0.062 A and R = 0.991 with test dataset. We also have tested the performance of the overall SMC design with both simulated and real tests, concluding that it guarantees that the power in the output of the converter is very close to the power of the photovoltaic module output.

  15. Sliding Mode Cooperative Control for Multirobot Systems: A Finite-Time Approach

    Directory of Open Access Journals (Sweden)

    Masood Ghasemi

    2013-01-01

    Full Text Available Finite-time stability in dynamical systems theory involves systems whose trajectories converge to an equilibrium state in finite time. In this paper, we use the notion of finite-time stability to apply it to the problem of coordinated motion in multiagent systems. We consider a group of agents described by Euler-Lagrange dynamics along with a leader agent with an objective to reach and maintain a desired formation characterized by steady-state distances between the neighboring agents in finite time. We use graph theoretic notions to characterize communication topology in the network determined by the information flow directions and captured by the graph Laplacian matrix. Furthermore, using sliding mode control approach, we design decentralized control inputs for individual agents that use only data from the neighboring agents which directly communicate their state information to the current agent in order to drive the current agent to the desired steady state. We further extend these results to multiagent systems involving underactuated dynamical agents such as mobile wheeled robots. For this case, we show that while the position variables can be coordinated in finite time, the orientation variables converge to the steady states asymptotically. Finally, we validate our results experimentally using a wheeled mobile robot platform.

  16. Application of output feedback sliding mode control to active flutter suppression of two-dimensional airfoil

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    The effectiveness of the sliding mode control(SMC) method for active flutter suppression(AFS) and the issues concerning control system discretization and control input constraints were studied using a typical two-dimensional airfoil.The airfoil has a trailing-edge flap for flutter control.The aeroelastic system involves a two-degrees-of-freedom motion(pitch and plunge),and the equations were constructed by utilizing quasi-steady aerodynamic forces.The control system,designed by the output feedback SMC method,was incorporated to suppress the pitch-plunge flutter.Meanwhile,the system discretization and the flap deflection constraints were implemented.Then,a classical Runge-Kutta(RK) algorithm was utilized for numerical calculations.The results indicated that the close-loop system with the SMC system could be stable at a speed above the flutter boundary.However,when the flap deflection limits are reached,the close-loop system with the simple discretized control system loses control.Furthermore,control compensation developed by theoretical analysis was proposed to make the system stable again.The parameter perturbations and the time delay effects were also discussed in this paper.

  17. IMPLEMENTATION OF MULTILEVEL INVERTER USING MPPT BASED SLIDING MODE CONTROL FOR PV CELL

    Directory of Open Access Journals (Sweden)

    M.R.Vishnupriya

    2013-06-01

    Full Text Available In this project photovoltaic array is used as source. The photovoltaic energy is used to feed the inverter through the step up converter. The output for solar module is connected to the battery. So the supply is given continuously by the battery to the system. The output of the solar may vary due to the radiation and will affect the battery. So the lifetime of battery is reduced. It is necessary to protect the battery from the non-linear solar energy, charge controller is used. In order to track maximum power, sliding mode controller is used. In the step up converter a new method is used. The new step-up converter consists of coupled inductor and fixed capacitor. The voltage stress of active switch is being reduced byclamp capacitor. The output of the new topology of dc-dc converter is given to hybrid multilevel inverter which consists of reduced number of switches. The overall system is simulated using MATLAB prototypeof the proposed system is developed and output is verified with simulation results.

  18. Sliding mode control scheme for a jumping robot with multi-joint based on floating basis

    Science.gov (United States)

    Jianjun, Yao; Duotao, Di; Shuang, Gao; Lei, He; Shenghai, Hu

    2012-01-01

    A jumping robot has different jumping characteristics. The emphasis of its motion characteristics is placed on the sagittal plane, and every phase of a whole jumping motion has different constraints, so it is a variable constraint system. Its kinematic and dynamic equations, both of the stance phase and of the flight phase are established. Furthermore, the floating basis method is applied to unify the dynamic equations of the stance phase and the flight phase. The generalised coordinate is found based on the union of the tiptoe translation and the joint variables to obtain dynamic equations with constraints. Since the jumping robot is a strongly coupled system and has great impact when it lands on the ground, a reaching law is applied in the development of sliding mode controller in task space such that the state trajectory starting from anywhere can move towards the switching surface, making the system tracking error converge exponentially to zero. Simulation results demonstrate the efficiency and validity of the proposed control system.

  19. LQ Optimal Sliding Mode Control of Periodic Review Perishable Inventories with Transportation Losses

    Directory of Open Access Journals (Sweden)

    Piotr Leśniewski

    2013-01-01

    Full Text Available In this work we apply the control-theoretic approach to design a new replenishment strategy for inventory systems with perishable stock. Such systems are supposed to effectively satisfy an unknown and permanently time-varying consumers’ demand. The main obstacle of achieving this goal is the need of obtaining supplies from a distant source. During the supply process goods are inevitably lost due to various causes. Furthermore, those goods which successfully arrive at the distribution center still deteriorate while stored in its warehouse. We explicitly take into account both of these factors in designing our control strategy. We propose a sliding mode strategy and choose its parameters to minimize a quadratic quality criterion. This approach allows us to ameliorate the bullwhip effect (the amplification of the demand variations when going up in the supply chain. The control strategy proposed in this work ensures bounded orders, guarantees full consumers’ demand satisfaction, and eliminates the risk of exceeding the warehouse capacity. These properties are stated in three theorems and proved in the paper.

  20. Smooth Sliding Mode Control for Vehicle Rollover Prevention Using Active Antiroll Suspension

    Directory of Open Access Journals (Sweden)

    Duanfeng Chu

    2015-01-01

    Full Text Available The rollover accidents induced by severe maneuvers are very dangerous and mostly happen to vehicles with elevated center of gravity, such as heavy-duty trucks and pickup trucks. Unfortunately, it is hard for drivers of those vehicles to predict and prevent the trend of the maneuver-induced (untripped rollover ahead of time. In this study, a lateral load transfer ratio which reflects the load distribution of left and right tires is used to indicate the rollover criticality. An antiroll controller is designed with smooth sliding mode control technique for vehicles, in which an active antiroll suspension is installed. A simplified second order roll dynamic model with additive sector bounded uncertainties is used for control design, followed by robust stability analysis. Combined with the vehicle dynamics simulation package TruckSim, MATLAB/Simulink is used for simulating experiment. The results show that the applied controller can improve the roll stability under some typical steering maneuvers, such as Fishhook and J-turn. This direct antiroll control method could be more effective for untripped rollover prevention when driver deceleration or steering is too late. It could also be extended to handle tripped rollovers.

  1. Adaptive slope compensation for high bandwidth digital current mode controller

    DEFF Research Database (Denmark)

    Taeed, Fazel; Nymand, Morten

    2015-01-01

    An adaptive slope compensation method for digital current mode control of dc-dc converters is proposed in this paper. The compensation slope is used for stabilizing the inner current loop in peak current mode control. In this method, the compensation slope is adapted with the variations...... in converter duty cycle. The adaptive slope compensation provides optimum controller operation in term of bandwidth over wide range of operating points. In this paper operation principle of the controller is discussed. The proposed controller is implemented in an FPGA to control a 100 W buck converter...

  2. Direct power control of DFIG wind turbine systems based on an intelligent proportional-integral sliding mode control.

    Science.gov (United States)

    Li, Shanzhi; Wang, Haoping; Tian, Yang; Aitouch, Abdel; Klein, John

    2016-09-01

    This paper presents an intelligent proportional-integral sliding mode control (iPISMC) for direct power control of variable speed-constant frequency wind turbine system. This approach deals with optimal power production (in the maximum power point tracking sense) under several disturbance factors such as turbulent wind. This controller is made of two sub-components: (i) an intelligent proportional-integral module for online disturbance compensation and (ii) a sliding mode module for circumventing disturbance estimation errors. This iPISMC method has been tested on FAST/Simulink platform of a 5MW wind turbine system. The obtained results demonstrate that the proposed iPISMC method outperforms the classical PI and intelligent proportional-integral control (iPI) in terms of both active power and response time.

  3. Dynamic Sliding Mode Evolution PWM Controller for a Novel High-Gain Interleaved DC-DC Converter in PV System

    Directory of Open Access Journals (Sweden)

    Taizhou Bei

    2014-01-01

    Full Text Available Considering the disadvantages of the traditional high-gain DC-DC converter such as big size, high voltage stress of switches, and large input current ripple, a novel high-gain interleaved boost converter with coupled-inductor and switched-capacitor was proposed correspondingly and the operation principle together with the steady-state analysis of this converter was also described. Besides, a new control approach-dynamic sliding mode evolution PWM controller (DSME PWM for the novel topological converter based on both dynamic evolution and sliding mode control was also presented. From the simulation results and experimental validation the proposed converter can fulfill high-gain boost, low ripple of both the input current and the output voltage. Furthermore, MPPT technique can be also achieved in a short time by simulation. The efficiency and stability of the converter proposed in this paper can be improved.

  4. Robust fractional order sliding mode control of doubly-fed induction generator (DFIG)-based wind turbines.

    Science.gov (United States)

    Ebrahimkhani, Sadegh

    2016-07-01

    Wind power plants have nonlinear dynamics and contain many uncertainties such as unknown nonlinear disturbances and parameter uncertainties. Thus, it is a difficult task to design a robust reliable controller for this system. This paper proposes a novel robust fractional-order sliding mode (FOSM) controller for maximum power point tracking (MPPT) control of doubly fed induction generator (DFIG)-based wind energy conversion system. In order to enhance the robustness of the control system, uncertainties and disturbances are estimated using a fractional order uncertainty estimator. In the proposed method a continuous control strategy is developed to achieve the chattering free fractional order sliding-mode control, and also no knowledge of the uncertainties and disturbances or their bound is assumed. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov׳s stability theory. Simulation results in the presence of various uncertainties were carried out to evaluate the effectiveness and robustness of the proposed control scheme.

  5. Speed sensoless robust control of permanent magnet synchronous motor based on second-order sliding-mode observer

    Directory of Open Access Journals (Sweden)

    Fezzani Amor

    2014-01-01

    Full Text Available This paper is devoted to the study of the performances of a robust speed sensorless nonlinear control of permanent magnet synchronous machine. In the first part, the controllers are designed using two methods: the first one using the input output feedback linearization control and the second is a nonlinear control based on Lyapunov theory combined with sliding mode control. This second solution shows good robustness with respect to parameter variations, measurement errors and noises. In the second part, the high order sliding mode speed observer is used to overcome the occurring chattering phenomena. The super twisting algorithm is modified in order to design a speed and position observer for PMSM. Finally, simulation results are given to demonstrate the effectiveness and the good performance of the proposed control methods.

  6. A New DTC Scheme using Second Order Sliding Mode and Fuzzy Logic of a DFIG for Wind Turbine System

    Directory of Open Access Journals (Sweden)

    Zinelaabidine BOUDJEMA

    2016-08-01

    Full Text Available This article present a novel direct torque control (DTC scheme using high order sliding mode (HOSM and fuzzy logic of a doubly fed induction generator (DFIG incorporated in a wind turbine system. Conventional direct torque control strategy (C-DTC using hysteresis controllers presents considerable flux and torque undulations at steady state period. In order to ensure a robust DTC method for the DFIG-rotor side converter and reduce flux and torque ripples, a second order sliding mode (SOSM technique based on super twisting algorithm and fuzzy logic is used in this paper. Simulation results show the efficiency of the proposed method of control especially on the quality of the provided power comparatively to a C-DTC.

  7. Finite-Time Spacecraft’s Soft Landing on Asteroids Using PD and Nonsingular Terminal Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Keping Liu

    2015-01-01

    Full Text Available This paper presents a continuous control law of probe, which consists of PD (proportional-derivative controller and nonsingular terminal sliding mode controller for probe descending and landing phases, respectively, in the case of the asteroid irregular shape and low gravity. The probe dynamic model is deduced in the landing site coordinate system firstly. Then the reference trajectory based on optimal polynomial in open-loop state is designed, with the suboptimal fuel consumption. Taking into account different characteristics of phases, PD controller and nonsingular terminal sliding mode controller can be employed in the descending phase and the landing phase, respectively, to track the designed reference trajectory. The controller which used the corresponding control methods can meet the motion characteristics and requirements of each stage. Finally simulation experiments are carried out to demonstrate the effectiveness of the proposed method, which can ensure the safe landing of probe and achieve continuous control.

  8. Direct power control of DFIG wind turbine systems based on an intelligent proportional-integral sliding mode control.

    Science.gov (United States)

    Li, Shanzhi; Wang, Haoping; Tian, Yang; Aitouch, Abdel; Klein, John

    2016-09-01

    This paper presents an intelligent proportional-integral sliding mode control (iPISMC) for direct power control of variable speed-constant frequency wind turbine system. This approach deals with optimal power production (in the maximum power point tracking sense) under several disturbance factors such as turbulent wind. This controller is made of two sub-components: (i) an intelligent proportional-integral module for online disturbance compensation and (ii) a sliding mode module for circumventing disturbance estimation errors. This iPISMC method has been tested on FAST/Simulink platform of a 5MW wind turbine system. The obtained results demonstrate that the proposed iPISMC method outperforms the classical PI and intelligent proportional-integral control (iPI) in terms of both active power and response time. PMID:27346331

  9. Chaos suppression of fractional order Willamowski-Rössler chemical system and its synchronization using sliding mode control

    Science.gov (United States)

    Rajagopal, Karthikeyan; Karthikeyan, Anitha

    2016-09-01

    Most of the Real systems shows chaotic behavior when they approach complex states. Especially in physical and chemical systems these behaviors define the character of the system. The control of these chaotic behaviors is of very high practical importance and hence mathematical models of these chaotic systems proves vital in deciding the control structures. One such model of chemical reactors is the Willamowski-Rössler system (WR). In this paper we derive a fractional order sliding mode control scheme where the states of the WR system are driven back to the defined equilibrium points. We have also synchronized master and slave fractional order WR system using sliding mode control. As the entire control law is defined in fractional order, we derived a new methodology to prove the stability of the controller. The numerical simulation and analysis are achieved with LabVIEW.

  10. Speed control of PMSM system using improved reaching law based sliding mode control and disturbance observer technique

    Directory of Open Access Journals (Sweden)

    Shital M.Wasu

    2013-12-01

    Full Text Available In this paper, improvement of transient response of the permanent-magnet synchronous motor (PMSM subjected to different level of load disturbances and parametric uncertainties and unmodeled dynamics are studied using improved reaching law sliding mode control (IRLSMC and disturbance observer techniques. Proposed scheme is tested under different load conditions and parametric uncertainties. The results of proposed reaching law are compared with other techniques to prove the effectiveness of proposed scheme. Simulation results show the efficacy of proposed control approach.

  11. Two families of sliding mode controllers for a doubly-fed induction generator in an isolated generation system

    OpenAIRE

    Galindo, Roberto; Cotoregea Pfeifer, María; Biel Solé, Domingo

    2006-01-01

    In this paper the authors consider the Sliding Mode Control (SMC) of a Doubly Fed Induction Generator (DFIG), supplying an isolated RL load in a Variable Speed-Constant Frequency (VSCF) generation system. It must be reminded that in electric machines the existence of parameter changes, caused by several reasons like winding temperature variation, hysteresis and saturation, is well recognized, but rarely accounted for. For this reason, SMC has been considered. SMC has various attractive featur...

  12. High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot

    Directory of Open Access Journals (Sweden)

    Juanxiu Liu

    2015-01-01

    Full Text Available For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpose, a proper controller is designed, which can improve the performance of the system under conditions of uncertainties and torque perturbations and also can guarantee the synchronization of the system. Firstly, a robust high-order sliding mode control law is designed to track the desired position trajectories effectively. Secondly, considering the coordination of the multiple joints, a high-order sliding mode synchronization controller is designed to reduce the synchronization errors and tracking errors based on the controller designed previously. Stability of the closed-loop system is proved by Lyapunov theory. The simulation is performed by MATLAB to verify the effectiveness of the proposed controller. By comparing the simulation results of two controllers, it is obvious that the proposed scheme has better performance and stronger robustness.

  13. Perancangan Sistem Pengaturan Kestabilan Autonomous Underwater (AUV untuk Gerak Lateral Menggunakan Sliding Mode Control (SMC

    Directory of Open Access Journals (Sweden)

    Septian Ainur Rofiq

    2014-03-01

    Full Text Available Autonomous Underwater Vehicle  (AUV merupakan kendaraan bawah air yang dapat bergerak tanpa kendali manusia dan  bermanuver  sesuai  dengan  perintah  yang  diberikan.  AUV memiliki  kemampuan  manuver  yang  dinamis  untuk  melacak lintasan.  Kemampuan  AUV  mencakup  untuk  beroperasi  di daerah  yang  memiliki  dinamika  nonlinear  dan  belum  dapat diprediksi.  Sehingga  dibutuhkan  model  kontrol  berbasis nonlinear  untuk  meningkatkan  kemampuan  dan  misi  AUV. Gerak lateral merupakan salah satu bentuk pergerakan AUV di dalam  air.  AUV  dijaga  agar  tetap  stabil  pada  lintasan  dan kedalaman  yang  dikehendaki.  Pengaturan  kestabilan  AUV  di dalam air pada gerak lateral menggunakan metode Sliding Mode Control  (SMC  diharapkan  agar  respon  yang  diperoleh menyerupai  input  referensi    sistem  linear  orde  satu  dan  tetap stabil  pada  koordinat  lintasan  yang  telah  ditentukan.  Hasil simulasi  menunjukkan  bahwa  SMC  dapat  mempertahankan kestabilan AUV tetap pada lintasan yang telah ditentukan pada 0 radian dengan osilasi maksimal pada lintasan persegi, segitiga dan jajaran genjang sebesar 0,19 radian atau sekitar 10,89 derajat.

  14. Sliding mode control for Lorentz-augmented spacecraft hovering around elliptic orbits

    Science.gov (United States)

    Huang, Xu; Yan, Ye; Zhou, Yang; Zhang, Hua

    2014-10-01

    A Lorentz spacecraft is an electrostatically charged space vehicle that could actively modulate its surface charge to generate Lorentz force as it moves through the planetary magnetic field. The induced Lorentz force provides propellantless electromagnetic propulsion for orbital maneuvering, such as spacecraft hovering that the chaser thrusts continuously to create an equilibrium state at the desired position relative to the target. Due to the fact that the direction of Lorentz force is determined by the local magnetic field and the velocity of the spacecraft with respect to the local magnetic field, which does not necessarily coincide with that of the required control acceleration for hovering, thus, in most cases, the Lorentz force works as a means of auxiliary propulsion to reduce the expenditure of fuel onboard. And that is why it is called Lorentz-augmented hovering. A dynamical model for Lorentz-augmented hovering around elliptic orbits is developed based upon the assumption that the Earth's magnetic field could be modeled as a tilted dipole that corotates with Earth. Fuel-optimal open-loop control laws are then derived based on the proposed dynamical model, presenting the optimal trajectories of the required specific charge of Lorentz spacecraft and the thruster-generated control acceleration. Considering the external disturbances that may drift the desired hovering position, a closed-loop integral sliding mode controller is also designed to guarantee the tracking of optimal control trajectories, ensuring the robustness of the system against perturbations. Numerical simulations are presented to analyze the characteristics of Lorentz-augmented hovering around eccentric orbits and the results substantiate the validity of the proposed open-loop and closed-loop control methods.

  15. Haptic adaptation to slant: No transfer between exploration modes

    Science.gov (United States)

    van Dam, Loes C. J.; Plaisier, Myrthe A.; Glowania, Catharina; Ernst, Marc O.

    2016-01-01

    Human touch is an inherently active sense: to estimate an object’s shape humans often move their hand across its surface. This way the object is sampled both in a serial (sampling different parts of the object across time) and parallel fashion (sampling using different parts of the hand simultaneously). Both the serial (moving a single finger) and parallel (static contact with the entire hand) exploration modes provide reliable and similar global shape information, suggesting the possibility that this information is shared early in the sensory cortex. In contrast, we here show the opposite. Using an adaptation-and-transfer paradigm, a change in haptic perception was induced by slant-adaptation using either the serial or parallel exploration mode. A unified shape-based coding would predict that this would equally affect perception using other exploration modes. However, we found that adaptation-induced perceptual changes did not transfer between exploration modes. Instead, serial and parallel exploration components adapted simultaneously, but to different kinaesthetic aspects of exploration behaviour rather than object-shape per se. These results indicate that a potential combination of information from different exploration modes can only occur at down-stream cortical processing stages, at which adaptation is no longer effective. PMID:27698392

  16. Sliding mode control of an autonomous parallel fuel cell-super capacitor power source

    Energy Technology Data Exchange (ETDEWEB)

    More, Jeronimo J. [Universidad Nacional de La Plata (UNLP), La Plata, Buenos Aires (Argentina). Facultad de Ingenieria. Lab. de Electronica Industrial, Control e Instrumentacion], Email: jmore@ing.unlp.edu.ar; Puleston, Paul F. [Consejo de Investigaciones Cientificas y Tecnicas (CONICET), Buenos Aires (Argentina); Kunusch, Cristian; Colomer, Jordi Riera I. [Universitat Politecnica de Catalunya, Barcelona (Spain). Inst. de Robotica i Informatica Industrial (IRII)

    2010-07-01

    Nowadays, hydrogen fuel cell (FC) based systems emerge as one promising renewable alternative to fossil fuel systems in automotive and residential applications. However, their output dynamic response is relatively slow, mostly due to water and reactant gases dynamics. To overcome this limitation, FC-super capacitors (SCs) topologies can be used. The latter is capable of managing very fast power variations, presenting in addition high power density, long life cycle and good charge/discharge efficiency. In this work, a FC-SCs-based autonomous hybrid system for residential applications is considered. The FC and SCs are connected in parallel, through two separate DC/DC converters, to a DC bus. Under steady state conditions, the FC must deliver the load power requirement, while maintaining the SCs voltage regulated to the desired value. Under sudden load variations, the FC current rate must be limited to assure a safe transition to the new point of operation. During this current rate limitation mode, the SCs must deliver or absorb the power difference. To this end, a sliding mode strategy is proposed to satisfy to control objectives. The main one is the robust regulation of the DC bus voltage, even in the presence of system uncertainties and disturbances, such as load changes and FC voltage variations. Additionally, a second control objective is attained, namely to guarantee the adequate level of charge in the SCs, once the FC reaches the new steady state operation point. In this way, the system can meet the load power demand, even under sudden changes, and it can also satisfy a power demand higher than the nominal FC power, during short periods. The proposed control strategy is evaluated exhaustively by computer simulation considering fast load variations. The results presented in this work, corresponds to the first stage of a R and D collaboration project for the design and development of a novel FC-SCs-based autonomous hybrid system. In the next phase, the proposed

  17. 无人水下航行器滑模变结构控制研究进展%Development and current research of unmanned underwater vehicles sliding mode control technology

    Institute of Scientific and Technical Information of China (English)

    沈建森; 周徐昌; 赵江

    2011-01-01

    Motion control is one of the critical techniques for the development of unmanned underwater vehicles. Sliding mode control plays an important part in the various UUV motion control schemes,and great developments have been made in the last decades. In the paper, the characteristic of UUV motion control and theory of sliding mode control are introduced. The application of sliding mode control and the hybrid control schemes combining sliding monde control with adaptive control, fuzzy logic control are discussed in detail.%运动控制是无人水下航行器发展的关键技术之一.滑模控制作为1种重要的无人水下航行器控制策略受到国内外学者的广泛关注,取得了丰富的研究成果.本文简要介绍了无人水下航行器运动控制的特点和滑模控制的基本原理,并着重对无人水下航行器滑模控制以及滑模控制和自适应控制、模糊控制的结合进行了论述.

  18. Integrated guidance and control design for missile with terminal impact angle constraint based on sliding mode control

    Institute of Scientific and Technical Information of China (English)

    Peng Wu; Ming Yang

    2010-01-01

    Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities(LMIs),based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously.

  19. Robust motion control of oscillatory-base manipulators h∞-control and sliding-mode-control-based approaches

    CERN Document Server

    Toda, Masayoshi

    2016-01-01

    This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researche...

  20. Sliding Mode Controller Design for Position and Speed Control of Flight Simulator Servo System with Large Friction

    Institute of Scientific and Technical Information of China (English)

    刘金琨; 尔联洁

    2003-01-01

    Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in the flight simulator servo system, especially in a low-speed state. Based on the description of dynamic and static models of a nonlinear Stribeck friction model, this paper puts forward sliding mode controller to overcome the friction, whose stability is proved. Simulation example indicates that the controller can guarantee a high robust performance and have a high precision of position tracking and speed tracking for a flight simulator servo system.

  1. High-order sliding mode control of a DC motor drive via a switched controlled multi-cellular converter

    Science.gov (United States)

    Djemaï, M.; Busawon, K.; Benmansour, K.; Marouf, A.

    2011-11-01

    In this article, we present a high-order sliding mode controller of a DC motor drive connected to a multi-cellular converter. More specifically, we design a second-order (super-twisting) control algorithm for the speed regulation of a DC motor. For this, a switching control for the multi-cellular converter is derived in order to supply the correct reference value for the speed regulation. A practical implementation of the controller is realised using a laboratory set-up. The performance and the validity of the controller are shown experimentally.

  2. Efficient control of servo pneumatic actuator system utilizing by-pass valve and digital sliding mode

    Indian Academy of Sciences (India)

    Vladislav Blagojević; Dragan Šešlija; Miodrag Stojiljković; Slobodan Dudić

    2013-04-01

    The issue of energy saving nowadays is very crucial. Pneumatic systems, constituting an important segment of almost every industry, represent large energy consumers. Also, a significant problem with servo pneumatic actuators is achieving accuracy in positioning. The higher the positioning accuracy, the higher the compressed air consumption is. This paper presents a new solution of the positioning control algorithm which unifies digital control of variable structure and sliding working mode and inter chamber cross-flow. The experiments demonstrated that this control algorithm provides a satisfactory positioning accuracy and robustness of the system, simultaneously reducing compressed air consumption by as much as 29.5%.

  3. A 0.35μm 50V CMOS Sliding-Mode Control IC for Buck Converters

    DEFF Research Database (Denmark)

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

    2007-01-01

    This paper presents a hysteretic (sliding mode) control IC for a buck DC/DC converter for use as an envelope tracking power supply to increase the efficiency of an RF power amplifier. The IC integrates a high-bandwidth error amplifier, a comparator with hysteresis, and a high-side driver...... for an external N-channel power MOSFET. The total control loop delay using the implemented IC is 35ns, this is shown to be a 30% reduction compared to a state-of-the-art discrete IC based solution. The presented results also show that it is viable to integrate a 100MHz operational amplifier on the same die...

  4. Design of Nonlinear Robust Rotor Current Controller for DFIG Based on Terminal Sliding Mode Control and Extended State Observer

    Directory of Open Access Journals (Sweden)

    Guowei Cai

    2014-01-01

    Full Text Available As to strong nonlinearity of doubly fed induction generators (DFIG and uncertainty of its model, a novel rotor current controller with nonlinearity and robustness is proposed to enhance fault ride-though (FRT capacities of grid-connected DFIG. Firstly, the model error, external disturbances, and the uncertain factors were estimated by constructing extended state observer (ESO so as to achieve linearization model, which is compensated dynamically from nonlinear model. And then rotor current controller of DFIG is designed by using terminal sliding mode variable structure control theory (TSMC. The controller has superior dynamic performance and strong robustness. The simulation results show that the proposed control approach is effective.

  5. Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances

    Science.gov (United States)

    Kim, Minsung; Joe, Hangil; Kim, Jinwhan; Yu, Son-cheol

    2015-10-01

    We propose an integral sliding mode controller (ISMC) to stabilse an autonomous underwater vehicle (AUV) which is subject to modelling errors and often suffers from unknown environmental disturbances. The ISMC is effective in compensating for the uncertainties in the hydrodynamic and hydrostatic parameters of the vehicle and rejecting the unpredictable disturbance effects due to ocean waves, tides and currents. The ISMC is comprised of an equivalent controller and a switching controller to suppress the parameter uncertainties and external disturbances, and its closed-loop system is exponentially stable. Numerical simulations were performed to validate the proposed control approach, and experimental tests using Cyclops AUV were carried out to demonstrate its practical feasibility.

  6. Second Order Sliding Mode Attitude Tracking and Robust Control of Flying-Wing UAV%飞翼布局无人机二阶滑模姿态跟踪鲁棒控制

    Institute of Scientific and Technical Information of China (English)

    谭健; 周洲; 祝小平; 许晓平

    2015-01-01

    针对飞翼布局无人机受扰姿态控制问题,提出一种二阶滑模姿态跟踪鲁棒控制方案。基于时标分离特性,将飞翼布局无人机姿态控制系统分为内外回路进行设计。外回路采用自适应二阶终端滑模控制器,利用自适应算法调节切换增益抑制复合干扰对系统性能的影响,同时二阶终端滑模将不连续的符号函数加在控制量的导数上,通过积分得到连续的滑模控制律,从而有效地消除了常规滑模控制器的抖振。内回路采用基于自适应super twisting滑模观测器的积分滑模控制器,设计自适应super twisting滑模观测器以实现对内回路复合干扰的估计和补偿。最后通过控制分配环节将控制力矩分配到舵面上,仿真结果验证了所提方案的有效性。%We propose a second order sliding mode attitude tracking and robust control strategy for the flying⁃wing unmanned aerial vehicle( UAV) with unknown external interferences. We take into account its timescale separation property and design its attitude control system into outer loop and inner loop.The outer loop uses the adaptive second order sliding mode controller and the adaptive algorithm to adjust the switch gains and suppress the influence of compound interference on the performance of the flying-wing UAV. The second order sliding mode controller adds the discontinuous sign function to the derivative of the control volume and obtains through integration the continuous sliding mode law,thus effectively eliminating the chattering of the conventional sliding mode controller. The inner loop uses the integral sliding mode controller based on the adaptive super twisting sliding mode observer.The adap⁃tive super twisting sliding mode observer is for estimating and compensating for the compound interference of the in⁃ner loop.Finally,we use control allocation to allocate control moment to the rudder surface of the control system.The simulation

  7. Switching sliding mode force tracking control of piezoelectric-hydraulic pump-based friction element actuation systems for automotive transmissions

    International Nuclear Information System (INIS)

    In this study, a nonlinear sliding-mode controller is designed for force tracking of a piezoelectric-hydraulic pump (PHP)-based actuation system, which is developed to replace the current electro-hydraulic actuation systems for automatic transmission (AT) friction elements, such as band brakes or clutches. By utilizing the PHP, one can eliminate the various hydraulic components (oil pump, regulating valve and control valve) in current ATs and achieve a simpler configuration with more efficient operation. With the derived governing equation of motion of the PHP-based actuation system integrated with the friction element (band brake), a switching control law is synthesized based on the sliding-mode theory. To evaluate the effectiveness of the proposed control law, its force tracking performance for the engagement of a friction element during an AT 1→2 up-shift is examined experimentally. It is shown that one can successfully track the desired force trajectory for AT shift control with small tracking error. This study demonstrates the potential of the PHP as a new controllable actuation system for AT friction elements

  8. Design and Analysis of Sliding Mode Controller and Simplified Space Vector Modulation for Three Phase Shunt Active Power Filter

    Directory of Open Access Journals (Sweden)

    S. Elangovan

    2014-07-01

    Full Text Available The main aim of this study is to control a multivariable coupled system by choosing sliding mode switching function. A Sliding mode control approach is developed to control a three phase three wire voltage source inverter operating as a shunt active power filter. Hence, no need to divide the system model developed in the synchronous ‘dq’ reference frame into two separate loops. Furthermore, the proposed control strategy allows a better stability and robustness over a wide range of operation. When sine PWM is used for generation of pulses for the switches, a variable switching nature is exhibited. The pulses for the active filter are fed by a Space Vector Modulation in order to have a constant switching of converter switches. But, the conventional space vector modulation, if implemented practically, needs a complicated algorithm which uses the trigonometric functions such as arctan, Sine and Cosine functions which in turn needs look up tables to store the pre-calculated trigonometric values. In this study, a very simplified algorithm is proposed for generating Space vector modulated pulse for all six switches without the use of look up tables and only by sensing the voltages and currents of the voltage source inverter acting as shunt active filter. The simulation using PSIM and MATLAB software verifies the results very well.

  9. Robust fractional order sliding mode control of doubly-fed induction generator (DFIG)-based wind turbines.

    Science.gov (United States)

    Ebrahimkhani, Sadegh

    2016-07-01

    Wind power plants have nonlinear dynamics and contain many uncertainties such as unknown nonlinear disturbances and parameter uncertainties. Thus, it is a difficult task to design a robust reliable controller for this system. This paper proposes a novel robust fractional-order sliding mode (FOSM) controller for maximum power point tracking (MPPT) control of doubly fed induction generator (DFIG)-based wind energy conversion system. In order to enhance the robustness of the control system, uncertainties and disturbances are estimated using a fractional order uncertainty estimator. In the proposed method a continuous control strategy is developed to achieve the chattering free fractional order sliding-mode control, and also no knowledge of the uncertainties and disturbances or their bound is assumed. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov׳s stability theory. Simulation results in the presence of various uncertainties were carried out to evaluate the effectiveness and robustness of the proposed control scheme. PMID:27018145

  10. Adaptive mode-dependent scan for H.264/AVC intracoding

    Science.gov (United States)

    Wei, Yung-Chiang; Yang, Jar-Ferr

    2010-07-01

    In image/video coding standards, the zigzag scan provides an effective encoding order of the quantized transform coefficients such that the quantized coefficients can be arranged statistically from large to small magnitudes. Generally, the optimal scan should transfer the 2-D transform coefficients into 1-D data in descending order of their average power levels. With the optimal scan order, we can achieve more efficient variable length coding. In H.264 advanced video coding (AVC), the residuals resulting from various intramode predictions have different statistical characteristics. After analyzing the transformed residuals, we propose an adaptive scan order scheme, which optimally matches up with intraprediction mode, to further improve the efficiency of intracoding. Simulation results show that the proposed adaptive scan scheme can improve the context-adaptive variable length coding to achieve better rate-distortion performance for the H.264/AVC video coder without the increase of computation.

  11. Position control of elevator based on non-singular terminal sliding mode%基于非奇异终端滑模的物料提升机位置控制

    Institute of Scientific and Technical Information of China (English)

    姚来鹏; 侯保林

    2015-01-01

    When implementing different tasks, the servo systems of elevator must adapt to various working loads with different weight or inertia, which may lead to the remarkable variation of system inertial parameters. Due to uncertain inertial parameters, the traditional proportional-integral-differential (PID )control algorithm has poor robustness and cannot achieve high-accuracy position control. A novel nonlinear control scheme is needed to deal with the problem of uncertain inertial parameters. To realize position control with high accuracy and stability for the elevator with uncertain inertial parameters, a control method based on global non-singular terminal sliding mode was proposed for a single-bucket-chain elevator. By adding a nonlinear term to the conventional linear sliding mode surface, the terminal sliding mode could make the system state converge to the sliding surface in finite time. The global non-singular terminal sliding mode technique was used for elevator system to achieve robust stability and guarantee transient response, and the boundary layer control was adopted to avoid chattering introduced by control switching. The stability of the closed-loop system was guaranteed based on the Lyapunov theory. Firstly, the dynamic model of the single-bucket-chain elevator was set up based on the Lagrange method. Secondly, a controller based on global non-singular terminal sliding mode was designed for a single-bucket-chain elevator. Finally, to illustrate the proposed controller with the global non-singular terminal sliding mode had better performances than the continuous feedback controller based on implicit Lyapunov function, numerical simulations had been carried out on the basis of MATLAB/Simulink simulation platform. The position response, speed response and the control input response of hoist part and rotation part were analyzed respectively. The position response results showed that the maximum overshoot by global non-singular terminal sliding mode method

  12. A Study on Mode Confusions in Adaptive Cruise Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Ahn, Dae Ryong; Yang, Ji Hyun; Lee, Sang Hun [Kookmin University, Seoul (Korea, Republic of)

    2015-05-15

    Recent development in science and technology has enabled vehicles to be equipped with advanced autonomous functions. ADAS (Advanced Driver Assistance Systems) are examples of such advanced autonomous systems added. Advanced systems have several operational modes and it has been observed that drivers could be unaware of the mode they are in during vehicle operation, which can be a contributing factor of traffic accidents. In this study, possible mode confusions in a simulated environment when vehicles are equipped with an adaptive cruise control system were investigated. The mental model of the system was designed and verified using the formal analysis method. Then, the user interface was designed on the basis of those of the current cruise control systems. A set of human-in-loop experiments was conducted to observe possible mode confusions and redesign the user interface to reduce them. In conclusion, the clarity and transparency of the user interface was proved to be as important as the correctness and compactness of the mental model when reducing mode confusions.

  13. A Guidance Law Based on Terminal Sliding Mode%一种Terminal滑模制导规律研究

    Institute of Scientific and Technical Information of China (English)

    张旭; 雷虎民; 曾华; 朱良志

    2011-01-01

    为拦截高速、大机动目标,建立了纵向平面内的拦截器-目标非线性相对运动学模型,基于Terminal滑模控制中滑模面上的跟踪误差能够在有限时间内收敛到0的思想,设计了纵向平面内的Terminal滑模制导律,并结合Lyapunov稳定性理论对其稳定性进行了证明推导;将继电特性连续化的方法引入到制导律设计中,实现了准滑动模态控制.仿真表明,所设计制导律能使视线角速率在有限时间内收敛到0.该制导律符合动能拦截器可用过载小、燃料受限、对脱靶量要求高等要求,具有一定的工程应用价值.%To intercept high-speed big-maneuvering target,the nonlinear dynamic model of interceptor-target in longitudinal plane was built.Based on the terminal variable-structure control theory in which the tracking error on the sliding mode surface can converge to zero in finite time,the terminal sliding-mode guidance law in longitudinal plane was designed,and the asymptotic stability of guidance system was strictly proven by Lyapunov stability theory.The method of continuing the relay characteristics was introduced to guidance law design,and the law was improved to realize the quasi-sliding mode dynamic control.Simulation results show that the guidance law can make the LOS(line of sight) angular rate converge to zero in finite time.The guidance law can meet the requirements such as kinetic kill vehicle with low overload,limited fuel and small miss-amount,and it offers references for engineering application.

  14. Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 李本银

    2015-01-01

    The bottom-following problem of an underactuated unmanned undersea vehicle(UUV) is addressed. A robust nonlinear controller is developed by using integral-terminal sliding mode control(ITSMC), which can exponentially drive an UUV onto a predefined path at a constant forward speed. The kinematic error equations are first derived in the Serret-Frenet frame. Using the line of sight(LOS) method, Lyapunov’s direct technique and tracking differentiator, the guidance law is established. Then, the kinematic controller, the guidance law, is expanded to cope with vehicle dynamics by resorting to introduce two integral-terminal sliding surfaces. Robustness to parameter perturbation is addressed by incorporating the reaching laws associated with the upper bound of the parameter perturbation. The proposed control law can guarantee that all error signals globally exponentially converge to the origin. Finally, a series of numerical simulation results are presented and discussed. In these simulations, wave, constant unknown ocean currents(for the purposes of the controller) and the parameter perturbation are added to illustrate the robustness and effectiveness of the bottom-following control scheme.

  15. Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 李本银

    2015-01-01

    The bottom-following problem of an underactuated unmanned undersea vehicle (UUV) is addressed. A robust nonlinear controller is developed by using integral-terminal sliding mode control (ITSMC), which can exponentially drive an UUV onto a predefined path at a constant forward speed. The kinematic error equations are first derived in the Serret-Frenet frame. Using the line of sight (LOS) method, Lyapunov’s direct technique and tracking differentiator, the guidance law is established. Then, the kinematic controller, the guidance law, is expanded to cope with vehicle dynamics by resorting to introduce two integral-terminal sliding surfaces. Robustness to parameter perturbation is addressed by incorporating the reaching laws associated with the upper bound of the parameter perturbation. The proposed control law can guarantee that all error signals globally exponentially converge to the origin. Finally, a series of numerical simulation results are presented and discussed. In these simulations, wave, constant unknown ocean currents (for the purposes of the controller) and the parameter perturbation are added to illustrate the robustness and effectiveness of the bottom-following control scheme.

  16. Reaction rate reconstruction from biomass concentration measurement in bioreactors using modified second-order sliding mode algorithms.

    Science.gov (United States)

    De Battista, Hernán; Picó, Jesús; Garelli, Fabricio; Navarro, José Luis

    2012-11-01

    This paper deals with the estimation of unknown signals in bioreactors using sliding observers. Particular attention is drawn to estimate the specific growth rate of microorganisms from measurement of biomass concentration. In a recent article, notions of high-order sliding modes have been used to derive a growth rate observer for batch processes. In this paper we generalize and refine these preliminary results. We develop a new observer with a different error structure to cope with other types of processes. Furthermore, we show that these observers are equivalent, under coordinate transformations and time scaling, to the classical super-twisting differentiator algorithm, thus inheriting all its distinctive features. The new observers' family achieves convergence to time-varying unknown signals in finite time, and presents the best attainable estimation error order in the presence of noise. In addition, the observers are robust to modeling and parameter uncertainties since they are based on minimal assumptions on bioprocess dynamics. In addition, they have interesting applications in fault detection and monitoring. The observers performance in batch, fed-batch and continuous bioreactors is assessed by experimental data obtained from the fermentation of Saccharomyces Cerevisiae on glucose.

  17. Rotor Current Control of DFIG for Improving Fault Ride - Through Using a Novel Sliding Mode Control Approach

    Science.gov (United States)

    Cai, Guowei; Liu, Cheng; Yang, Deyou

    2013-11-01

    The doubly fed induction generators (DFIG) have been recognized as the dominant technology used in wind power generation systems with the rapid development of wind power. However, continuous operation of DFIG may cause a serious wind turbine generators tripping accident, due to destructive over-current in the rotor winding which is caused by the power system fault or inefficient fault ride-through (FRT) strategy. A new rotor current control scheme in the rotor-side converter (RSC) ispresented to enhance FRT capacities of grid-connected DFIG. Due to the strongly nonlinear nature of DFIG and insensitive to DFIG parameter's variations, a novel sliding mode controller was designed. The controller combines extended state observer (ESO) with sliding model variable structure control theory. The simulation is carried out to verify the effectiveness of the proposed control approach under various types of grid disturbances. It is shown that the proposed controller provides enhanced transient features than the classic proportional-integral control. The proposed control method can effectively reduce over-current in the RSC, and the transient pulse value of electromagnetic torque is too large under power grid fault.

  18. Perancangan dan Implementasi Pengaturan Kecepatan Motor Tiga Fasa Pada Mesin Sentrifugal Menggunakan Metode Sliding Mode Control (SMC

    Directory of Open Access Journals (Sweden)

    Adityo Yudistira

    2014-03-01

    Full Text Available Motor induksi tiga fasa banyak digunakan di industri, salah satunya pada industri pabrik gula. Di industri pabrik gula motor industri tiga fasa banyak digunakan pada mesin sentrifugal. Mesin ini digunakan pada proses pemisahan cairan massacuite dan strup hingga didapat kristal gula. Pada proses tersebut terjadi perubahan beban oleh karena itu pada siklus kecepatannya mengalami proses Charging, Spinning dan Discharging. Pengaturan kecepatan motor induksi masih dilakukan secara manual yaitu dengan merubah posisi puli atau ukuran poros dari mesin sentrifugal. Pengaturan dengan metode ini mengakibatkan kecepatan motor akan sulit dikendalikan sesuai dengan yang diharapkan. Pengaturan kecepatan yang tidak tepat juga dapat mengakibatkan hasil produksi gula yang kurang maksimal. Oleh karena itu dibutuhkan metode kontrol untuk mengoptimalkan kecepatan setpoint motor saat mengalami proses Charging, Spinning dan Discharging. Metode kontrol yang digunakan adalah metode Sliding Mode Control. Kontroler SMC yang diimplementasikan pada PLC memiliki W= 10 dan α=0,2. Dari hasil analisa sliding surface diketahui bahwa semakin bertambahnya beban maka hitting time semakin lama. Hasil implementasi kontroler SMC yang digunakan terjadi error ± 6,6% pada kecepatan 300 rpm sedangkan pada kecepatan 800 rpm dan 200 rpm terjadi error ± 2,5%. Sehingga Tugas Akhir ini dapat membantu meningkatkan efisiensi mesin sentrifugal pada pabrik gula.

  19. Dynamic Sliding Mode Control Based on Multi-model Switching Laws for the Depth Control of an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Huanyin Zhou

    2015-07-01

    Full Text Available This manuscript presents an improved control algorithm, called Dynamic Sliding Mode Control based on Multiple Models Switching Laws (DSMC-MMSL, for the control of the depth of the studied Autonomous Underwater Vehicle (AUV system, the diving plane controller of which faces disturbances arising from the coupled states. The diving plane model is strongly coupled with the state variables, such as surge speeds and course angles. To achieve the desired dynamic performance, the proposed algorithm consists of two parts: the diving plane control part and the pitch control part, which is used to avoid large pitch angles. Some direct switching control laws are used for the two parts to avoid some impulse phenomena on the control executions. The error-states exponential decay is recommended to eliminate the chattering on the sliding surface. The DSMC-MMSL controller was successfully implemented and experimentally validated with the studied AUV system designed and built by Shenyang Institute of Automation. The results of some lake trials demonstrated that the depth control performances of the AUV system were as desired, and that the AUV system was robust enough for the coupled state variables under the DSMCMMSL algorithm control.

  20. Resolution analysis of GEO spaceborne-airborne bistatic SAR based on sliding spotlight mode

    Institute of Scientific and Technical Information of China (English)

    Meng Lian; Yicheng Jiang; Bin Hu

    2016-01-01

    For a synthetic aperture radar (SAR) system mounted on a geostationary Earth orbit (GEO) satelite, the track can be curvilinear. Thus, a bistatic SAR system based up on geostationary transmitter and “receive-only” SAR sys-tem onboard airplanes, namely GEO spaceborne-airborne bistatic (GEO SA-Bi SAR), is significantly different from the traditional bistatic SAR. This paper mainly studies the resolu-tion characteristic of the sliding spotlight GEO SA-Bi SAR system. Firstly, the common azimuth coverage and coherent accumulated time are theoreticaly analyzed in detail. Then, based on the gradient method, the accurate two dimensional resolution of a GEO SA-Bi SAR system is analyticaly calcu-lated. Finaly, the simulation data show the correctness and effectiveness of the proposed resolution analysis method.

  1. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

    Directory of Open Access Journals (Sweden)

    Bo Zhao

    Full Text Available This paper considers a decentralized fault tolerant control (DFTC scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO. Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.

  2. Synchronization between integer-order chaotic systems and a class of fractional-order chaotic systems via sliding mode control.

    Science.gov (United States)

    Chen, Diyi; Zhang, Runfan; Sprott, J C; Chen, Haitao; Ma, Xiaoyi

    2012-06-01

    In this paper, we focus on the synchronization between integer-order chaotic systems and a class of fractional-order chaotic system using the stability theory of fractional-order systems. A new sliding mode method is proposed to accomplish this end for different initial conditions and number of dimensions. More importantly, the vector controller is one-dimensional less than the system. Furthermore, three examples are presented to illustrate the effectiveness of the proposed scheme, which are the synchronization between a fractional-order Chen chaotic system and an integer-order T chaotic system, the synchronization between a fractional-order hyperchaotic system based on Chen's system and an integer-order hyperchaotic system, and the synchronization between a fractional-order hyperchaotic system based on Chen's system and an integer-order Lorenz chaotic system. Finally, numerical results are presented and are in agreement with theoretical analysis.

  3. Continuous higher-order sliding mode control with time-varying gain for a class of uncertain nonlinear systems.

    Science.gov (United States)

    Han, Yaozhen; Liu, Xiangjie

    2016-05-01

    This paper presents a continuous higher-order sliding mode (HOSM) control scheme with time-varying gain for a class of uncertain nonlinear systems. The proposed controller is derived from the concept of geometric homogeneity and super-twisting algorithm, and includes two parts, the first part of which achieves smooth finite time stabilization of pure integrator chains. The second part conquers the twice differentiable uncertainty and realizes system robustness by employing super-twisting algorithm. Particularly, time-varying switching control gain is constructed to reduce the switching control action magnitude to the minimum possible value while keeping the property of finite time convergence. Examples concerning the perturbed triple integrator chains and excitation control for single-machine infinite bus power system are simulated respectively to demonstrate the effectiveness and applicability of the proposed approach.

  4. Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope.

    Science.gov (United States)

    Fazlyab, Mahyar; Pedram, Maysam Zamani; Salarieh, Hassan; Alasty, Aria

    2013-11-01

    This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via the Lyapunov stability theorem. Finally, numerical simulation is done in order to validate the effectiveness of the proposed method, both for a constant and time-varying angular rate.

  5. A Fast Series Active Filter using Sliding Mode Control to Correct and Regulate Unbalance Voltage in Three-Phase System

    Directory of Open Access Journals (Sweden)

    Theerayuth Chatchanayuenyong

    2009-01-01

    Full Text Available Problem statement: A Sliding Mode Controller (SMC with fast reference voltage generation to correct and regulate unbalance voltage in three-phase system was proposed. Approach: The compensation algorithm was not based on three-symmetrical component decomposition so the controller can yield a fast response that was essential in such a critical real time control work. The reference voltages were fed to the SMC, which was a robust closed loop controller. Results: The proposed algorithm and control scheme of series active filter could correct and regulate unbalance voltage in three-phase system under arbitrary fault conditions of the utility supply. Conclusion: A design example and its simulation results proved the concept and validated the proposed algorithm.

  6. Nonlinear mode decomposition: a noise-robust, adaptive decomposition method.

    Science.gov (United States)

    Iatsenko, Dmytro; McClintock, Peter V E; Stefanovska, Aneta

    2015-09-01

    The signals emanating from complex systems are usually composed of a mixture of different oscillations which, for a reliable analysis, should be separated from each other and from the inevitable background of noise. Here we introduce an adaptive decomposition tool-nonlinear mode decomposition (NMD)-which decomposes a given signal into a set of physically meaningful oscillations for any wave form, simultaneously removing the noise. NMD is based on the powerful combination of time-frequency analysis techniques-which, together with the adaptive choice of their parameters, make it extremely noise robust-and surrogate data tests used to identify interdependent oscillations and to distinguish deterministic from random activity. We illustrate the application of NMD to both simulated and real signals and demonstrate its qualitative and quantitative superiority over other approaches, such as (ensemble) empirical mode decomposition, Karhunen-Loève expansion, and independent component analysis. We point out that NMD is likely to be applicable and useful in many different areas of research, such as geophysics, finance, and the life sciences. The necessary matlab codes for running NMD are freely available for download.

  7. Nonlinear mode decomposition: A noise-robust, adaptive decomposition method

    Science.gov (United States)

    Iatsenko, Dmytro; McClintock, Peter V. E.; Stefanovska, Aneta

    2015-09-01

    The signals emanating from complex systems are usually composed of a mixture of different oscillations which, for a reliable analysis, should be separated from each other and from the inevitable background of noise. Here we introduce an adaptive decomposition tool—nonlinear mode decomposition (NMD)—which decomposes a given signal into a set of physically meaningful oscillations for any wave form, simultaneously removing the noise. NMD is based on the powerful combination of time-frequency analysis techniques—which, together with the adaptive choice of their parameters, make it extremely noise robust—and surrogate data tests used to identify interdependent oscillations and to distinguish deterministic from random activity. We illustrate the application of NMD to both simulated and real signals and demonstrate its qualitative and quantitative superiority over other approaches, such as (ensemble) empirical mode decomposition, Karhunen-Loève expansion, and independent component analysis. We point out that NMD is likely to be applicable and useful in many different areas of research, such as geophysics, finance, and the life sciences. The necessary matlab codes for running NMD are freely available for download.

  8. 一种基于STD的Buck变换器滑模控制%A STD Based Sliding Mode Control Design for DC-DC Buck Converter

    Institute of Scientific and Technical Information of China (English)

    皇甫宜耿; 卓生荣; 王小飞; 蒋康博

    2016-01-01

    针对新能源用DC⁃DC Buck变换器常规滑模控制需要同时检测变换器输出电压和滤波电容电流,提出一种基于super⁃twisting微分器( STD)的滑模控制器。与常规滑模控制器相比,所提出的控制方法只需检测变换器输出电压,无需测量电容电流,因此可以将电流传感器从控制环路中移除,从而简化控制系统。仿真实验结果表明,与常规滑模控制器相比,所提出的STD滑模控制具有更小的稳态误差,同时保留了对输入电压扰动和输出负载扰动的强鲁棒性。%The conventional sliding mode control design for DC⁃DC buck converter needs to measure the converter output voltage and the capacitor current simultaneously. In contrast to this, the paper proposes an innovative super⁃twisting differentiator ( STD) based sliding mode control for DC⁃DC buck converter. The STD based sliding mode control only needs to measure the converter output voltage. There is no need to measure the capacitor current, such that the current sensor can be removed from the control loop, thus the control system is simplified. It has been dem⁃onstrated by simulation results that when compared with conventional sliding mode control, the proposed STD sliding mode control can achieve smaller steady state voltage error and at the same time, the strong robustness a⁃gainst the input voltage perturbation and load resistance disturbance can also be preserved.

  9. Field current tracing control of a BSG based on sliding mode current observer%BSG电机励磁电流观测器跟踪控制

    Institute of Scientific and Technical Information of China (English)

    余腾伟; 王旭东

    2011-01-01

    Aiming at the nonlinearities of belt driven starter generator' s (BSG) excitation winding driving circuit and a variety of interference outside the engine compartment, making it difficult for conventional PWM strategy to achieve the optimal output current. According to the sliding mode control theory, a sliding mode observer approach is proposed, and the mathematical module of BSG field windings' driven system is established, utilizing advantages that including good control robustness to conduct online setting. Simulation and experimental results show that the step response time is about 10 ms, and the maximum overshoot is less than 5% . What' s more, the method enhances the systems self adaptive capacity, improves the startup performance of BSG-hybrid cars, and has good current tracking performance, and low costing.%针对弱混合动力汽车中带式驱动启动发电机(BSG)的励磁绕组驱动电路存在的非线性问题,以及发动机舱各种外部干扰导致传统的PWM技术难以使控制电流输出达到最优的问题,依据滑模变结构控制理论,采用电流观测器的方法,建立BSG电机励磁绕组驱动系统的数学模型,给出电流观测器的控制算法,利用滑模变结构控制鲁棒性好的优势对BSG电机励磁电流进行在线整定.仿真和试验结果表明,该方法的阶跃响应时间为10 ms,跟踪电流最大超调小于5%,增强了系统的自适应能力,提高了BSG混合动力轿车启动性能,并且具有较好的电流跟踪效果,降低了成本.

  10. Second-Order Super-Twisting Sliding Mode Control for Finite-Time Leader-Follower Consensus with Uncertain Nonlinear Multiagent Systems

    Directory of Open Access Journals (Sweden)

    Nan Liu

    2015-01-01

    Full Text Available Consensus tracking problem of the leader-follower multiagent systems is resolved via second-order super-twisting sliding mode control approach. The followers’ states can keep consistent with the leader’s states on sliding surfaces. The proposed approach can ensure the finite-time consensus if the directed graph of the nonlinear system has a directed path under the condition that leader’s control input is unavailable to any followers. It is proved by using the finite-time Lyapunov stability theory. Simulation results verify availability of the proposed approach.

  11. A Robust Fuzzy Sliding Mode Controller Synthesis Applied on Boost DC-DC Converter Power Supply for Electric Vehicle Propulsion System

    Directory of Open Access Journals (Sweden)

    Boumediène Allaoua

    2013-01-01

    Full Text Available The development of electric vehicles power electronics system control comprising of DC-AC inverters and DC-DC converters takes a great interest of researchers in the modern industry. A DC-AC inverter supplies the high power electric vehicle motors torques of the propulsion system and utility loads, whereas a DC-DC converter supplies conventional low-power, low-voltage loads. However, the need for high power bidirectional DC-DC converters in future electric vehicles has led to the development of many new topologies of DC-DC converters. Nonlinear control of power converters is an active area of research in the fields of power electronics. This paper focuses on a fuzzy sliding mode strategy (FSMS as a control strategy for boost DC-DC converter power supply for electric vehicle. The proposed fuzzy controller specifies changes in the control signal based on the surface and the surface change knowledge to satisfy the sliding mode stability and attraction conditions. The performances of the proposed fuzzy sliding controller are compared to those obtained by a classical sliding mode controller. The satisfactory simulation results show the efficiency of the proposed control law which reduces the chattering phenomenon. Moreover, the obtained results prove the robustness of the proposed control law against variation of the load resistance and the input voltage of the studied converter.

  12. A Novel Sliding Mode Variable Structure Controller Based on a Genetic Algorithm

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A novel control method has been proposed by using the genetic algorithm ( GA ) for nonlinear and complex plants. The proposed control strategy is based on a variable structure control, it overcomes the defects of other adaptive methods such as strong dependence to the system. A GA is used to learn to optimally select integral coefficient C. Simulation results verified the effectiveness of the controller. For position control of Direct Current (DC) motor in practice, this method has good performance and strong robustness, and both dynamic and steady performances were improved.

  13. A local cubic smoothing in an adaptation mode

    International Nuclear Information System (INIS)

    A new approach to a local curve approximation and the smoothing is proposed. The relation between curve points is defined using a special cross-ratio weight functions. The coordinates of three curve points are used as parameters for both the weight functions and the tree-point cubic model (TPS). A very simple in computing and stable to random errors cubic smoother in an adaptation mode (LOCUS) is constructed. The free parameter of TPS is estimated independently of the fixed parameters by recursion with the effective error suppression and can be controlled by the cross-ratio parameters. Efficiency and the noise stability of the algorithm are confirmed by examples and by comparison with other known non-parametric smoothers

  14. Sensorless Control of Permanent Magnet Synchronous Motor Based on Extended Sliding Mode Observer%基于扩展滑模观测器的永磁同步电动机无传感器控制

    Institute of Scientific and Technical Information of China (English)

    李冉; 赵光宙; 徐绍娟

    2012-01-01

    针对传统滑模观测器在估计电机转速时存在的抖动问题,本文通过永磁同步电机扩展状态方程以及扩展滑模观测器,将滑模控制和模型参考自适应结合在一起,来提取电机转速。从仿真和实验两方面,对新方法与传统滑模观测器方法作了详细的比较,结果验证了新方法可以避免传统滑模参数估计时存在的抖动问题,同时具有良好的动静态性能以及更高的估计精度。%Aiming at the chattering problem arising from the estimation of rotor velocity by using traditional sliding mode observer(SMO),the paper combines sliding mode control with model reference adaptive systems by the extended state equations of permanent magnet synchronous motor(PMSM) and the equations of extended sliding mode observer of PMSM,and then the new estimation method of rotor velocity is presented.The detailed comparison between the proposed method and the traditional one is introduced according to simulation analysis and experimental validation.The simulation and experimental results show the superiority of the proposed method which avoid the chattering problem of the traditional one and better estimated precision,moreover,good dynamic and static performance are achieved.

  15. Adaptive Control of the Chaotic System via Singular System Approach

    Directory of Open Access Journals (Sweden)

    Yudong Li

    2014-01-01

    Full Text Available This paper deals with the control problem of the chaotic system subject to disturbance. The sliding mode surface is designed by singular system approach, and sufficient condition for convergence is given. Then, the adaptive sliding mode controller is designed to make the state arrive at the sliding mode surface in finite time. Finally, Lorenz system is considered as an example to show the effectiveness of the proposed method.

  16. Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

    Science.gov (United States)

    Li, Boyuan; Du, Haiping; Li, Weihua

    2016-05-01

    Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

  17. DSP-Based Sensorless Speed Control of a Permanent Magnet Synchronous Motor using Sliding Mode Current Observer

    Directory of Open Access Journals (Sweden)

    Rachid Askour

    2014-05-01

    Full Text Available In this paper, experimental results of 3-phase permanent magnet synchronous motor (PMSM sensorless speed control are presented. To estimate the rotor position, a sliding mode current observer (SMCO was implemented. This observer estimates the back emfs of the motor in the stationary reference frame using only the measured voltages and currents of the motor. These emfs were utilized to obtain the rotor position. The speed of the motor was calculated by differentiating the rotor position angle. The stability of the proposed SMCO was verified using Lyapunov method to determine the observer gain. The saturation function was adopted in order to reduce the chattering phenomenon caused by the SMCO. A vector control method was employed to achieve the sensorless drive system. The control application was developed in C/C++ language and implemented using the Texas Instruments TMS320LF2812 digital signal processor (DSP. This new processor enables intelligent control for motors. We used to test the drive the MCK2812 which is a professional development kit available from Technosoft Company. The theoretical finding is validated with experimental results that show the effectiveness of the real-time implementation.

  18. Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control.

    Science.gov (United States)

    Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu

    2016-01-01

    In this paper, the problem of object caging and transporting is considered for multiple mobile robots. With the consideration of minimizing the number of robots and decreasing the rotation of the object, the proper points are calculated and assigned to the multiple mobile robots to allow them to form a symmetric caging formation. The caging formation guarantees that all of the Euclidean distances between any two adjacent robots are smaller than the minimal width of the polygonal object so that the object cannot escape. In order to avoid collision among robots, the parameter of the robots radius is utilized to design the caging formation, and the A⁎ algorithm is used so that mobile robots can move to the proper points. In order to avoid obstacles, the robots and the object are regarded as a rigid body to apply artificial potential field method. The fuzzy sliding mode control method is applied for tracking control of the nonholonomic mobile robots. Finally, the simulation and experimental results show that multiple mobile robots are able to cage and transport the polygonal object to the goal position, avoiding obstacles.

  19. Backstepping high order sliding mode control for brushless DC motor speed servo control system%无刷直流电机转速伺服系统反步高阶滑模控制

    Institute of Scientific and Technical Information of China (English)

    张庆超; 马瑞卿

    2016-01-01

    针对无刷直流电机转速伺服系统高性能非线性鲁棒控制,提出一种新型的多滑模反步高阶滑模非线性控制方法。在控制律设计的每一步都引入二阶滑模Super-Twisting算法,无需计算变量导数,消除了滑模抖振,并在第1级子系统虚拟控制律设计中提出一种改进的二阶滑模Super-Twisting算法。与传统双闭环PI控制相比,能够令系统的动静态性能更好,转矩脉动更小,鲁棒性更强;与标准Super-Twisting算法相比,进一步提高了系统对阶跃负载扰动的抑制能力。最后通过仿真分析表明了所提出方法的有效性。%For higher performance speed servo robustness control of brushless DC motor(BLDCM), a novel multiple sliding mode backstepping high order sliding mode nonlinear control approach is proposed. The second order sliding mode Super-Twisting algorithm(STA) ,which needs no derivative of any variables and eliminates the sliding mode chattering, is used in each step design of the whole backstepping control law. And a self-adaption STA(SSTA) is proposed and used in the virtual control law of the first level subsystem. Compared with the traditional dual closed loop PI control, the proposed method makes the system have higher dynamic and static performance, smaller torque ripple and stronger robustness. Compared with the traditional STA, the proposed SSTA can futher improve the system’s robustness for the step load disturbance. Finally, simulation analysis shows the effectiveness of the proposed method.

  20. Observer-based higher order sliding mode control of power factor in three-phase AC/DC converter for hybrid electric vehicle applications

    Science.gov (United States)

    Liu, Jianxing; Laghrouche, Salah; Wack, Maxime

    2014-06-01

    In this paper, a full-bridge boost power converter topology is studied for power factor control, using output higher order sliding mode control. The AC/DC converters are used for charging the battery and super-capacitor in hybrid electric vehicles from the utility. The proposed control forces the input currents to track the desired values, which can control the output voltage while keeping the power factor close to one. Super-twisting sliding mode observer is employed to estimate the input currents and load resistance only from the measurement of output voltage. Lyapunov analysis shows the asymptotic convergence of the closed-loop system to zero. Multi-rate simulation illustrates the effectiveness and robustness of the proposed controller in the presence of measurement noise.

  1. Closed-Loop Input Shaping Control of Vibration in Flexible Structures via Adaptive Sliding Mode Control

    OpenAIRE

    Ming-Chang Pai

    2012-01-01

    Input shaping technique is widely used in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping technique depends on the amplitudes and instants of impulse application. However, systems always have parameter uncertainties which can lead to performance degradation. In this paper, a closed-loop input shaping control scheme is developed for uncertain flexible structures. The algorithm is based on input shaping control...

  2. Missile Servo System Fault Diagnosis Method Based on Sliding Mode Variable Structure%基于滑模变结构的导弹伺服机构故障诊断

    Institute of Scientific and Technical Information of China (English)

    黄岳; 马震; 刘丙杰

    2011-01-01

    According to uncertainty and nonlinear characteristic of missile servo system, a sensor fault diagnosis proposal for a class of nonlinear system is presented. The studied uncertain nonlinear system is with unknown input disturbance. First, a controller is designed based on sliding mode variable structure theory. A design of state observation also based on sliding mode variable structure theory but by use of a specific equivalent control methodology follows. Then, by means of adaptive method, the fault identification which can restructure the faults is studied. The results of some numerical simulations on an artillery position servo system verify the validity of the proposed approaches.%针对导弹伺服机构的不确定非线性特点,提出了一种基于滑模变结构的传感器故障诊断方案.首先给出一种基于滑模变结构的控制器设计方法,然后利用滑模变结构中的等值控制方法设计了状态观测器,再利用自适应方法实现了对故障的重构.最后将提出的方法在导弹伺服系统中应用,表明了该方法的有效.

  3. Fully automatic control of paraplegic FES pedaling using higher-order sliding mode and fuzzy logic control.

    Science.gov (United States)

    Farhoud, Aidin; Erfanian, Abbas

    2014-05-01

    In this paper, a fully automatic robust control strategy is proposed for control of paraplegic pedaling using functional electrical stimulation (FES). The method is based on higher-order sliding mode (HOSM) control and fuzzy logic control. In FES, the strength of muscle contraction can be altered either by varying the pulse width (PW) or by the pulse amplitude (PA) of the stimulation signal. The proposed control strategy regulates simultaneously both PA and PW (i.e., PA/PW modulation). A HOSM controller is designed for regulating the PW and a fuzzy logic controller for the PA. The proposed control scheme is free-model and does not require any offline training phase and subject-specific information. Simulation studies on a virtual patient and experiments on three paraplegic subjects demonstrate good tracking performance and robustness of the proposed control strategy against muscle fatigue and external disturbances during FES-induced pedaling. The results of simulation studies show that the power and cadence tracking errors are 5.4% and 4.8%, respectively. The experimental results indicate that the proposed controller can improve pedaling system efficacy and increase the endurance of FES pedaling. The average of power tracking error over three paraplegic subjects is 7.4±1.4% using PA/PW modulation, while the tracking error is 10.2±1.2% when PW modulation is used. The subjects could pedal for 15 min with about 4.1% power loss at the end of experiment using proposed control strategy, while the power loss is 14.3% using PW modulation. The controller could adjust the stimulation intensity to compensate the muscle fatigue during long period of FES pedaling.

  4. 单Buck逆变器布尔型滑模控制研究%Single Buck inverters based on Boolean sliding mode control

    Institute of Scientific and Technical Information of China (English)

    陈江辉; 邓红雷; 王健敏; 谢运祥

    2011-01-01

    为了提高逆变器滑模控制器的稳态精确度,针对一种由一个双向Buck变换器和桥式换向电路组成的单Buck型逆变器进行类似Lyapunov函数的布尔量滑模控制策略的研究.在其等效电路的状态空间平均法动态模型基础上,建立单Buck型逆变器等效电路的三阶系统数学模型,构建具有电流环节和积分环节的全状态变量滑模切换函数,在此切换函数基础上给出布尔滑模控制器的分析和设计过程.仿真和实验结果表明:系统稳态终值误差小,输出电压和电流具有强鲁棒性和良好动态性能;布尔滑模控制的实际控制律简单,易于实现;验证了所采用布尔滑模控制策略的正确性.%In order to further increase the inverter sliding-mode controller's precision, a Boolean sliding-mode control strategy based on Lyapunov-like function was researched on the single Buck inverter composed of a bi-directional Buck converter and bridge-type diverter. Based on the state space average method dynamic modeling of the system equivalent circuit, third-order system mathematical model of single Buck inverter equivalent circuit and full status sliding manifold with current element and integral element were established. There were operation principles of circuit, circuit dynamic mode and the steps of Boolean sliding-mode controller design. The emulation and experiment show that the system steady-state precision is small. Output voltage and current have strong robustness and a good dynamic performance and Boolean sliding-mode actual control was simple and was to be realized. These results verify the correction of control strategy.

  5. An Adaptive Large Neighborhood Search Algorithm for the Multi-mode RCPSP

    DEFF Research Database (Denmark)

    Muller, Laurent Flindt

    We present an Adaptive Large Neighborhood Search algorithm for the Multi-mode Resource-Constrained Project Scheduling Problem (MRCPSP). We incorporate techniques for deriving additional precedence relations and propose a new method, so-called mode-diminution, for removing modes during execution...

  6. Governor Design for a Hydropower Plant with an Upstream Surge Tank by GA-Based Fuzzy Reduced-Order Sliding Mode

    Directory of Open Access Journals (Sweden)

    Chang Xu

    2015-11-01

    Full Text Available This paper investigates governor design by reduced-order sliding mode for a hydropower plant with an upstream surge tank. The governing system is made up of a tunnel, a surge tank, a penstock, a wicket gate and servomechanism, a governor, a hydro-turbine and a grid. Concerning the components of the governing system, their mathematic models are established. Then, these models are interconnected to simulate the governing system. From the viewpoint of state space in modern control theory, the governing system is partially observed, which challenges the governor design. By introducing an additional state variable, the control method of reduced-order sliding mode is proposed, where the governor design is based on a reduced-order governing system. Since the governor is applied to the original governing system, the system stability is analyzed by means of the small gain theorem. An genetic algorithm is employed to search a group of parameters of the predefined sliding surface, and a fuzzy inference system is utilized to decrease the chattering problem. Some numerical simulations are illustrated to verify the feasibility and robustness of the control method.

  7. A Study on Sliding Spotlight Mode of Spaceborne SAR System%星载SAR滑动聚束模式研究

    Institute of Scientific and Technical Information of China (English)

    蒋为; 李敏慧

    2011-01-01

    In the paper, different characteristics are provided between spotlight mode and sliding spotlight mode of spaceborne SAR by comparison. The system indrxes of sliding spotlight mode are studied, especially antenna azimuth steering angle. AI Lhe same time, The realization method of the mode ia presented , azimuth Doppler de-ambiguity, the requirement of azimuth sleering angle, rotation center are analyzed respectively and the simulation results are given. The simulation results are applied to high resolution spacebome SAR system design.%比较了星载SAR滑动模式与传统聚束模式的不同特点,研究了滑动聚束模式的相关系统指标,特别是天线方位扫描角,给出了该模式的实现方式,对方位多普勒解模糊、天线方位扫描角的要求和转动中心位置的确定进行了分析与仿真,并给出了相应的仿真结果.仿真结果可直接应用于高分辨率星载SAR系统设计.

  8. Anti-synchronization for a class of multi-dimensional autonomous and non-autonomous chaotic systems on the basis of the sliding mode with noise

    International Nuclear Information System (INIS)

    This paper focuses on anti-synchronization for a class of chaotic systems with noise on the basis of the sliding mode control strategy. In order to achieve this target, a proportional integral surface is proposed to simplify the task of assigning the performance of the error system in sliding motion. We use fewer control items but realize a globally and exponentially asymptotical anti-synchronization. Furthermore, three typical examples are presented: a three-dimensional (3D) autonomous chaotic system, a 4D autonomous chaotic system and a 5D non-autonomous chaotic system. Finally, simulation results are demonstrated for multi-dimensional chaotic systems to illustrate the effectiveness of the proposed scheme. (paper)

  9. A Comparative Evaluation of Adaptive and Non-adaptive Sliding Mode, LQR and PID Control for Platform Stabilization

    OpenAIRE

    Akgul, Emre; Mutlu, Mehmet; Saranli, Afsar; Yazicioglu, Yigit

    2012-01-01

    During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective projection, the effects of angular disturbances are particularly pronounced as compared to translational disturbances. This paper is motivated by the particular problem of legged robots exhibiting angular body motions and attempts to evaluate...

  10. Adaptive mode decision with residual motion compensation for distributed video coding

    DEFF Research Database (Denmark)

    Luong, Huynh Van; Forchhammer, Søren; Slowack, Jurgen;

    2015-01-01

    Distributed video coding (DVC) is a coding paradigm that entails low complexity encoding by exploiting the source statistics at the decoder. To improve the DVC coding efficiency, this paper proposes a novel adaptive technique for mode decision to control and take advantage of skip mode and intra...... mode in DVC. The adaptive mode decision is not only based on quality of key frames but also the rate of Wyner-Ziv (WZ) frames. To improve noise distribution estimation for a more accurate mode decision, a residual motion compensation is proposed to estimate a current noise residue based on a previously...... decoded frame. The experimental results show that the proposed adaptive mode decision DVC significantly improves the rate distortion performance without increasing the encoding complexity. For a GOP size of 2 on the set of test sequences, the average bitrate saving of the proposed codec is 35.5% on WZ...

  11. Adaptive mode decision with residual motion compensation for distributed video coding

    DEFF Research Database (Denmark)

    Luong, Huynh Van; Forchhammer, Søren; Slowack, Jurgen;

    2013-01-01

    Distributed video coding (DVC) is a coding paradigm that entails low complexity encoding by exploiting the source statistics at the decoder. To improve the DVC coding efficiency, this paper proposes a novel adaptive technique for mode decision to control and take advantage of skip mode and intra...... mode in DVC. The adaptive mode decision is not only based on quality of key frames but also the rate of Wyner-Ziv (WZ) frames. To improve noise distribution estimation for a more accurate mode decision, a residual motion compensation is proposed to estimate a current noise residue based on a previously...... decoded frame. The experimental results show that the proposed adaptive mode decision DVC significantly improves the rate distortion performance without increasing the encoding complexity. For a GOP size of 2 on the set of test sequences, the average bitrate saving of the proposed codec is 35.5% on WZ...

  12. Vibration control of a ship engine system using high-load magnetorheological mounts associated with a new indirect fuzzy sliding mode controller

    International Nuclear Information System (INIS)

    In this work, a new high-load magnetorheological (MR) fluid mount system is devised and applied to control vibration in a ship engine. In the investigation of vibration-control performance, a new modified indirect fuzzy sliding mode controller is formulated and realized. The design of the proposed MR mount is based on the flow mode of MR fluid, and it includes two separated coils for generating a magnetic field. An optimization process is carried out to achieve maximal damping force under certain design constraints, such as the allowable height of the mount. As an actuating smart fluid, a new plate-like iron-particle-based MR fluid is used, instead of the conventional spherical iron-particle-based MR fluid. After evaluating the field-dependent yield stress of the MR fluid, the field-dependent damping force required to control unwanted vibration in the ship engine is determined. Subsequently, an appropriate-sized MR mount is manufactured and its damping characteristics are evaluated. After confirming the sufficient damping force level of the manufactured MR mount, a medium-sized ship engine mount system consisting of eight MR mounts is established, and its dynamic governing equations are derived. A new modified indirect fuzzy sliding mode controller is then formulated and applied to the engine mount system. The displacement and velocity responses show that the unwanted vibrations of the ship engine system can be effectively controlled in both the axial and radial directions by applying the proposed control methodology. (paper)

  13. 具有分布时滞不确定系统的滑模控制%Sliding Mode Control of Uncertain Systems with Distributed Delays

    Institute of Scientific and Technical Information of China (English)

    李延波

    2011-01-01

    针对一类含有分布时滞的不确定系统,通过利用Lyapunov稳定性理论和线性矩阵不等式方法进行滑模控制研究.首先,构造滑模控制器,使得系统满足滑模到达条件;其次,通过构造适当的Lyapunov泛函,给出闭环系统渐近稳定的充分条件.该充分条件通过采用虚拟反馈控制思想,结合状态反馈的极点配置方法,转换为线性矩阵不等式的形式,利用Matlab中的LMI工具箱进行求解.最后,仿真算例说明此方法的有效性.%Based on the Lyapunov stability theory and the linear matrix inequality approach, the sliding mode control for a class of uncertain systems with distributed delays is researched. Firstly,the sliding mode controller is constructed to satisfy the sliding mode reaching conditions. Secondly, the suffient conditions of closed-loop systems' asymptotical stability is given by constructing the appropriate Lyapunov functionals. In terms of virtual feedback control method and combinating pole assignment of state feedback, the suffient conditions can be shown in LMIs and sovled easily by LMI toolbox in Matlab. Finally, the simulation example is given to illustrate the validity of the method.

  14. A Sliding Mode LCO Regulation Strategy for Dual-Parallel Underactuated UAV Systems Using Synthetic Jet Actuators

    Directory of Open Access Journals (Sweden)

    N. Ramos-Pedroza

    2015-01-01

    careful algebraic manipulation in the regulation error system development, along with innovative design of the sliding surface. A detailed model of the UAV LCO dynamics is utilized, and a rigorous analysis is provided to prove asymptotic regulation of the pitching and plunging displacements. Numerical simulation results are provided to demonstrate the performance of the control law.

  15. Finite-time convergent continuous control design based on sliding mode algorithms with application to a hydraulic drive

    DEFF Research Database (Denmark)

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

    2014-01-01

    -time convergence properties known from sliding control while at the same time avoiding control chattering, however, on the cost of robustness. Experimental results confirm the announced properties when applied to a hydraulic valve-cylinder drive, and demonstrates superior performance over conventional linear...

  16. Adaptive Control of Linear Modal Systems Using Residual Mode Filters and a Simple Disturbance Estimator

    Science.gov (United States)

    Balas, Mark; Frost, Susan

    2012-01-01

    Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter.

  17. A Sliding Mode Control Model of Buying Lotto Lottery%购买乐透彩票的一种滑模控制模型

    Institute of Scientific and Technical Information of China (English)

    黄科登

    2012-01-01

    基于小概率事件原理,建立设置滑模控制并保证实际必然赢利的购买乐透彩票的数学模型.实例分析表明,该模型对乐透彩票游戏的小盘玩法是可行、有效的.%Based on small probability event principle, mathematics model by sliding mode control which canguarantee an actual profit when buying lotto lottery was constructed. Furthermore, the result proves the model is feasible and effectual for small model lotto.

  18. 压电陶瓷执行器迟滞的滑模逆补偿控制%Sliding mode control of hysteresis of piezoceramic actuator based on inverse Preisach compensation

    Institute of Scientific and Technical Information of China (English)

    赖志林; 刘向东; 耿洁; 李黎

    2011-01-01

    In order to reduce the nonlinear hysteresis of piezoceramic actuators, a sliding mode control scheme based on Preisach inverse compensation was proposed in this paper. Firstly, an inverse Preisa-ch model of the hysteresis was built by using the sorting &- taxis realization method. Then the inverse model was connected in series with the hysteresis of the system to reduce the impact of the nonlinear hysteresis. In consideration of that the hysteresis can't be entirely offseted by the inverse model and there are also many uncertainties in the system, a sliding mode controller with a sub-boundary layer was designed. Finally, to verify the feasibility of the sliding mode controller, a PI controller was presented to compare with the proposed scheme. The experiment results show that the control scheme improves the tracking accuracy of the system,and the average absolute error is 0. 020 6μm when tracking is on sinusoidal input. Compared with the PI controller based on the inverse Preisach model, the proposed control scheme has a better adaptability and can offer a good tracking accuracy.%为了降低迟滞特性对压电陶瓷执行器的影响,研究了基于Preisach逆补偿的滑模控制策略.首先,利用分类排序方法在控制平台上实现了迟滞的Preisach逆模型;然后,将其串联到压电陶瓷执行器前用于抵消迟滞非线性.考虑到迟滞逆补偿的非完全抵消、模型参数的不确定性以及扰动等问题,设计了一种分段边界层滑模控制律.最后,为了验证所设计的控制策略的有效性,设计并实现了逆补偿+PI控制器.实验结果表明,逆补偿+滑模控制提高了基于压电陶瓷执行器驱动的纳米定位系统的跟踪精度,其跟踪正弦输入的平均绝对误差为0.020 6μm.与逆补偿+PI控制策略相比,逆补偿+滑模控制对不同的输入信号有很好的适应性,保证了纳米定位平台的定位精度.

  19. 基于神经网络的飞艇非线性鲁棒滑模飞行控制%Nonlinear robust sliding-mode flight control for the airship based on neural networks

    Institute of Scientific and Technical Information of China (English)

    邹杰; 冯星; 陈谋; 尹卫平

    2011-01-01

    为了提高飞艇飞行的鲁棒性能,针对飞艇水平面受扰运动提出了一种基于非线性滑模的鲁棒神经网络飞行控制方案.对于飞艇模型中的不确定性,采用神经网络进行逼近,同时对神经网络权值进行在线调整以达到在线逼近的目的.为了有效地处理外部时变干扰对飞艇飞行控制的影响,将参数自适应、神经网络输出与滑模控制相结合设计了飞艇的鲁棒飞行控制.最后,通过飞艇水平面运动控制验证了本文所提出的飞艇鲁棒飞行控制方法的有效性.%The robust neural network flight control scheme is proposed for the plane movement of the airship with disturbance based on the nonlinear sliding mode technology to improve the flight robust performance. The neural networks are used to approximate the uncertainty of the airship model and the weight values are adjusted on line to achieve the approximation. To effectively handle the external disturbance of the airship, the robust flight control is designed combining the parameter adaptation with neural networks and sliding mode control for the airship. Finally, the plane movement control of the airship is executed to demonstrate the feasibility of the proposed robust airship flight control method.

  20. Intelligent manufacture adapts to agile manufacture production mode in the 21st century

    Institute of Scientific and Technical Information of China (English)

    Li Xurong

    2003-01-01

    The paper describes the characteristics of the intelligent manufacturing system and production mode in the21st century in the information age, therefore draws a conclusion that the intelligent manufacturing system adapts to agilemanufacture (AM for short) production mode in the 21 st century.

  1. Sliding mode control of an underactuated Quadrotor UAV%欠驱动四旋翼无人飞行器的滑模控制

    Institute of Scientific and Technical Information of China (English)

    王璐; 李光春; 王兆龙; 焦斌

    2012-01-01

    针对六自由度欠驱动四旋翼无人飞行器( Quadrotor UAV)受控模型的复杂非线性问题,提出了一种系统简化方法,并基于简化后的模型设计了滑模控制器,实现了对复杂模型的非线性控制.首先,对Quadrotor UAY模型进行简化处理,从而可将系统解耦为完整驱动部分和欠驱动部分;进而,通过定义一个广义滑动流形实现欠驱动部分的滑模控制器设计;最后,利用Lyapunov理论证明了系统欠驱动部分的稳定性.仿真分析表明,本文提出的控制方法能够有效实现Quadrotor UAV的控制,且与经典PID控制方法相比,具有对外界扰动更强的鲁棒性.%In order to solve the complex nonlinear problem of underactuated quadrotor UAV with six degrees of freedom controllable model, the proposed study focused on the system simplifying method and the sliding mode controller. First, the system model is categorized as a simplified one, allowing the original model decoupled into a fully actuated subsystem and an underactuated subsystem. Secondly, a sliding mode controller of the underactuated subsystem is designed by defining a generalized sliding surface. Lastly, the stability of the underactuated subsystem is validated using Lyspunov theory of stability. Simulation results showed the proposed control scheme enabled the quadrotor UAV to fly effectively when compared with the classical PID control scheme. The proposed study shows a stronger robustness against the disturbance as compared with other studies.

  2. Full-order sliding mode control of uncertain chaos in a permanent magnet synchronous motor based on a fuzzy extended state observer

    Science.gov (United States)

    Chen, Qiang; Nan, Yu-Rong; Zheng, Heng-Huo; Ren, Xue-Mei

    2015-11-01

    A full-order sliding mode control based on a fuzzy extended state observer is proposed to control the uncertain chaos in the permanent magnet synchronous motor. Through a simple coordinate transformation, the chaotic PMSM model is transformed into the Brunovsky canonical form, which is more suitable for the controller design. Based on the fuzzy control theory, a fuzzy extended state observer is developed to estimate the unknown states and uncertainties, and the restriction that all the system states should be completely measurable is avoided. Thereafter, a full-order sliding mode controller is designed to ensure the convergence of all system states without any chattering problem. Comparative simulations show the effectiveness and superior performance of the proposed control method. Project supported by the National Natural Science Foundation of China (Grant Nos. 61403343 and 61433003), the Scientific Research Foundation of Education Department of Zhejiang Province, China (Grant No. Y201329260), and the Natural Science Foundation of Zhejiang University of Technology, China (Grant No. 1301103053408).

  3. Optimal Switching Table-Based Sliding Mode Control of an Energy Recovery Li-Ion Power Accumulator Battery Pack Testing System

    Directory of Open Access Journals (Sweden)

    Kil To Chong

    2013-10-01

    Full Text Available The main objective of the present work is to apply a sliding mode controller (SMC to medium voltage and high power output energy recovery Li-ion power accumulator battery pack testing systems (ERLPABTSs, which are composed of a three-level neutral-point-clamped (NPC three-phase voltage source inverter (VSI and a two-level buck-boost converter without an isolating transformer. An inner current decoupled control scheme for the aforementioned system is proposed and two sliding mode planes for active and reactive current control are designed based on the control scheme. An optimized switching table for current convergence is used according to the error sign of the equivalent input voltage and feedback voltage. The proposed ERLPABTS could be used to integrate discharging energy into the power grid when performing high accuracy current testing. The active and reactive power references for the grid-connected inverter are determined based on the discharging energy from the DC-DC converter. Simulations and experiments on a laboratory hardware platform using a 175 kW insulated gate bipolar transistor (IGBT-based ERLPABTS have been implemented and verified, and the performance is found satisfactory and superior to conventional ERLPABPTS.

  4. Dynamic modeling of a hose-drogue aerial refueling system and integral sliding mode backstepping control for the hose whipping phenomenon

    Institute of Scientific and Technical Information of China (English)

    Wang Haitao; Dong Xinmin; Xue Jianping; Liu Jiaolong

    2014-01-01

    Dynamic modeling of a hose-drogue aerial refueling system (HDARS) and an integral sliding mode backstepping controller design for the hose whipping phenomenon (HWP) during probe-drogue coupling are studied. Firstly, a dynamic model of the variable-length hose-drogue assembly is built for the sake of exploiting suppression methods for the whipping phenomenon. Based on the lumped parameter method, the hose is modeled by a series of variable-length links connected with frictionless joints. A set of iterative equations of the hose’s three-dimensional motion is derived subject to hose reeling in/out, tanker motion, gravity, and aerodynamic loads accounting for the effects of steady wind, atmospheric turbulence, and tanker wake. Secondly, relying on a permanent magnet synchronous motor and high-precision position sensors, a new active control strategy for the HWP on the basis of the relative position between the tanker and the receiver is proposed. Considering the strict-feedback configuration of the permanent magnet synchronous motor, a rotor position control law based on the backstepping method is designed to insure global stability. An integral of the rotor position error and an exponential sliding mode reaching law of the current errors are applied to enhance control accuracy and robustness. Finally, the simulation results show the effectiveness of the proposed model and control laws.

  5. Mode analysis of fluctuations in two-species Bose-Einstein condensates of atomic gases with a vortex for a component. Characteristic features of compressive and sliding motions

    Energy Technology Data Exchange (ETDEWEB)

    Doi, Kensuke; Natsume, Yuhei [Chiba Univ., Graduate School of Science and Technology, Chiba (Japan)

    2003-04-01

    Characteristic features of fluctuations of Bose-Einstein condensations for systems of two-components in gas phases of alkali-metal atoms trapped by spherical harmonic potentials are discussed on the basis of numerical calculations. We concentrate our attention on the phases in which the spherical state {psi}{sub 1} without vortex is surrounded by {psi}{sub 2} with a vortex for the unit circulation q=1. These states are expressed by Gross-Pitaevskii equation, where a vortex-core is along the z-axis. We investigate properties of collective excitations by the linear analysis for bosonic excitations described as Bogoliubov equations. The behavior of each mode is discussed in relation with the role of interspecies repulsion in addition to that of intraspecies one. We point out the role of the new compressive mode which has two nodes on z-axis, in addition to that of the core mode without a node which have been previously discussed in the single-component system. Furthermore, we would like to emphasize that sliding modes show the branching features into in- and out-of-phase motions with increasing interspecies interaction. The dependence of those branchings on interspecies repulsion is explained by spatial shapes of relevant modes. (author)

  6. 永磁同步发电机的无传感器滑模辨识及控制%Speed sensorless sliding mode observer and control of permanent magnet synchronous generator

    Institute of Scientific and Technical Information of China (English)

    史旺旺; 刘超

    2012-01-01

    针对坐标旋转法永磁同步发电机无速度传感器控制中忽略定子电流微分项带来的估计偏差大等问题,提出基于旋转坐标系的自适应锁相环和滑模辨识方法.采用近似滑模控制对模型电机定子电流进行控制,使发电机和模型电机电流相等,从而获得两电机转子相位差的正弦和余弦分量.建立直驱式永磁同步电机无速度传感器辨识模型和自适应锁相环模型,并利用基于反步法的自适应锁相环进行速度和相位观测,在此基础上利用Lyapunov函数设计法设计控制器.采用近似滑模辨识使模型电机电流快速逼近原电机电流且到近似正弦的控制量,自适应数字锁相环相位收敛快,采用Lyapunov函数设计的控制器能保证系统收敛.仿真结果验证了该方法的可行性和有效性.%Aiming at the big error problem of speed sensorless permanent magnet synchronous generator (PMSG) control with rotating frame by omitting differential component in direct-driven wind power system , a sliding mode observer with adaptive phase-locked loop( PLL) was presented. Model PMSG current was controlled to keep track of PMSG current by approximate sliding mode observer ( SMO) and rotor phase difference of two machine were acquired. Speed and phase were observed by adaptive PLL with acquired sine and cosine component. The sensorless model for PMSG and adaptive PLL model were presented and controller was designed with Lyapunov function method. Simulation results show that the model based on model machine observer with approximation SMO and PLL can accurately control current with quick response and fine static dynamic performance, and controller designed by Lyapunov function can ganrantee convergence.

  7. A shape-adaptive thin-film-based approach for 50% high-efficiency energy generation through micro-grating sliding electrification.

    Science.gov (United States)

    Zhu, Guang; Zhou, Yu Sheng; Bai, Peng; Meng, Xian Song; Jing, Qingshen; Chen, Jun; Wang, Zhong Lin

    2014-06-18

    Effectively harvesting ambient mechanical energy is the key for realizing self-powered and autonomous electronics, which addresses limitations of batteries and thus has tremendous applications in sensor networks, wireless devices, and wearable/implantable electronics, etc. Here, a thin-film-based micro-grating triboelectric nanogenerator (MG-TENG) is developed for high-efficiency power generation through conversion of mechanical energy. The shape-adaptive MG-TENG relies on sliding electrification between complementary micro-sized arrays of linear grating, which offers a unique and straightforward solution in harnessing energy from relative sliding motion between surfaces. Operating at a sliding velocity of 10 m/s, a MG-TENG of 60 cm(2) in overall area, 0.2 cm(3) in volume and 0.6 g in weight can deliver an average output power of 3 W (power density of 50 mW cm(-2) and 15 W cm(-3)) at an overall conversion efficiency of ∼ 50%, making it a sufficient power supply to regular electronics, such as light bulbs. The scalable and cost-effective MG-TENG is practically applicable in not only harvesting various mechanical motions but also possibly power generation at a large scale. PMID:24692147

  8. A current-mode buck DC-DC controller with adaptive on-time control

    Energy Technology Data Exchange (ETDEWEB)

    Li Yanming; Lai Xinquan; Ye Qiang; Yuan Bing; Chen Fuji [Institute of Electronic CAD, Xidian University, Xi' an 710071 (China); Jia Xinzhang, E-mail: ymli2004@126.co, E-mail: xqlai@mail.xidian.edu.c [Microelectronics Institute, Xidian University, Xi' an 710071 (China)

    2009-02-15

    A current-mode buck DC-DC controller based on adaptive on-time (AOT) control is presented. The on-time is obtained by the techniques of input feedforward and output feedback, and the adaptive control is achieved by a sample-hold and time-ahead circuit. The AOT current-mode control scheme not only obtains excellent transient response speed, but also achieves the independence of loop stability on output capacitor ESR. In addition, the AOT current-mode control does not have subharmonic oscillation phenomenon seen in fixed frequency peak current-mode control, so there is no need of the slope compensation circuit. The auto-skip pulse frequency modulation (PFM) mode improves the conversion efficiency of light load effectively. The controller has been fabricated with UMC 0.6-mum BCD process successfully and the detailed experimental results are shown.

  9. Augmented Adaptive Control of a Wind Turbine in the Presence of Structural Modes

    Science.gov (United States)

    Frost, Susan A.; Balas, Mark J.; Wright, Alan D.

    2010-01-01

    Wind turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, potentially causing component fatigue and failure. Two key technology drivers for turbine manufacturers are increasing turbine up time and reducing maintenance costs. Since the trend in wind turbine design is towards larger, more flexible turbines with lower frequency structural modes, manufacturers will want to develop methods to operate in the presence of these modes. Accurate models of the dynamic characteristics of new wind turbines are often not available due to the complexity and expense of the modeling task, making wind turbines ideally suited to adaptive control. In this paper, we develop theory for adaptive control with rejection of disturbances in the presence of modes that inhibit the controller. We use this method to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the interference of certain structural modes in feedback. The control objective is accomplished by collectively pitching the turbine blades. The adaptive pitch controller for Region 3 is compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller.

  10. 感应电机高阶终端滑模磁链观测器的研究%High-order Terminal Sliding Mode Flux Observer for Induction Motors

    Institute of Scientific and Technical Information of China (English)

    史宏宇; 冯勇

    2012-01-01

    提出了基于高阶非奇异终端滑模的感应电机转子磁链观测方法,用于实现感应电机的按转子磁链定向控制.设计了非奇异终端滑模面及观测器的控制策略,利用所设计的控制策略推导出电机转子磁链信息.为了抑制常规滑模存在的抖振现象,设计了定子电流观测器的高阶滑模控制律,可将控制信号直接用于电机转子磁链的估计.较常规滑模观测器,所提方法具有较高的观测精度,并对电机参数变化具有良好的鲁棒性.仿真结果验证了方法的有效性.%This paper proposes a rotor flux estimation method based on high-order sliding mode and non-singular terminal sliding mode for implementing the field orientation control of induction motors. A nonsingular terminal sliding mode and the control law of the observer are designed. The rotor flux of the motor is deduced using the designed control law. Meanwhile, the high-order sliding mode technique is adopted to eliminate the chattering phenomenon of the conventional sliding mode so that the control signal of the observer can be used directly for rotor flux estimation. Compared to conventional sliding mode observers, the proposed observer can estimate the system state with a higher precision. Further, it is insensitive to parameter variations. Simulation results validate the proposed method.

  11. Design of Incremental Conductance Sliding Mode MPPT Control Applied by Integrated Photovoltaic and Proton Exchange Membrane Fuel Cell System under Various Operating Conditions for BLDC Motor

    Directory of Open Access Journals (Sweden)

    Jehun Hahm

    2015-01-01

    Full Text Available This paper proposes an integrated photovoltaic (PV and proton exchange membrane fuel cell (PEMFC system for continuous energy harvesting under various operating conditions for use with a brushless DC motor. The proposed scheme is based on the incremental conductance (IncCond algorithm combined with the sliding mode technique. Under changing atmospheric conditions, the energy conversion efficiency of a PV array is very low, leading to significant power losses. Consequently, increasing efficiency by means of maximum power point tracking (MPPT is particularly important. To manage such a hybrid system, control strategies need to be established to achieve the aim of the distributed system. Firstly, a Matlab/Simulink based model of the PV and PEMFC is developed and validated, as well as the incremental conductance sliding (ICS MPPT technique; then, different MPPT algorithms are employed to control the PV array under nonuniform temperature and insolation conditions, to study these algorithms effectiveness under various operating conditions. Conventional techniques are easy to implement but produce oscillations at MPP. Compared to these techniques, the proposed technique is more efficient; it produces less oscillation at MPP in the steady state and provides more precise tracking.

  12. Comparative study between PI, RST and sliding mode controllers of a DFIG supplied by an AC-AC converter for wind energy conversion system

    Directory of Open Access Journals (Sweden)

    Ahmed Bourouina

    2015-12-01

    Full Text Available This paper deals with a variable speed device to produce electrical energy on a power network, based on a doubly-fed induction generator (DFIG supplied by a direct matrix converter used in wind energy conversion systems. In the first place, we carried out briefly a study of modelling on the whole system. In order to control the power flowing between the stator of the DFIG and the power network, a control law is synthesized using three types of controllers: PI, RST and sliding mode controllers. Their respective performances are compared in terms of power reference tracking, response to sudden speed variations, sensitivity to perturbations and robustness against machine parameters variations.

  13. Quasi-sliding Mode Control with Compensator for ATMD-buildings%ATMD结构基于补偿器的准滑模控制

    Institute of Scientific and Technical Information of China (English)

    李志军; 邓子辰; 顾致平

    2012-01-01

    针对主动调谐质量阻尼器(active tuned mass damper,简称ATMD)控制系统用于结构振动控制工程中存在主动控制力偏大、控制系统鲁棒性较差的不足,基于线性二次型最优控制理论,设计了一种带有补偿器的滑模控制算法来计算ATMD系统的主动控制力.为了避免控制系统过大的颤振,提出一种含有饱和函数的指数趋近律,并且给出了相应准滑模控制器的设计方法.鉴于实际中会产生外部能量有限问题,引入了相应的饱和控制器.以一个单自由度结构模型为例进行了相应的数值分析,与相应的未含补偿器的指数趋近律方法设计的ATMD控制系统以及AMD和TMD控制系统的控制效果进行了对比.仿真结果表明,所提方法在保证控制系统较好鲁棒性和较小颤振的前提下,具有较好的控振效果.%Active tuned mass damper (ATMD) control systems for building structures have attracted considerable attention in recent years. This paper emphasizes on the combined application of the quasi-sliding mode control theory and the compensators theory to design and optimize the different parameters of the ATMD control scheme for getting the best results in the reduction of the building response under earthquake excitations. According to the linear quadratic optimal control theory, this paper designs a fixed-order compensator to make trade-offs between control efforts and specific response quantities of the structure. Existing sliding mode control method via exponential reaching law suffers, in our opinion, has the shortcoming that it is almost very difficult to avoid excessive flutter effect. Therefore the quasi-sliding mode control law involving saturation function is proposed. Considering the actuators are always of limited capacity in practice, this paper designs the saturated control law to be used when the needed control force exceeds the maximum control force of an actuator. Finally numerical simulations are given

  14. Sliding Mode Variable Structure Control and Real-Time Optimization of Dry Dual Clutch Transmission during the Vehicle’s Launch

    Directory of Open Access Journals (Sweden)

    Zhiguo Zhao

    2014-01-01

    Full Text Available In order to reflect driving intention adequately and improve the launch performance of vehicle equipped with five-speed dry dual clutch transmission (DCT, the issue of coordinating control between engine and clutch is researched, which is based on the DCT and prototype car developed independently. Four-degree-of-freedom (DOF launch dynamics equations are established. Taking advantage of predictive control and genetic algorithm, target tracing curves of engine speed and vehicle velocity are optimally specified. Sliding mode variable structure (SMVS control strategy is designed to track these curves. The rapid prototyping experiment and test are, respectively, conducted on the DCT test bench and in the chassis dynamometer. Results show that the designed SMVS control strategy not only effectively embodies the driver’s intention but also has strong robustness to the vehicle parameter’s variations.

  15. Design and Study on Sliding Mode Extremum Seeking Control of the Chaos Embedded Particle Swarm Optimization for Maximum Power Point Tracking in Wind Power Systems

    Directory of Open Access Journals (Sweden)

    Jui-Ho Chen

    2014-03-01

    Full Text Available This paper proposes a sliding mode extremum seeking control (SMESC of chaos embedded particle swarm optimization (CEPSO Algorithm, applied to the design of maximum power point tracking in wind power systems. Its features are that the control parameters in SMESC are optimized by CEPSO, making it unnecessary to change the output power of different wind turbines, the designed in-repetition rate is reduced, and the system control efficiency is increased. The wind power system control is designed by simulation, in comparison with the traditional wind power control method, and the simulated dynamic response obtained by the SMESC algorithm proposed in this paper is better than the traditional hill-climbing search (HCS and extremum seeking control (ESC algorithms in the transient or steady states, validating the advantages and practicability of the method proposed in this paper.

  16. PMLSM的互补式滑模控制系统设计%Design of Complementary Sliding Mode Control System for Permanent Magnet Linear Motor

    Institute of Scientific and Technical Information of China (English)

    姚明林; 李兵

    2011-01-01

    针对永磁线性同步电动机在位置控制中易受系统参数变化、外界负载干扰以及摩擦力等不确定因素的影响,提出并设计了以径向基神经网络为预估器的互补式滑模控制器,以实现精确的位置控制.设计中利用饱和函数作为切换函数,利用径向基神经网络预测器来预测系统中的不确定项.从而减少了系统的抖振,消除稳态误差,提高了系统的暂态响应速度.通过仿真结果,验证了该控制器具有优异的跟踪能力和鲁棒性.%For the disadvantage of the permanent magnet linear synchronous motor (PMLSM), which the control system easy affected by the changes such as the parameters of the system, the influence and the unknown factors,to realize the accuracy position control in the PMLSM,a complementary sliding mode control system with radial basis function network estimator was proposed. In the design,a saturation function is used as a switching function, and use an estimator which based on radial basis function network to predict the uncertain items. It can reduce the chattering of the system,eliminate the steady-state error,and improve the speed of transient response. From the simulation,it proves that the complementary sliding mode control system with radial basis function network estimator has good performance for precision position control and robust control.

  17. Sliding Mode Vibration Control of Single Flexible Manipulator%单连杆柔性机械臂的滑模振动控制

    Institute of Scientific and Technical Information of China (English)

    刘业松

    2014-01-01

    基于Lagrange方程和假设模态法,推导出单连杆柔性机械臂的动力学模型,应用微分几何输出重定义的方法,将电动机转角和振动模态变量的线性组合作为柔性机械臂系统的控制输出量,使柔性机械臂系统在平衡点附近转变为易于控制的最小相位系统。设计了一种滑模控制器,实现了柔性机械臂的振动抑制,仿真试验结果表明了该方法的有效性。%The dynamics model of single flexible manipulator was derived based on the Lagrange equation and assumed mode method.Applied differential geometry output redefinition method,the linear combination of motor angle and vibration mode variable was used as the control output,and then the original system near the equilibrium point was rewritten as a minimum-phase system easy to be controlled.A sliding mode controller to realize vibration suppression was designed,and the simulation results showed it has the effectiveness.

  18. Mode estimation and adaptive feedforward control for stabilization of a flexible gun tube

    Science.gov (United States)

    Vandegrift, Mark W.; DiRenzo, Michael T.

    1998-07-01

    In this paper we describe an approach for designing a pointing and stabilization system for an unbalanced, flexible gun. Our approach is based upon classical control techniques as well as system identification and adaptive feedforward techniques. Adaptive algorithms identify the flexible modes of the system and estimate the dynamics unbalance. This information is used to update the control law in order to improve the stabilization accuracy of the system.

  19. Improvement of higher order sliding mode control and its application%一种高阶滑模控制算法的改进及应用

    Institute of Scientific and Technical Information of China (English)

    范金锁; 张合新; 王桂明; 王新国

    2011-01-01

    Modifications are made by using two-dimensional wheeled mobile robot as the control object for solving drawbacks existing in higher order sliding mode control algorithms, such as slowness of the convergence rate and discontinuity of the control action. Firstly, by utilizing virtual item for increasing the relative order of system, a new higher order sliding mode algorithm is achieved. Compared with original algorithms, faster convergence rate and smooth control action can be achieved. Then, by using tracking error's derivative of higher order as the sliding surface, the problem that super-twisting algorithm only holds true for systems of first relative order is solved and the new algorithm can be applied to higher relative order systems. Finally, numerical simulations show effectiveness of the algorithms.%针对一类高阶滑模算法收敛速度慢、控制作用不连续等不足,以二自由度轮式机器人为控制对象设计了改进算法.首先,引入虚拟控制项以增加系统相对阶的形式进行高阶滑模算法改进,得出了一种新的高阶滑模控制律.与原算法相比,系统收敛速度快、控制作用平滑连续.然后,为解决二阶超螺旋算法仅适用于系统相对阶为1的问题,以跟踪误差的高阶导数建立滑动量,构造适用于高阶系统的二阶超螺旋算法.最后,通过数值仿真验证了改进算法的有效性.

  20. A Trajectory Tracking Control Based on Immune Genetic Fuzzy Neural Sliding Mode for Ground Combat Robot%基于免疫遗传模糊神经滑模的地面作战机器人轨迹跟踪控制

    Institute of Scientific and Technical Information of China (English)

    李郁峰; 李魁武; 潘玉田; 郭保全

    2016-01-01

    提出了一种基于运动学与动力学模型的免疫遗传模糊神经滑模混合控制器用于地面作战机器人的控制。算法中利用径向基神经网络逼近滑模控制的等效部分,并通过免疫遗传算法对径向基神经网络参数进行了优化,滑模控制的增益通过模糊控制策略进行了调节。利用该算法对圆形轨迹进行了跟踪控制仿真及试验分析,与传统的滑模控制相比,该算法能够有效克服系统的不确定性因素的影响,有效抑制了滑模控制中抖振现象,系统的动态轨迹跟踪性能得到了优化。%Based on a kinematic controller and a sliding mode dynamics controller with immune gene-tic algorithm fuzzy neural network,a hybrid control algorithm is presented for ground combat robot. In this algorithm,the equivalent sliding mode control is approached by using radial basis function neural network (RBFNN),and the structure and parameters of RBFNN nonlinear hidden layers are tuned on-line according to immune genetic algorithm for the optimization of the parameters of networks with the gain of sliding mode control adjusted through the adaptive fuzzy systems. Simulation and experimental analysis of the circular trajectory tracking control are carried out by using this algorithm. Compared with the traditional sliding mode control,the proposed controller effectively overcomes the influences of uncertain factors,eliminates chattering of the sliding mode control,and optimizes the dynamic trajecto-ry tracking performance of the system.

  1. Modified Adaptive Control for Region 3 Operation in the Presence of Wind Turbine Structural Modes

    Science.gov (United States)

    Frost, Susan Alane; Balas, Mark J.; Wright, Alan D.

    2010-01-01

    Many challenges exist for the operation of wind turbines in an efficient manner that is reliable and avoids component fatigue and failure. Turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, possibly causing component fatigue and failure. Wind turbine manufacturers are highly motivated to reduce component fatigue and failure that can lead to loss of revenue due to turbine down time and maintenance costs. The trend in wind turbine design is toward larger, more flexible turbines that are ideally suited to adaptive control methods due to the complexity and expense required to create accurate models of their dynamic characteristics. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed horizontal axis wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the excitation of structural modes in the wind turbine. The control objective is accomplished by collectively pitching the turbine blades. The adaptive collective pitch controller for Region 3 was compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller. The adaptive controller will demonstrate the ability to regulate generator speed in Region 3, while accommodating gusts, and reducing the excitation of certain structural modes in the wind turbine.

  2. Sensorless detection technique on fuzzy sliding mode observer for SRM%开关磁阻电机模糊滑模观测器间接位置检测

    Institute of Scientific and Technical Information of China (English)

    周永勤; 王旭东; 张玉光; 崔迪

    2013-01-01

    研究开关磁阻电机滑模观测器间接位置检测方法,针对传统滑模观测器存在抖振影响系统动态性能的问题,引入模糊控制,用模糊控制器调节开关函数的输出幅值,以抑制抖振并快速到达滑模面.详细分析了基于电磁转矩的误差函数构造方法及其选取过程,该误差函数能反映电机转子位置误差与转速误差,讨论了滑模观测器稳定运行条件及参数选取,在此基础上推导了模糊控制规则,设计了模糊滑模观测器.通过仿真和实验分析,验证了模糊滑模观测器能柔化控制器的输出信号,使响应速度更快,且鲁棒性强,可以实现转子位置的精确估算.%A study on indirect detection technique of rotor position based on sliding mode observer for SRM is presented.To solve the problem that the chattering in traditional sliding mode observer will affect the system dynamic performance,the fuzzy control was introduced in sliding mode observer through which the output amplitude of switch function was regulated,so the chattering was suppressed and the sliding mode surface was reached quickly.The construction method and the selection process of error function reflecting the position error and speed error based on electromagnetic torque were analyzed in detail.Then the steady-state operating conditions and parameters selection of sliding mode observer were discussed,on the basis of which the fuzzy control rule was deduced and the design scheme of fuzzy sliding mode observer was also proposed.The simulation and experimental analysis verify that the fuzzy sliding mode observer softens the output signal of controller,make the speed responses faster and the system robustness stronger,and realizes precise estimation of rotor position.

  3. HOLD MODE BASED DYNAMIC PRIORITY LOAD ADAPTIVE INTERPICONET SCHEDULING FOR BLUETOOTH SCATTERNETS

    Directory of Open Access Journals (Sweden)

    G.S. Mahalakshmi

    2011-09-01

    Full Text Available Scheduling in piconets has emerged as a challenging research area. Interpiconet scheduling focuses on when a bridge is switched among various piconets and how a bridge node communicates with the masters in different piconets. This paper proposes an interpiconet scheduling algorithm named, hold mode based dynamic traffic priority load adaptive scheduling. The bridges are adaptively switched between the piconets according to various traffic loads. The main goal is to maximize the utilization of the bridge by reducing the bridge switch wastes, utilize intelligent decision making algorithm, resolve conflict between the masters, and allow negotiation for bridge utilization in HDPLIS using bridge failure-bridge repair procedure . The Hold mode - dynamic traffic - priority based - load adaptive scheduling reduces the number of bridge switch wastes and hence increases the efficiency of the bridge which results in increased performance of the system.

  4. Dynamical Sliding Mode Control of Ship Autopilot Based on Feedback Linearization%基于反馈线性化的船舶自动舵动态滑模控制

    Institute of Scientific and Technical Information of China (English)

    石为人; 邹剑; 宗志亚

    2011-01-01

    In order to reduce the autopilot operator's working strength and improve the safety and economic efficiency, this paper designs a dynamic sliding mode control according to the control of ship autopilot and combining high-order sliding mode control with dynamical sliding mode control. First, it establishes the nonlinear of ship control system with autopilot steering characteristics. Second, using the feedback linearization procedure of differential geometry, an equivalent, fully controllable and linear model is derived via a homomorphism transformation. At last, a dynamic sliding mode controller is designed. The results of simulation show that the dynamic sliding mode controller can not only automatically track the goals but also effectively reduce the system chattering problem, achieving the purpose and also offering a method for the research of autopilot control.%针对船舶自动舵的航向控制问题,结合高阶滑模和动态滑模控制的设计思想设计了一种船舶自动舵动态滑模控制器.首先设计出包含舵机特性的船舶航向控制仿射非线性系统模型,其次通过状态反馈的方法将原模型变为等价的完全可控型线性化系统,然后设计出动态滑模控制器.仿真结果表明,所设计的动态滑模控制器不仅能很好的自动跟踪设定的航向,而且能有效的抑制系统的抖振现象,达到设计目的,为研究船舶自动舵控制提供一种参考.

  5. 基于准滑模观测器的转子位置精确估计%Precise estimation of rotor position based on quasi-sliding mode observer

    Institute of Scientific and Technical Information of China (English)

    王晓明; 王开福

    2012-01-01

    传统的滑模观测器采用开关函数,开关函数在切换过程中的高频抖动使得转子位置的估计出现一定的误差.通过对永磁同步电机的数学模型分析,提出用饱和函数代替开关函数,使得观测器处于准滑动模态,有效抑制高频抖动.同时,用扩展卡尔曼滤波器代替传统的低通滤波器,一方面进一步提高估计精度,另一方面省去低通滤波后的相位补偿.通过自适应的方式选取边界层的厚度,使得控制增益和抖动维持在最优状态.最后采用SIMULINK 进行仿真,对方案的有效性进行验证.%Switching function is adopted in conventional sliding mode observer (SMO) and a high-frequency jitter takes place in the switching process, so that a definite error occurs to the estimation of rotor position. By analyzing the mathematical model of permanent magnet synchronous Generator(PMSG), a saturation function was proposed to substitute for the switching function. When the saturation function was used, the observer would be in quasi-sliding mode and this could restrain the high-frequency jitter effectively. Meantime, the traditional low-pass filter could be replaced by Extended Kalman filters this on one hand could further increase the estimation accuracy, and on the other hand, could also save the phase compensation after low-pass filtering. In the design of SMO, the boundary layer thickness was selected by u-sing adaptive method, making the control gain and high-frequency jitter keep in an optimal state. Finally, SIMULINK simulation was carried out and the effectiveness of this method was verified with.

  6. 基于滑模控制的空间机器人软硬性抓取%Space Robot Soft-hard Grasping Based on Sliding Mode Control

    Institute of Scientific and Technical Information of China (English)

    魏承; 赵阳; 王洪柳

    2011-01-01

    Sliding mode control is applied in space robot capturing floating target with soft-hard grasping. Capturing operations become quite complicated and important for the nonlinear characteristics such as the dynamic coupling between the arm and the base,the impact excitation during grasping when the space robot captures a floating object. The dynamic model of the space robot and floating target is established, and then the impact dynamic model in grasping is introduced. The dynamic grasping area and the sliding mode control is applied for the arm grasping control to reduce the impact interference to the space robot, while the attitude control of the base with the error quaternion method is used to keep the base stable. The sliding mode surface parameters denote the impact-resistance ability of keeping and tracking status, which can be changed for various grasping characteristics: hard grasping as touching and soft grasping as colliding. The simulation results indicate that hard grasping as continuous contact can keep the arm rigidity as the joints change little, while the soft grasping can make the arm moving for energy dissipation as the joints change a lot,but the impact to the attitude of target and the position of base is little, about 50% that of the hard grasping. The results have important academic value and engineering significance.%采用滑模控制对空间机器人捕获漂浮目标的软硬性抓取进行研究.空间机器人捕获漂浮目标时,由于机械臂与基体的动力学耦合、抓取时的碰撞激振等非线性特性使得抓取控制变得复杂而重要.建立空间机器人及漂浮目标的动力学模型,而后引入末端装置抓取目标时的碰撞模型,并引入"动态抓取域"用于机械臂抓取目标时的控制,随后应用滑模控制及基体姿态控制,以减小抓取碰撞冲击对系统的冲击干扰.滑模面参数表征了机械臂保持及跟踪状态的抗冲击能力,可通过其灵活改变机械臂刚性

  7. PSO-based Control Algorithm for Polarization Mode Dispersion Self-adaptive Compensation

    Institute of Scientific and Technical Information of China (English)

    ZHU Jin-jun; ZHANG Xiao-guang; DUAN Gao-yan; WANG Qiu-guo

    2006-01-01

    Polarization mode dispersion(PMD) is considered to be the ultimate limitation in high-speed optical fiber communication systems. Establishing an effective control algorithm for adaptive PMD compensation is a challenging task, because PMD possesses the time-varying and statistical properties. The particle swarm optimization(PSO) algorithm is introduced into self-adaptive PMD compensation as feedback control algorithm. The experiment results show that PSO-based control algorithm has some unique features of rapid convergence to the global optimum without being trapped in local sub-optima and good robustness to noise in the optical fiber transmission line that has never been achieved in PMD compensation before.

  8. Performance Analysis of DTC-SVM Sliding Mode Controllers-Based Parameters Estimator of Electric Motor Speed Drive

    Directory of Open Access Journals (Sweden)

    Fatma Ben Salem

    2014-01-01

    Full Text Available This paper is concerned with a framework which unifies direct torque control space vector modulation (DTC-SVM and variable structure control (VSC. The result is a hybrid VSC-DTC-SVM controller design which eliminates several major limitations of the two individual controls and retains merits of both controllers. It has been shown that obtained control laws are very sensitive to variations of the stator resistance, the rotor resistance, and the mutual inductance. This paper discusses the performances of adaptive controllers of VSC-DTC-SVM monitored induction motor drive in a wide speed range and even in the presence of parameters uncertainties and mismatching disturbances. Better estimations of the stator resistance, the rotor resistance, and the mutual inductance yield improvements of induction motor performances using VSC-DTC-SVM, thereby facilitating torque ripple minimization. Simulation results verified the performances of the proposed approach.

  9. 基于遗传算法的高速飞行器滑模控制律设计%GA based design of sliding mode control law for hypersonic vehicle

    Institute of Scientific and Technical Information of China (English)

    李惠峰; 王健; 孙文冲

    2009-01-01

    A sliding mode control law was presented according to the six DOF nonlinear model of pitching channel of hypersonic vehicle generic hypersonic vehicle( GHV). First, for making a good use of sliding mode control theory, the six DOF model was transformed into an affine system through input-output feedback linearization. Then, the structure of sliding mode control law was designed for the affine system. After the structure design of sliding mode control law, the control parameters of sliding mode control law were designed based on genetic algorithm. The design process of sliding mode control parameters takes into account stochastic robustness strategy, which is to make sure that the possibility of loss of flight control stability or robustness achieves least through control parameter optimization based on genetic algorithm, when dealing with parameter uncertainties in stochastic uniform distribution. Simulations show that the method is able to satisfy both the robustness of flight control system and the convergence of parameter optimization process on request.%以高超声速飞行器GHV(Generic Hypersonic Vehicle)的俯仰通道为控制对象,针对其6自由度非线性模型设计了滑模控制律.为了便于应用滑模控制理论,首先对该模型进行了输入输出反馈线性化,将原模型转换成为仿射型.设计好滑模控制律结构以后,基于遗传算法完成了滑模控制律参数设计.该过程利用了随机鲁棒思想,即在随机均匀分布的参数不确定性作用下,通过遗传算法优化滑模控制律参数,使得飞行控制系统失去稳定性和鲁棒性的概率达到最小.仿真表明,该方法可以同时满足飞行控制系统鲁棒性和参数优化过程收敛性的要求.

  10. Recent developments in sliding mode control and active disturbance rejection control%滑模控制和自抗扰控制的研究进展

    Institute of Scientific and Technical Information of China (English)

    夏元清; 付梦印; 邓志红; 任雪梅

    2013-01-01

    Rencent developments on sliding mode control (SMC) and active disturbance rejection control (ADRC) are summarized.The concept of compound control is also introduced.SMC and ADRC have their own advantages and limitations,i.e.,chattering of SMC and the observability of extended state observer (ESO).Compound control combines their advantages and improves the performance of the closed-loop systems.%本文概括了滑模控制和自抗扰控制的研究进展,进一步给出了复合控制的思想.滑模控制和自抗扰控制都有它们各自的优点,但是也都有它们各自的局限,例如:滑模控制中的抖振问题和自抗扰控制中的估计能力受限问题.复合控制结合了滑模控制和自抗扰控制的优点,并能提高闭环系统的性能.

  11. Simulation of a Ball on a Beam Model Using a Fuzzy-dynamic and a Fuzzy-static Sliding-mode Controller

    Directory of Open Access Journals (Sweden)

    Muawia A. Magzoub

    2014-07-01

    Full Text Available This study presents the design of a Fuzzy Static (FS and a Fuzzy Dynamic (FD Sliding-Mode Controllers (SMC for both basic and complete ball on beam system. At first, the FSSMC was designed for the simplified and the complete models. Then, the FDSMC was designed on the simplified and the comprehensive models of the system in which the ball is placed on a beam as well. In addition, the lyapunov stability and linearization were used to check the stability of the system. There is an in-built issue of chattering with (FSSMC. However, (FDSMC counter it well. Also, FDSMC is effective with respect to matched disturbance rejection. It has been found out from this research study that the designs of the models which utilize a FDSMC with a comprehensive model of the system were more efficient than the designs that utilize the basic system’s prototype. Lastly, a comprehensive comparative analysis is provided and MATLAB/SIMULINK outcomes confirm the dominance of FDSMC.

  12. A dual mode charge pump with adaptive output used in a class G audio power amplifier

    International Nuclear Information System (INIS)

    A dual mode charge pump to produce an adaptive power supply for a class G audio power amplifier is presented. According to the amplitude of the input signals, the charge pump has two level output voltage rails available to save power. It operates both in current mode at high output load and in pulse frequency modulation (PFM) at light load to reduce the power dissipation. Also, dynamic adjustment of the power stage transistor size based on load current at the PFM mode is introduced to reduce the output voltage ripple and prevent the switching frequency from audio range. The prototype is implemented in 0.18 μm 3.3 V CMOS technology. Experimental results show that the maximum power efficiency of the charge pump is 79.5% - 0.5x mode and 83.6% - 1x mode. The output voltage ripple is less than 15 mV while providing 120 mA of the load current at PFM control and less than 18 mV while providing 300 mA of the load current at current mode control. An analytical model for ripple voltage and efficiency calculation of the proposed PFM control demonstrates reasonable agreement with measured results. (semiconductor integrated circuits)

  13. A dual mode charge pump with adaptive output used in a class G audio power amplifier

    Science.gov (United States)

    Yong, Feng; Zhenfei, Peng; Shanshan, Yang; Zhiliang, Hong; Yang, Liu

    2011-04-01

    A dual mode charge pump to produce an adaptive power supply for a class G audio power amplifier is presented. According to the amplitude of the input signals, the charge pump has two level output voltage rails available to save power. It operates both in current mode at high output load and in pulse frequency modulation (PFM) at light load to reduce the power dissipation. Also, dynamic adjustment of the power stage transistor size based on load current at the PFM mode is introduced to reduce the output voltage ripple and prevent the switching frequency from audio range. The prototype is implemented in 0.18 μm 3.3 V CMOS technology. Experimental results show that the maximum power efficiency of the charge pump is 79.5% @ 0.5x mode and 83.6% @ 1x mode. The output voltage ripple is less than 15 mV while providing 120 mA of the load current at PFM control and less than 18 mV while providing 300 mA of the load current at current mode control. An analytical model for ripple voltage and efficiency calculation of the proposed PFM control demonstrates reasonable agreement with measured results.

  14. A dual mode charge pump with adaptive output used in a class G audio power amplifier*

    Institute of Scientific and Technical Information of China (English)

    Feng Yong; Peng Zhenfei; Yang Shanshan; Hong Zhiliang; Liu Yang

    2011-01-01

    A dual mode charge pump to produce an adaptive power supply for a class G audio power amplifier is presented. According to the amplitude of the input signals, the charge pump has two level output voltage rails available to save power. It operates both in current mode at high output load and in pulse frequency modulation (PFM) at light load to reduce the power dissipation. Also, dynamic adjustment of the power stage transistor size based on load current at the PFM mode is introduced to reduce the output voltage ripple and prevent the switching frequency from audio range. The prototype is implemented in 0.18μm 3.3 V CMOS technology. Experimental results show that the maximum power efficiency of the charge pump is 79.5% @ 0.5x mode and 83.6% @ lx mode. The output voltage ripple is less than 15 mV while providing 120 mA of the load current at PFM control and less than 18 mV while providing 300 mA of the load current at current mode control. An analytical model for ripple voltage and efficiency calculation of the proposed PFM control demonstrates reasonable agreement with measured results.

  15. A dual mode charge pump with adaptive output used in a class G audio power amplifier

    Energy Technology Data Exchange (ETDEWEB)

    Feng Yong; Peng Zhenfei; Yang Shanshan; Hong Zhiliang [State Key Laboratory of ASIC and System, Fudan University Shanghai 201203 (China); Liu Yang, E-mail: zlhong@fudan.edu.cn [Shanghai Design Center, Analog Devices, Shanghai 200021 (China)

    2011-04-15

    A dual mode charge pump to produce an adaptive power supply for a class G audio power amplifier is presented. According to the amplitude of the input signals, the charge pump has two level output voltage rails available to save power. It operates both in current mode at high output load and in pulse frequency modulation (PFM) at light load to reduce the power dissipation. Also, dynamic adjustment of the power stage transistor size based on load current at the PFM mode is introduced to reduce the output voltage ripple and prevent the switching frequency from audio range. The prototype is implemented in 0.18 {mu}m 3.3 V CMOS technology. Experimental results show that the maximum power efficiency of the charge pump is 79.5% - 0.5x mode and 83.6% - 1x mode. The output voltage ripple is less than 15 mV while providing 120 mA of the load current at PFM control and less than 18 mV while providing 300 mA of the load current at current mode control. An analytical model for ripple voltage and efficiency calculation of the proposed PFM control demonstrates reasonable agreement with measured results. (semiconductor integrated circuits)

  16. High Resolution Mode-Selective Excitation by Adaptive Femtosecond Pulse Shaping

    Institute of Scientific and Technical Information of China (English)

    LI Xia; ZHANG Hui; ZHANG Xiang-Yun; ZHANG Shi-An; CHEN Guo-Liang; WANG Zu-Geng; SUN Zhen-Rong

    2008-01-01

    High resolution mode-selective excitation in the mixture of C6H6(992cm-1)and C6D6(945cm-1)is experimentally achieved by adaptive femtosecond pulse shaping based on the genetic algorithm(GA),and second harmonic generation frequency-resolved optical gating(SHG-FROG)is adopted to characterize the original and optimal laser pulses,and its mechanism is experimentally validated by tailoring the frequency components of the pump pulses at the Fourier plane.It is indicated that two-pulse coherent mode-selective excitation of the Raman scattering mainly depends on the effective frequency components of the pump pulse related to specific molecular vibrational mode.The experimental results have attractive potential appfications in the complicated molecular system.

  17. Design and implementation of adaptive slope compensation in current mode DC-DC converter

    Energy Technology Data Exchange (ETDEWEB)

    Guo Zhongjie; Wu Longsheng; Liu Youbao, E-mail: guozhongjie4213@126.com [Xi' an Microelectronic Technology Institute, Xi' an 710054 (China)

    2010-12-15

    To improve the compensation for the inherent instability in a current mode converter, the adaptive slope compensation, giving attention to the problems of the traditional compensation on compensation accuracy, loading capability and turning jitter, is presented. Based on the analysis of current loop, by detecting the input and output voltage, converting the adaptive slope compensation current, the compensation of the current loop is optimized successfully. It can not only improve the compensation accuracy but also eliminate the over compensation, the turning jitter and the poor loading capability in the reported slope compensation. A power supply chip with adaptive slope compensation has been fabricated in a 0.35 {mu}m CMOS process. The measurement results show that the chip starts up and operates steadily with the constant current limit under conditions of 5 V input voltage, from 10% to 100% duty cycle. (semiconductor integrated circuits)

  18. Analysis of Adaptive Interference Cancellation Using Common-Mode Information in Wireline Communications

    Directory of Open Access Journals (Sweden)

    Per Ola Börjesson

    2007-01-01

    Full Text Available Joint processing of common-mode (CM and differential-mode (DM signals in wireline transmission can yield significant improvements in terms of throughput compared to using only the DM signal. Recent work proposed the employment of an adaptive CM-reference-based interference canceller and reported performance improvements based on simulation results. This paper presents a thorough investigation of the cancellation approach. A subchannel model of the CM-aided wireline channel is presented and the Wiener solutions for different adaptation strategies are derived. It is shown that a canceller, whose coefficients are adapted while the far-end transmitter is silent, yields a signal-to-noise power ratio (SNR that is higher than the SNR at the DM channel output for a large class of practically relevant cases. Adaptation while the useful far-end signal is present yields a front-end whose output SNR is considerably lower compared to the SNR of the DM channel output. The results are illustrated by simulations based on channel measurement data.

  19. 有输入饱和的欠驱动VTOL飞行器滑模控制%Sliding mode control for underactuated VTOL aircraft with input saturation

    Institute of Scientific and Technical Information of China (English)

    刘金琨; 龚海生

    2013-01-01

    垂直起降飞行器(vertical take-off and landing,VTOL)是典型的非线性、欠驱动系统,实际工程中VTOL飞行器的执行机构通常有饱和特性,针对这种模型的特点,对原始数学模型进行了解耦坐标变换,通过可逆坐标变换化成一个最小相位系统和一个非最小相位系统,之后采用滑模设计方法设计控制器.为了解决执行机构的饱和问题,将超出饱和受限的部分回馈到控制器中,构造一个赫尔伍兹稳定的辅助线性系统,然后把它加入到滑模控制器之中,在控制器中做补偿.利用李雅普诺夫函数证明了系统的稳定性.仿真结果表明,此方法可有效地解决输入受限的VTOL飞行器的镇定和轨迹跟踪问题.%Vertical take-off and landing(VTOL) aircraft is a typically nonlinear underactuated system,and its executors usually have saturation characteristics in practical engineering. Firstly, VTOL dynamic e-quation was transformed into two sub-systems by reversible coordination transformations. Secondly, sliding mode controller was designed to realize trajectory tracking, and to compensate for the input saturation , a Hurwitz stable linear auxiliary system was developed and introduced into the sliding surfaces. Finally , the closed-loop system stability was proved by Lyapunov analysis. Simulation results indicate that the proposed method is effective to solve the VTOL aircraft trajectory tracking problem with input saturation.

  20. Robust Cascaded Sliding-Mode Control Based on Fuzzy-Logic for Variable Speed DFIG Wind Turbines%基于模糊逻辑的变速双馈风力发电系统级联滑模鲁棒控制

    Institute of Scientific and Technical Information of China (English)

    张细政; 王耀南

    2011-01-01

    提出一种结合模糊逻辑与滑模变结构技术的新型风力发电系统鲁棒控制方法,采用级联的风力机滑模控制器和发电机滑模控制器,并利用模糊逻辑实现滑模切换增益的自适应调节。该方法能在定、转子电阻等系统参数具有不确定性的情况下,分别实现对参考转子磁链和转矩的良好控制及对最佳叶片转速的鲁棒跟踪,从而获得在额定发电功率内的最大风能追踪。仿真结果表明,相比较常规的反馈线性化技术,该方法在有参数变化时具有更好的控制性能,鲁棒性更强,具有更高的风能利用率。%A fuzzy-logic-based sliding mode controller is proposed for wind energy conversion system with a variable speed DFIG.The controller is composed of the wind turbine sliding-mode controller and the DFIG sliding-mode controller.The turbine controller is used to achieve a robust tracking of the optimal blade rotor speed to optimize the wind energy capturing,and the DFIG controller is applied to ensure a robust tracking of both the generator torque and the rotor flux.The switching gains of the sliding modes are adapted based on the fuzzy interference system.The global controller is tested and validated on a flexible wind turbine simulator,and the results show that the proposed scheme has better performance and higher wind-energy-utilization ratio than the conventional feeback linearization method in presence of parameter variations.