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Sample records for fuzzy sliding-mode control

  1. Fuzzy Backstepping Sliding Mode Control for Mismatched Uncertain System

    H. Q. Hou

    2014-06-01

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

  2. FUZZY SLIDING MODE CONTROLLER FOR DOUBLY FED ...

    2010-12-31

    Dec 31, 2010 ... against internal and external perturbations, but the FSMC is superior to ... controller, doubly fed induction motor, fuzzy logic control. 1. ... capabilities in accounting for modeling imprecision and bounded disturbances. It ..... To show the effect of the parameters uncertainties, we have simulated the system with.

  3. Fuzzy sliding mode controller for doubly fed induction motor speed ...

    The use of the nonlinear fuzzy sliding mode method provides very good performance for motor operation and robustness of the control law despite the external/internal perturbations. The chattering effects is eliminated by a particular function "sat" that presents a serious problem to applications of variable structure systems.

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

    Junhai Luo

    2014-01-01

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

  5. Two-Dimensional Fuzzy Sliding Mode Control of a Field-Sensed Magnetic Suspension System

    Jen-Hsing Li

    2014-01-01

    Full Text Available This paper presents the two-dimensional fuzzy sliding mode control of a field-sensed magnetic suspension system. The fuzzy rules include both the sliding manifold and its derivative. The fuzzy sliding mode control has advantages of the sliding mode control and the fuzzy control rules are minimized. Magnetic suspension systems are nonlinear and inherently unstable systems. The two-dimensional fuzzy sliding mode control can stabilize the nonlinear systems globally and attenuate chatter effectively. It is adequate to be applied to magnetic suspension systems. New design circuits of magnetic suspension systems are proposed in this paper. ARM Cortex-M3 microcontroller is utilized as a digital controller. The implemented driver, sensor, and control circuits are simpler, more inexpensive, and effective. This apparatus is satisfactory for engineering education. In the hands-on experiments, the proposed control scheme markedly improves performances of the field-sensed magnetic suspension system.

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

    Tat-Bao-Thien Nguyen

    2014-01-01

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

  7. Fuzzy sliding mode control for maximum power point tracking of a photovoltaic pumping system

    Sabah Miqoi

    2017-03-01

    Full Text Available In this paper a new maximum power point tracking method based on fuzzy sliding mode control is proposed, and employed in a PV water pumping system based on a DC-DC boost converter, to produce maximum power from the solar panel hence more speed in the DC motor and more water quantity. This method combines two different tracking techniques sliding mode control and fuzzy logic; our controller is based on sliding mode control, then to give better stability and enhance the power production a fuzzy logic technique was added. System modeling, sliding method definition and the new control method presentation are represented in this paper. The results of the simulation that are compared to both sliding mode controller and perturbation and observation method demonstrate effectiveness and robustness of the proposed controller.

  8. A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

    Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

    2015-11-01

    In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

  9. Sliding mode fuzzy control for a once-through stream generator

    Zhang Guifeng; Shi Xiaocheng; Sun Tieli; Xiong Jinkui; Zhang Hongguo

    2007-01-01

    A once-through steam generator is important equipment in nuclear power plant, so its control level is high. A Sliding Mode Fuzzy Controller inherits the robustness property of Sliding Mode Control and the interpolation property of Fuzzy Logic Control. The robustness property of variable structure system makes the control system insensitive for different burthen variety and different outside disturbance. Fuzzy control predigests the device of control system and alleviates the chattering which variable structure system causes. So the control system can be made more ideal. The paper describes the design method of Sliding Mode Fuzzy Controller without its system model for a once-through steam generator. And the simulation results show that satisfying control results can be got. (authors)

  10. Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator

    Ji-Hwan Hwang

    2017-01-01

    Full Text Available In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

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

    Yau, H.-T.; Chen, C.-L.

    2006-01-01

    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

  12. Adaptive fuzzy sliding-mode control for multi-input multi-output chaotic systems

    Poursamad, Amir; Markazi, Amir H.D.

    2009-01-01

    This paper describes an adaptive fuzzy sliding-mode control algorithm for controlling unknown or uncertain, multi-input multi-output (MIMO), possibly chaotic, dynamical systems. The control approach encompasses a fuzzy system and a robust controller. The fuzzy system is designed to mimic an ideal sliding-mode controller, and the robust controller compensates the difference between the fuzzy controller and the ideal one. The parameters of the fuzzy system, as well as the uncertainty bound of the robust controller, are tuned adaptively. The adaptive laws are derived in the Lyapunov sense to guarantee the asymptotic stability and tracking of the controlled system. The effectiveness of the proposed method is shown by applying it to some well-known chaotic systems.

  13. AN INTELLIGENT NEURO-FUZZY TERMINAL SLIDING MODE CONTROL METHOD WITH APPLICATION TO ATOMIC FORCE MICROSCOPE

    Seied Yasser Nikoo

    2016-11-01

    Full Text Available In this paper, a neuro-fuzzy fast terminal sliding mode control method is proposed for controlling a class of nonlinear systems with bounded uncertainties and disturbances. In this method, a nonlinear terminal sliding surface is firstly designed. Then, this sliding surface is considered as input for an adaptive neuro-fuzzy inference system which is the main controller. A proportinal-integral-derivative controller is also used to asist the neuro-fuzzy controller in order to improve the performance of the system at the begining stage of control operation. In addition, bee algorithm is used in this paper to update the weights of neuro-fuzzy system as well as the parameters of the proportinal-integral-derivative controller. The proposed control scheme is simulated for vibration control in a model of atomic force microscope system and the results are compared with conventional sliding mode controllers. The simulation results show that the chattering effect in the proposed controller is decreased in comparison with the sliding mode and the terminal sliding mode controllers. Also, the method provides the advantages of fast convergence and low model dependency compared to the conventional methods.

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

    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.

  15. PSO based neuro fuzzy sliding mode control for a robot manipulator

    M. Vijay

    2017-05-01

    Full Text Available This paper presents the control strategy of two degrees of freedom (2DOF rigid robot manipulator based on the coupling of artificial neuro fuzzy inference system (ANFIS with sliding mode control (SMC. Initially SMC with proportional integral derivative (PID sliding surface is adapted to control the robot manipulator. The parameters of the sliding surface are obtained by minimizing a quadratic performance indices using particle swarm optimization (PSO. Variations of SMC i.e. boundary sliding mode control (BSMC and boundary sliding mode control with PID sliding surface (PIDBSMC are developed for optimized performance index. Finally an ANFIS adaptive controller is proposed to generate the adaptive control signal and found to be more robust with regard to disturbances in input torque.

  16. Stabilizing periodic orbits of chaotic systems using fuzzy adaptive sliding mode control

    Layeghi, Hamed [Department of Mechanical Engineering, Sharif University of Technology, Center of Excellence in Design, Robotics and Automation, Azadi Avenue, Postal Code 11365-9567 Tehran (Iran, Islamic Republic of)], E-mail: layeghi@mech.sharif.edu; Arjmand, Mehdi Tabe [Department of Mechanical Engineering, Sharif University of Technology, Center of Excellence in Design, Robotics and Automation, Azadi Avenue, Postal Code 11365-9567 Tehran (Iran, Islamic Republic of)], E-mail: arjmand@mech.sharif.edu; Salarieh, Hassan [Department of Mechanical Engineering, Sharif University of Technology, Center of Excellence in Design, Robotics and Automation, Azadi Avenue, Postal Code 11365-9567 Tehran (Iran, Islamic Republic of)], E-mail: salarieh@mech.sharif.edu; Alasty, Aria [Department of Mechanical Engineering, Sharif University of Technology, Center of Excellence in Design, Robotics and Automation, Azadi Avenue, Postal Code 11365-9567 Tehran (Iran, Islamic Republic of)], E-mail: aalasti@sharif.edu

    2008-08-15

    In this paper by using a combination of fuzzy identification and the sliding mode control a fuzzy adaptive sliding mode scheme is designed to stabilize the unstable periodic orbits of chaotic systems. The chaotic system is assumed to have an affine form x{sup (n)} = f(X) + g(X)u where f and g are unknown functions. Using only the input-output data obtained from the underlying dynamical system, two fuzzy systems are constructed for identification of f and g. Two distinct methods are utilized for fuzzy modeling, the least squares and the gradient descent techniques. Based on the estimated fuzzy models, an adaptive controller, which works through the sliding mode control, is designed to make the system track the desired unstable periodic orbits. The stability analysis of the overall closed loop system is presented in the paper and the effectiveness of the proposed adaptive scheme is numerically investigated. As a case of study, modified Duffing system is selected for applying the proposed method to stabilize its 2{pi} and 4{pi} periodic orbits. Simulation results show the high performance of the method for stabilizing the unstable periodic orbits of unknown chaotic systems.

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

    Xiao Liang

    2016-06-01

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

  18. Implementation of fuzzy-sliding mode based control of a grid connected photovoltaic system.

    Menadi, Abdelkrim; Abdeddaim, Sabrina; Ghamri, Ahmed; Betka, Achour

    2015-09-01

    The present work describes an optimal operation of a small scale photovoltaic system connected to a micro-grid, based on both sliding mode and fuzzy logic control. Real time implementation is done through a dSPACE 1104 single board, controlling a boost chopper on the PV array side and a voltage source inverter (VSI) on the grid side. The sliding mode controller tracks permanently the maximum power of the PV array regardless of atmospheric condition variations, while The fuzzy logic controller (FLC) regulates the DC-link voltage, and ensures via current control of the VSI a quasi-total transit of the extracted PV power to the grid under a unity power factor operation. Simulation results, carried out via Matlab-Simulink package were approved through experiment, showing the effectiveness of the proposed control techniques. Copyright © 2015. Published by Elsevier Ltd.

  19. Predictive Sliding Mode Control for Attitude Tracking of Hypersonic Vehicles Using Fuzzy Disturbance Observer

    Xianlei Cheng

    2015-01-01

    Full Text Available We propose a predictive sliding mode control (PSMC scheme for attitude control of hypersonic vehicle (HV with system uncertainties and external disturbances based on an improved fuzzy disturbance observer (IFDO. First, for a class of uncertain affine nonlinear systems with system uncertainties and external disturbances, we propose a predictive sliding mode control based on fuzzy disturbance observer (FDO-PSMC, which is used to estimate the composite disturbances containing system uncertainties and external disturbances. Afterward, to enhance the composite disturbances rejection performance, an improved FDO-PSMC (IFDO-PSMC is proposed by incorporating a hyperbolic tangent function with FDO to compensate for the approximate error of FDO. Finally, considering the actuator dynamics, the proposed IFDO-PSMC is applied to attitude control system design for HV to track the guidance commands with high precision and strong robustness. Simulation results demonstrate the effectiveness and robustness of the proposed attitude control scheme.

  20. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    Hamed Navabi; Soroush Sadeghnejad; Sepehr Ramezani; Jacky Baltes

    2017-01-01

    A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivi...

  1. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    Hamed Navabi

    2017-01-01

    Full Text Available A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a regulation with one signal, (b regulation and position control with one signal, (c regulation and position control with two signals, and (d FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

  2. Control of input delayed pneumatic vibration isolation table using adaptive fuzzy sliding mode

    Mostafa Khazaee

    Full Text Available AbstractPneumatic isolators are promising candidates for increasing the quality of accurate instruments. For this purpose, higher performance of such isolators is a prerequisite. In particular, the time-delay due to the air transmission is an inherent issue with pneumatic systems, which needs to be overcome using modern control methods. In this paper an adaptive fuzzy sliding mode controller is proposed to improve the performance of a pneumatic isolator in the low frequency range, i.e., where the passive techniques have obvious shortcomings. The main idea is to combine the adaptive fuzzy controller with adaptive predictor as a new time delay control technique. The adaptive fuzzy sliding mode control and the adaptive fuzzy predictor help to circumvent the input delay and nonlinearities in such isolators. The main advantage of the proposed method is that the closed-loop system stability is guaranteed under certain conditions. Simulation results reveal the effectiveness of the proposed method, compared with other existing time -delay control methods.

  3. Sliding mode control and observation

    Shtessel, Yuri; Fridman, Leonid; Levant, Arie

    2014-01-01

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

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

    Han, Seong Ik; Jeong, Chan Se; Yang, Soon Yong

    2012-01-01

    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

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

    Le, Thanh Danh; Ahn, Kyoung Kwan

    2012-01-01

    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. Distributed Adaptive Fuzzy Control for Nonlinear Multiagent Systems Via Sliding Mode Observers.

    Shen, Qikun; Shi, Peng; Shi, Yan

    2016-12-01

    In this paper, the problem of distributed adaptive fuzzy control is investigated for high-order uncertain nonlinear multiagent systems on directed graph with a fixed topology. It is assumed that only the outputs of each follower and its neighbors are available in the design of its distributed controllers. Equivalent output injection sliding mode observers are proposed for each follower to estimate the states of itself and its neighbors, and an observer-based distributed adaptive controller is designed for each follower to guarantee that it asymptotically synchronizes to a leader with tracking errors being semi-globally uniform ultimate bounded, in which fuzzy logic systems are utilized to approximate unknown functions. Based on algebraic graph theory and Lyapunov function approach, using Filippov-framework, the closed-loop system stability analysis is conducted. Finally, numerical simulations are provided to illustrate the effectiveness and potential of the developed design techniques.

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

    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.

  8. Development and comparison of integrated dynamics control systems with fuzzy logic control and sliding mode control

    Song, Jeong Hoon

    2013-01-01

    In this study, four integrated dynamics control (IDC) systems abbreviated as IDCB, IDCS, IDCF, and IDCR are developed, evaluated and compared. IDC systems were integrated with brake and steer control systems to enhance lateral stability and handling performance. To construct the IDC systems, a vehicle model with fourteen degrees of freedom, a fuzzy logic controller, and a sliding mode ABS controller were used. They were tested with various steering inputs when excessive full brake pressure or no brake pressure was applied on dry asphalt, wet asphalt, a snow-covered paved road, and a split-µ road. The results showed that an IDC-equipped vehicle improved lateral stability and controllability in every driving condition compared to an ABS-equipped vehicle. Under all road conditions, IDC controllers enabled the yaw rate to follow the reference yaw rate almost perfectly and reduced the body slip angle. On a split-µ road, IDCB, IDCS, IDCF, and IDCR vehicles drove straight ahead with only very small deviations.

  9. Motorized CPM/CAM physiotherapy device with sliding-mode Fuzzy Neural Network control loop.

    Ho, Hung-Jung; Chen, Tien-Chi

    2009-11-01

    Continuous passive motion (CPM) and controllable active motion (CAM) physiotherapy devices promote rehabilitation of damaged joints. This paper presents a computerized CPM/CAM system that obviates the need for mechanical resistance devices such as springs. The system is controlled by a computer which performs sliding-mode Fuzzy Neural Network (FNN) calculations online. CAM-type resistance force is generated by the active performance of an electric motor which is controlled so as to oppose the motion of the patient's leg. A force sensor under the patient's foot on the device pedal provides data for feedback in a sliding-mode FNN control loop built around the motor. Via an active impedance control feedback system, the controller drives the motor to behave similarly to a damped spring by generating and controlling the amplitude and direction of the pedal force in relation to the patient's leg. Experiments demonstrate the high sensitivity and speed of the device. The PC-based feedback nature of the control loop means that sophisticated auto-adaptable CPM/CAM custom-designed physiotherapy becomes possible. The computer base also allows extensive data recording, data analysis and network-connected remote patient monitoring.

  10. Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision

    Linhui Li

    2013-01-01

    Full Text Available The lateral control of intelligent vehicle is studied in this paper, with the intelligent vehicle DLUIV-1 based on visual navigation as the object of research. Firstly, the lateral control model based on visual preview is established. The kinematics model based on visual preview, including speed and other factors, is used to calculate the lateral error and direction error. Secondly, according to the characteristics of lateral control, an efficient strategy of intelligent vehicle lateral mode is proposed. The integration of the vehicle current lateral error and direction error is chosen as the parameter of the sliding mode switching function to design the sliding surface. The control variables are adjusted according to the fuzzy control rules to ensure that they meet the existence and reaching condition. The sliding mode switching function is regarded as the control objective, to ensure the stability of the steering wheel rotation. Simulation results show that the lateral controller can guarantee high path-tracking accuracy and strong robustness for the change of model parameters.

  11. High performance fuzzy sliding mode control of DFIG supplied by seven level NPC inverter

    Mohamed BENKAHLA

    2017-09-01

    Full Text Available This article presents the powers control of a variable speed wind turbine (WT based on a doubly fed induction generator (DFIG because of their advantages in terms of economy and control. The considered system consists of a double fed induction generator whose stator is connected directly to the network and its rotor is supplied by seven-level inverter with structure NPC are well used to minimize the harmonics absorbed by the DFIG. In order to control the power flowing between the stator of the DFIG and the grid. Have been studied and compared two types of controllers : Sliding Mode Control (SMC and Fuzzy SMC (FSMC. 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.

  12. Comparison of Sliding Mode Control and Fuzzy Logic control applied to Variable Speed Wind Energy Conversion Systems

    Souhila Rached Zine

    2015-08-01

    Full Text Available wind energy features prominently as a supplementary energy booster. It does not pollute and is inexhaustible. However, its high cost is a major constraint, especially on the less windy sites. The purpose of wind energy systems is to maximize energy efficiency, and extract maximum power from the wind speed. In This case, the MPPT control becomes important. To realize this control, strategy conventional Proportional and Integral (PI controller is usually used. However, this strategy cannot achieve better performance. This paper proposes other control methods of a turbine which optimizes its production such as fuzzy logic, sliding mode control. These methods improve the quality and energy efficiency. The proposed Sliding Mode Control (SMC strategy and the fuzzy controllers have presented attractive features such as robustness to parametric uncertainties of the turbine, simplicity of its design and good performances. The simulation result under Matlab\\Simulink has validated the performance of the proposed MPPT strategies.

  13. An improved efficiency of fuzzy sliding mode control of permanent magnet synchronous motor for wind turbine generator pumping system

    Benchabane, F.; Titaouine, A.; Guettaf, A.; Yahia, K.; Taibi, D.; Bennis, O.

    2012-01-01

    This paper presents an analysis by which the dynamic performances of a permanent magnet synchronous motor (PMSM) motor is controlled through a hysteresis current loop and an outer speed loop with different controllers. The dynamics of the wind turbine pumping drive system with (PI) and a fuzzy sliding mode (FSM) speed controllers are presented. In order to optimize the overall system efficiency, a maximum power point tracker is also used. Simulation is carried out by formatting the mathematical model for wind turbine generator, motor and pump load. The results for such complicated and nonlinear system, with fuzzy sliding mode speed controller show improvement in transient response of the PMSM drive over conventional PI. The effectiveness of the FSM controller is also demonstrated. (author)

  14. Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

    Chang, Ming-Kun; Wu, Jui-Chi

    Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

  15. Performance Evaluation of an Anti-Lock Braking System for Electric Vehicles with a Fuzzy Sliding Mode Controller

    Jingang Guo; Xiaoping Jian; Guangyu Lin

    2014-01-01

    Traditional friction braking torque and motor braking torque can be used in braking for electric vehicles (EVs). A sliding mode controller (SMC) based on the exponential reaching law for the anti-lock braking system (ABS) is developed to maintain the optimal slip value. Parameter optimizing is applied to the reaching law by fuzzy logic control (FLC). A regenerative braking algorithm, in which the motor torque is taken full advantage of, is adopted to distribute the braking force between the m...

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

    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.

  17. Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study

    Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

    2015-01-01

    Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and...

  18. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control

    Jhih-Hong Lin

    2016-08-01

    Full Text Available Magnetic shape memory (MSM alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.

  19. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control.

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-08-25

    Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.

  20. Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm

    Gao, Qing; Liu, Jinguo; Tian, Tongtong; Li, Yangmin

    2017-09-01

    Space robots can perform some tasks in harsh environment as assistants of astronauts or substitutions of astronauts. Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely.

  1. Application of Fuzzy Algorithm in Optimizing Hierarchical Sliding Mode Control for Pendubot System

    Xuan Dung Huynh

    2017-12-01

    Full Text Available Pendubot is a classical under-actuated SIMO model for control algorithm testing in laboratory of universities. In this paper, authors design a fuzzy-sliding control for this system. The controller is designed from a new idea of application of fuzzy algorithm for optioning control parameters. The response of system on TOP position under fuzzysliding control algorithm is proved to be better than under sliding controller through Matlab/Simulink simulation.

  2. Velocity control of a secondary controlled closed-loop hydrostatic transmission system using an adaptive fuzzy sliding mode controller

    Do, Hoang Thinh; Ahn, Kyoung Kwan [University of Ulsan, Ulsan (Korea, Republic of)

    2013-03-15

    A secondary-controlled hydrostatic transmission system (SC-HST), which considered being an energy-saving system, can recuperate most of the lost vehicle kinetic energy in decelerating and braking time and it shows advantage in fuel economy improvement of vehicle. Almost secondary control units (SCU) in SC-HST inherently contain nonlinear characteristics such as dead-zone input. Therefore, it is difficult to obtain precise position or velocity control by conventional linear controllers. This problem limits the application of SC-HST in industry and mobile vehicle. This paper gives a description of SC-HST and proposes an adaptive fuzzy sliding mode controller (AFSMC) for velocity control of SCU. Experiments were carried out in the condition of disturbance load by using both the proposed controller and PID controller for the comparison and evaluation of the effectiveness of the proposed controller. The experimental results showed that the proposed controller was excellent from the standpoints of performance and stability for the velocity control of SC-HST.

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

    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. Applications of sliding mode control

    Ghommam, Jawhar; Zhu, Quanmin

    2017-01-01

    This book presents essential studies and applications in the context of sliding mode control, highlighting the latest findings from interdisciplinary theoretical studies, ranging from computational algorithm development to representative applications. Readers will learn how to easily tailor the techniques to accommodate their ad hoc applications. To make the content as accessible as possible, the book employs a clear route in each paper, moving from background to motivation, to quantitative development (equations), and lastly to case studies/illustrations/tutorials (simulations, experiences, curves, tables, etc.). Though primarily intended for graduate students, professors and researchers from related fields, the book will also benefit engineers and scientists from industry. .

  5. Performance Evaluation of an Anti-Lock Braking System for Electric Vehicles with a Fuzzy Sliding Mode Controller

    Jingang Guo

    2014-10-01

    Full Text Available Traditional friction braking torque and motor braking torque can be used in braking for electric vehicles (EVs. A sliding mode controller (SMC based on the exponential reaching law for the anti-lock braking system (ABS is developed to maintain the optimal slip value. Parameter optimizing is applied to the reaching law by fuzzy logic control (FLC. A regenerative braking algorithm, in which the motor torque is taken full advantage of, is adopted to distribute the braking force between the motor braking and the hydraulic braking. Simulations were carried out with Matlab/Simulink. By comparing with a conventional Bang-bang ABS controller, braking stability and passenger comfort is improved with the proposed SMC controller, and the chatting phenomenon is reduced effectively with the parameter optimizing by FLC. With the increasing proportion of the motor braking torque, the tracking of the slip ratio is more rapid and accurate. Furthermore, the braking distance is shortened and the conversion energy is enhanced.

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

    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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Regulation of Blood Glucose Concentration in Type 1 Diabetics Using Single Order Sliding Mode Control Combined with Fuzzy On-line Tunable Gain, a Simulation Study.

    Dinani, Soudabeh Taghian; Zekri, Maryam; Kamali, Marzieh

    2015-01-01

    Diabetes is considered as a global affecting disease with an increasing contribution to both mortality rate and cost damage in the society. Therefore, tight control of blood glucose levels has gained significant attention over the decades. This paper proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on combining the fuzzy logic theory and single order sliding mode control (SOSMC) to improve the properties of sliding mode control method and to alleviate its drawbacks. The aim of the proposed controller that is called SOSMC combined with fuzzy on-line tunable gain is to tune the gain of the controller adaptively. This merit causes a less amount of control effort, which is the rate of insulin delivered to the patient body. As a result, this method can decline the risk of hypoglycemia, a lethal phenomenon in regulating blood glucose level in diabetics caused by a low blood glucose level. Moreover, it attenuates the chattering observed in SOSMC significantly. It is worth noting that in this approach, a mathematical model called minimal model is applied instead of the intravenously infused insulin-blood glucose dynamics. The simulation results demonstrate a good performance of the proposed controller in meal disturbance rejection and robustness against parameter changes. In addition, this method is compared to fuzzy high-order sliding mode control (FHOSMC) and the superiority of the new method compared to FHOSMC is shown in the results.

  8. Lyapunov Based-Distributed Fuzzy-Sliding Mode Control for Building Integrated-DC Microgrid with Plug-in Electric Vehicle

    Ghiasi, Mohammad Iman; Aliakbar Golkar, Masoud; Hajizadeh, Amin

    2017-01-01

    This paper presents a distributed control strategy based on Fuzzy-Sliding Mode Control (FSMC) for power control of an infrastructure integrated with a DC-Microgrid, which includes photovoltaic, fuel cell and energy storage systems with Plug-in Electric Vehicles (PEVs). In order to implement...... the proposed control strategy, first a general nonlinear modeling of a DC-Microgrid based on related DC-DC converters to each DC power sources is introduced. Secondly, a power management strategy based on fuzzy control for regulating the power flow between the hybrid DC sources, PEVs is proposed. Third...

  9. A New Fuzzy Sliding Mode Controller with a Disturbance Estimator for Robust Vibration Control of a Semi-Active Vehicle Suspension System

    Byung-Keun Song

    2017-10-01

    Full Text Available This paper presents a new fuzzy sliding mode controller (FSMC to improve control performances in the presence of uncertainties related to model errors and external disturbance (UAD. As a first step, an adaptive control law is designed using Lyapunov stability analysis. The control law can update control parameters of the FSMC with a disturbance estimator (DE in which the closed-loop stability and finite-time convergence of tracking error are guaranteed. A solution for estimating the compensative quantity of the impact of UAD on a control system and a set of solutions are then presented in order to avoid the singular cases of the fuzzy-based function approximation, increase convergence ability, and reduce the calculating cost. Subsequently, the effectiveness of the proposed controller is verified through the investigation of vibration control performances of a semi-active vehicle suspension system featuring a magnetorheological damper (MRD. It is shown that the proposed controller can provide better control ability of vibration control with lower consumed power compared with two existing fuzzy sliding mode controllers.

  10. Fuzzy sliding-mode control with low pass filter to reduce chattering ...

    S Balamurugan

    2017-10-13

    Oct 13, 2017 ... effect: an experimental validation on Quanser SRIP ... Stabilization of a single rotary inverted pendulum (SRIP) system is a benchmark nonlinear control problem. ..... SMC with sign function still exhibits the chattering phe-.

  11. Adaptive Fuzzy Integral Sliding-Mode Regulator for Induction Motor Using Nonlinear Sliding Surface

    Yong-Kun Lu

    2015-01-01

    An adaptive fuzzy integral sliding-mode controller using nonlinear sliding surface is designed for the speed regulator of a field-oriented induction motor drive in this paper. Combining the conventional integral sliding surface with fractional-order integral, a nonlinear sliding surface is proposed for the integral sliding-mode speed control, which can overcome the windup problem and the convergence speed problem. An adaptive fuzzy control term is utilized to approximate the uncertainty. The ...

  12. Discrete-time nonlinear sliding mode controller

    user

    Keywords: Discrete-time delay system, Sliding mode control, nonlinear sliding ... of engineering systems such as chemical process control, delay in the actuator ...... instrumentation from Motilal Nehru National Institute of Technology (MNNIT),.

  13. Chaos control using sliding-mode theory

    Nazzal, Jamal M.; Natsheh, Ammar N.

    2007-01-01

    Chaos control means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, a nonlinear Sliding-Mode Controller (SMC) is presented. Two nonlinear chaotic systems are chosen to be our case study in this paper, the well known Chua's circuit and Lorenz system. The study shows the effectiveness of the designed nonlinear Sliding-Mode Controller

  14. Sliding Mode Control of Induction Motor Phase Currents

    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....

  15. Applications of sliding mode control in science and engineering

    Lien, Chang-Hua

    2017-01-01

    Gathering 20 chapters contributed by respected experts, this book reports on the latest advances in and applications of sliding mode control in science and engineering. The respective chapters address applications of sliding mode control in the broad areas of chaos theory, robotics, electrical engineering, physics, chemical engineering, memristors, mechanical engineering, environmental engineering, finance, and biology. Special emphasis has been given to papers that offer practical solutions, and which examine design and modeling involving new types of sliding mode control such as higher order sliding mode control, terminal sliding mode control, super-twisting sliding mode control, and integral sliding mode control. This book serves as a unique reference guide to sliding mode control and its recent applications for graduate students and researchers with a basic knowledge of electrical and control systems engineering.

  16. Nonlinear Predictive Sliding Mode Control for Active Suspension System

    Dazhuang Wang

    2018-01-01

    Full Text Available An active suspension system is important in meeting the requirements of the ride comfort and handling stability for vehicles. In this work, a nonlinear model of active suspension system and a corresponding nonlinear robust predictive sliding mode control are established for the control problem of active suspension. Firstly, a seven-degree-of-freedom active suspension model is established considering the nonlinear effects of springs and dampers; and secondly, the dynamic model is expanded in the time domain, and the corresponding predictive sliding mode control is established. The uncertainties in the controller are approximated by the fuzzy logic system, and the adaptive controller reduces the approximation error to increase the robustness of the control system. Finally, the simulation results show that the ride comfort and handling stability performance of the active suspension system is better than that of the passive suspension system and the Skyhook active suspension. Thus, the system can obviously improve the shock absorption performance of vehicles.

  17. Adaptive Sliding Mode Control for Hydraulic Drives

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

    2013-01-01

    This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback...... employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved...

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

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

    2007-01-01

    This paper shows that classical sliding mode theory fails to correctly predict the output impedance of the highly useful sliding mode PID compensated buck converter. The reason for this is identified as the assumption of the sliding variable being held at zero during sliding mode, effectively...... 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....

  19. Robust Sliding Mode Control for Tokamaks

    I. Garrido

    2012-01-01

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

  20. Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

    Chen, Hongbin

    2018-03-01

    Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

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

    Janardhanan, S; Spurgeon, Sarah

    2013-01-01

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

  2. Free chattering hybrid sliding mode control for a class of non-linear systems

    Khooban, Mohammad Hassan; Niknam, Taher; Blaabjerg, Frede

    2016-01-01

    In current study, in order to find the control of general uncertain nonlinear systems, a new optimal hybrid control approach called Optimal General Type II Fuzzy Sliding Mode (OGT2FSM) is presented. In order to estimate unknown nonlinear activities in monitoring dynamic uncertainties, the benefits...... on the same topic, which are an Adaptive Interval Type-2 Fuzzy Logic Controller (AGT2FLC) and Conventional Sliding Mode Controller (CSMC), to assess the efficiency of the suggested controller. The suggested control scheme is finally used to the Electric Vehicles type as a case study. Results of simulation...

  3. An Aerial Robot for Rice Farm Quality Inspection With Type-2 Fuzzy Neural Networks Tuned by Particle Swarm Optimization-Sliding Mode Control Hybrid Algorithm

    Camci, Efe; Kripalan, Devesh Raju; Ma, Linlu

    2017-01-01

    , an autonomous quality inspection over rice farms is proposed by employing quadcopters. Real-time control of these vehicles, however, is still challenging as they exhibit highly nonlinear behavior especially for agile maneuvers. What is more, these vehicles have to operate under uncertain working conditions...... particle swarm optimization-sliding mode control (PSO-SMC) theory-based hybrid algorithm is proposed for the training of T2-FNNs. In particular, continuous version of PSO is adopted for the identification of the antecedent part of T2-FNNs while SMCbased update rules are utilized for online learning...

  4. Sensorless Sliding Mode Vector Control of Induction Motor Drives

    Gouichiche Abdelmadjid; Boucherit Mohamed Seghir; Safa Ahmed; Messlem Youcef

    2012-01-01

    In this paper we present the design of sliding mode controllers for sensorless field oriented control of induction motor. In order to improve the performance of controllers, the motor speed is controlled by sliding mode regulator with integral sliding surface. The estimated rotor speed used in speed feedback loop is calculated by an adaptive observer based on MRAS (model reference adaptive system) technique .the validity of the proposed scheme is demonstrated by experimental results.

  5. Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

    Ammar Al-Jodah; Laith Khames

    2018-01-01

    In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compar...

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

    Chutiphon Pukdeboon

    2011-01-01

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

  7. Sliding mode controller for a photovoltaic pumping system

    ElOugli, A.; Miqoi, S.; Boutouba, M.; Tidhaf, B.

    2017-03-01

    In this paper, a sliding mode control scheme (SMC) for maximum power point tracking controller for a photovoltaic pumping system, is proposed. The main goal is to maximize the flow rate for a water pump, by forcing the photovoltaic system to operate in its MPP, to obtain the maximum power that a PV system can deliver.And this, through the intermediary of a sliding mode controller to track and control the MPP by overcoming the power oscillation around the operating point, which appears in most implemented MPPT techniques. The sliding mode control approach is recognized as one of the efficient and powerful tools for nonlinear systems under uncertainty conditions.The proposed controller with photovoltaic pumping system is designed and simulated using MATLAB/SIMULINK environment. In addition, to evaluate its performances, a classical MPPT algorithm using perturb and observe (P&O) has been used for the same system to compare to our controller. Simulation results are shown.

  8. Tube Model Predictive Control with an Auxiliary Sliding Mode Controller

    Miodrag Spasic

    2016-07-01

    Full Text Available This paper studies Tube Model Predictive Control (MPC with a Sliding Mode Controller (SMC as an auxiliary controller. It is shown how to calculate the tube widths under SMC control, and thus how much the constraints of the nominal MPC have to be tightened in order to achieve robust stability and constraint fulfillment. The analysis avoids the assumption of infinitely fast switching in the SMC controller.

  9. Sliding mode control on electro-mechanical systems

    Vadim I. Utkin

    2002-01-01

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

  10. Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

    Ammar Al-Jodah

    2018-01-01

    Full Text Available In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs. A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

  11. Robust synchronization of unified chaotic systems via sliding mode control

    Yan Junjuh; Yang Yisung; Chiang Tsungying; Chen Chingyuan

    2007-01-01

    This paper investigates the chaos synchronization problem for a class of uncertain master-slave unified chaotic systems. Based on the sliding mode control technique, a robust control scheme is established which guarantees the occurrence of a sliding motion of error states even when the parameter uncertainty and external perturbation are present. Furthermore, a novel proportional-integral (PI) switching surface is introduced for determining the synchronization performance of systems in the sliding mode motion. Simulation results are proposed to demonstrate the effectiveness of the method

  12. Robust synchronization of chaotic systems via adaptive sliding mode control

    Yan, J.-J.; Hung, M.-L.; Chiang, T.-Y.; Yang, Y.-S.

    2006-01-01

    This Letter investigates the synchronization problem for a general class of chaotic systems. Using the sliding mode control technique, an adaptive control law is established to guarantee synchronization of the master and slave systems even when unknown parameters and external disturbances are present. In contrast to the previous works, the structure of slave system is simple and need not be identical to the master system. Furthermore, a novel proportional-integral (PI) switching surface is proposed to simplify the task of assigning the performance of the closed-loop error system in sliding mode. An illustrative example of Chua's circuit is given to demonstrate the effectiveness of the proposed synchronization scheme

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

    MITIC, D. B.

    2013-02-01

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

  14. Sliding-Mode Control of PEM Fuel Cells

    Kunusch, Cristian; Mayosky, Miguel

    2012-01-01

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

  15. Sliding Mode Control of a Tokamak Transformer

    Romero, J. A.; Coda, S.; Felici, F.; Moret, J. M.; Paley, J.; Sevillano, G.; Garrido, I.; Le, H. B.

    2012-06-08

    A novel inductive control system for a tokamak transformer is described. The system uses the flux change provided by the transformer primary coil to control the electric current and the internal inductance of the secondary plasma circuit load. The internal inductance control is used to regulate the slow flux penetration in the highly conductive plasma due to the skin effect, providing first-order control over the shape of the plasma current density profile. Inferred loop voltages at specific locations inside the plasma are included in a state feedback structure to improve controller performance. Experimental tests have shown that the plasma internal inductance can be controlled inductively for a whole pulse starting just 30ms after plasma breakdown. The details of the control system design are presented, including the transformer model, observer algorithms and controller design. (Author) 67 refs.

  16. Robust output LQ optimal control via integral sliding modes

    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...

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

    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.

  18. Active Power Factor Correction Using a Sliding Mode Controller

    Korhan KAYIŞLI

    2008-03-01

    Full Text Available In this paper, a sliding mode controller is designed for active shaping of the input current in the boost converter. Robustness of the designed controller is tested with variable output voltage references, different loads and network voltage variations. For the simulations, MATLAB/Simulink programme is used. From simulation results, the same phase was provided between input current and input voltage and nearly unity power factor was obtained.

  19. Advances and applications in sliding mode control systems

    Zhu, Quanmin

    2015-01-01

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

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

    Efe, Mehmet

    2015-01-01

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

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

    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.

  2. Second Order Sliding Mode Control of the Coupled Tanks System

    Fayiz Abu Khadra

    2015-01-01

    Full Text Available Four classes of second order sliding mode controllers (2-SMC have been successfully applied to regulate the liquid level in the second tank of a coupled tanks system. The robustness of these classes of 2-SMC is investigated and their performances are compared with a first order controller to show the merits of these controllers. The effectiveness of these controllers is verified through computer simulations. Comparison between the controllers is based on the time domain performance measures such as rise time, settling time, and the integral absolute error. Results showed that controllers are able to regulate the liquid level with small differences in their performance.

  3. Loss Minimization Sliding Mode Control of IPM Synchronous Motor Drives

    Mehran Zamanifar

    2010-01-01

    Full Text Available In this paper, a nonlinear loss minimization control strategy for an interior permanent magnet synchronous motor (IPMSM based on a newly developed sliding mode approach is presented. This control method sets force the speed control of the IPMSM drives and simultaneously ensures the minimization of the losses besides the uncertainties exist in the system such as parameter variations which have undesirable effects on the controller performance except at near nominal conditions. Simulation results are presented to show the effectiveness of the proposed controller.

  4. Sliding Mode Attitude Control for Magnetic Actuated Satellite

    Wisniewski, Rafal

    1998-01-01

    control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis attitude control. This paper deals with three-axis stabilization of a low earth orbit satellite. The problem of controlling...... the spacecraft attitude using only magnetic torquing is realized in the form of the sliding mode control. A three dimensional sliding manifold is proposed, and it is shown that the satellite motion on the sliding manifold is asymptotically stable...

  5. Chattering-free sliding mode observer for speed sensorless control of PMSM

    Mahmoud M. Gaballah

    2017-07-01

    Full Text Available This article presents a new speed observer based on fuzzy logic for speed sensorless control applications of permanent magnet synchronous motor “PMSM”. The switch function in traditional Sliding Mode Observer “SMO” is replaced by a rule based fuzzy logic system. The proposed observer not only improves the system dynamic performance during disturbances or parameter variations, but also has a high accuracy tracking performance with sufficient chattering reduction. The validity of the new observer corroborated through experimental results using TMS320F28069M Digital Signal Processor “DSP”.

  6. PID Controller of Sprayer Chassis by Sliding Mode

    Hua Zhang

    2017-01-01

    Full Text Available In order to solve the straight line drive coordinated control problem of the four-wheel independent drive sprayer chassis, the dynamic model of sprayer chassis and electromagnetic proportional valve controlled hydraulic motor model are established. The additional yaw moment is designed to rectify the deviation with sliding mode variable structure control. PID control strategy is used to calculate the control voltage adjustment of the electromagnetic proportional valve. The simulation results show that the accumulative deviation of the chassis is 0.2 m out of 100 m when the coordinated control strategy is adopted on different adhesive coefficient pavement, which is much smaller than the value without control. The test results of test prototype show that the yaw acceleration of the chassis can be as low as −0.0132 m/s2 on different adhesive coefficient pavement with coordinated control, which is smaller than the value without control, and the straight line drive requirements are met. It is feasible to combine sliding mode variable structure with PID control and use the electromagnetic proportional control technology in the straight line drive coordinated control of sprayer chassis by adding the yaw moment to rectify the deviation of chassis based on the yaw acceleration detection.

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

    U. Jørgensen

    2011-07-01

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

  8. Sliding Mode Control of a Slewing Flexible Beam

    Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

    1997-01-01

    An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

  9. Fractional order sliding-mode control based on parameters auto-tuning for velocity control of permanent magnet synchronous motor.

    Zhang, BiTao; Pi, YouGuo; Luo, Ying

    2012-09-01

    A fractional order sliding mode control (FROSMC) scheme based on parameters auto-tuning for the velocity control of permanent magnet synchronous motor (PMSM) is proposed in this paper. The control law of the proposed F(R)OSMC scheme is designed according to Lyapunov stability theorem. Based on the property of transferring energy with adjustable type in F(R)OSMC, this paper analyzes the chattering phenomenon in classic sliding mode control (SMC) is attenuated with F(R)OSMC system. A fuzzy logic inference scheme (FLIS) is utilized to obtain the gain of switching control. Simulations and experiments demonstrate that the proposed FROSMC not only achieve better control performance with smaller chatting than that with integer order sliding mode control, but also is robust to external load disturbance and parameter variations. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Sliding Mode Disturbance Observer-Based Fractional Second-Order Nonsingular Terminal Sliding Mode Control for PMSM Position Regulation System

    Hong-Ru Li

    2015-01-01

    Full Text Available This paper investigates the position regulation problem of permanent magnet synchronous motor (PMSM subject to parameter uncertainties and external disturbances. A novel fractional second-order nonsingular terminal sliding mode control (F2NTSMC is proposed and the finite time stability of the closed-loop system is ensured. A sliding mode disturbance observer (SMDO is developed to estimate and make feedforward compensation for the lumped disturbances of the PMSM system. Moreover, the finite-time convergence of estimation errors can be guaranteed. The control scheme combining F2NTSMC and SMDO can not only improve performance of the closed-loop system and attenuate disturbances, but also reduce chattering effectively. Simulation results show that the proposed control method can obtain satisfactory position tracking performance and strong robustness.

  11. Maximum power point tracking algorithm based on sliding mode and fuzzy logic for photovoltaic sources under variable environmental conditions

    Atik, L.; Petit, P.; Sawicki, J. P.; Ternifi, Z. T.; Bachir, G.; Della, M.; Aillerie, M.

    2017-02-01

    Solar panels have a nonlinear voltage-current characteristic, with a distinct maximum power point (MPP), which depends on the environmental factors, such as temperature and irradiation. In order to continuously harvest maximum power from the solar panels, they have to operate at their MPP despite the inevitable changes in the environment. Various methods for maximum power point tracking (MPPT) were developed and finally implemented in solar power electronic controllers to increase the efficiency in the electricity production originate from renewables. In this paper we compare using Matlab tools Simulink, two different MPP tracking methods, which are, fuzzy logic control (FL) and sliding mode control (SMC), considering their efficiency in solar energy production.

  12. Adaptive Sliding Mode Control of MEMS AC Voltage Reference Source

    Ehsan Ranjbar

    2017-01-01

    Full Text Available The accuracy of physical parameters of a tunable MEMS capacitor, as the major part of MEMS AC voltage reference, is of great importance to achieve an accurate output voltage free of the malfunctioning noise and disturbance. Even though strenuous endeavors are made to fabricate MEMS tunable capacitors with desiderated accurate physical characteristics and ameliorate exactness of physical parameters’ values, parametric uncertainties ineluctably emerge in fabrication process attributable to imperfections in micromachining process. First off, this paper considers applying an adaptive sliding mode controller design in the MEMS AC voltage reference source so that it is capable of giving off a well-regulated output voltage in defiance of jumbling parametric uncertainties in the plant dynamics and also aggravating external disturbance imposed on the system. Secondly, it puts an investigatory comparison with the designed model reference adaptive controller and the pole-placement state feedback one into one’s prospective. Not only does the tuned adaptive sliding mode controller show remarkable robustness against slow parameter variation and external disturbance being compared to the pole-placement state feedback one, but also it immensely gets robust against the external disturbance in comparison with the conventional adaptive controller. The simulation results are promising.

  13. Fault tolerant control schemes using integral sliding modes

    Hamayun, Mirza Tariq; Alwi, Halim

    2016-01-01

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

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

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

    2005-01-01

    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...

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

    Yundi Chu

    2015-01-01

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

  16. Maximum Power Point Tracking Based on Sliding Mode Control

    Nimrod Vázquez

    2015-01-01

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

  17. Control uncertain Genesio-Tesi chaotic system: Adaptive sliding mode approach

    Dadras, Sara; Momeni, Hamid Reza

    2009-01-01

    An adaptive sliding mode control (ASMC) technique is introduced in this paper for a chaotic dynamical system (Genesio-Tesi system). Using the sliding mode control technique, a sliding surface is determined and the control law is established. An adaptive sliding mode control law is derived to make the states of the Genesio-Tesi system asymptotically track and regulate the desired state. The designed control scheme can control the uncertain chaotic behaviors to a desired state without oscillating very fast and guarantee the property of asymptotical stability. An illustrative simulation result is given to demonstrate the effectiveness of the proposed adaptive sliding mode control design.

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

    Qian, Dianwei

    2015-01-01

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

  19. Adaptive suboptimal second-order sliding mode control for microgrids

    Incremona, Gian Paolo; Cucuzzella, Michele; Ferrara, Antonella

    2016-09-01

    This paper deals with the design of adaptive suboptimal second-order sliding mode (ASSOSM) control laws for grid-connected microgrids. Due to the presence of the inverter, of unpredicted load changes, of switching among different renewable energy sources, and of electrical parameters variations, the microgrid model is usually affected by uncertain terms which are bounded, but with unknown upper bounds. To theoretically frame the control problem, the class of second-order systems in Brunovsky canonical form, characterised by the presence of matched uncertain terms with unknown bounds, is first considered. Four adaptive strategies are designed, analysed and compared to select the most effective ones to be applied to the microgrid case study. In the first two strategies, the control amplitude is continuously adjusted, so as to arrive at dominating the effect of the uncertainty on the controlled system. When a suitable control amplitude is attained, the origin of the state space of the auxiliary system becomes attractive. In the other two strategies, a suitable blend between two components, one mainly working during the reaching phase, the other being the predominant one in a vicinity of the sliding manifold, is generated, so as to reduce the control amplitude in steady state. The microgrid system in a grid-connected operation mode, controlled via the selected ASSOSM control strategies, exhibits appreciable stability properties, as proved theoretically and shown in simulation.

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

    Ismail Ben Abdallah

    2016-01-01

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

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

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

    2014-07-01

    A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV. For the switching sliding manifold design, the selection of the coefficients of the switching sliding manifold is in general a sophisticated issue because the coefficients are nonlinear. In this work, in order to perform the position and attitude tracking control of the quadrotor perfectly, the dynamical model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. For the former, a sliding manifold is defined by combining the position and velocity tracking errors of one state variable, i.e., the sliding manifold has two coefficients. For the latter, a sliding manifold is constructed via a linear combination of position and velocity tracking errors of two state variables, i.e., the sliding manifold has four coefficients. In order to further obtain the nonlinear coefficients of the sliding manifold, Hurwitz stability analysis is used to the solving process. In addition, the flight controllers are derived by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces. Extensive simulation results are given to illustrate the effectiveness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Tensor Product Model Transformation Based Adaptive Integral-Sliding Mode Controller: Equivalent Control Method

    Guoliang Zhao

    2013-01-01

    Full Text Available This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model.

  3. Controlling chaos based on a novel intelligent integral terminal sliding mode control in a rod-type plasma torch

    Khari, Safa; Rahmani, Zahra; Rezaie, Behrooz

    2016-01-01

    An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system. In this method, a new sliding surface is defined based on a combination of the conventional sliding surface in terminal sliding mode control and a nonlinear function of the integral of the system states. It is assumed that the dynamics of a chaotic system are unknown and also the system is exposed to disturbance and unstructured uncertainty. To achieve a chattering-free and high-speed response for such an unknown system, an adaptive neuro-fuzzy inference system is utilized in the next step to approximate the unknown part of the nonlinear dynamics. Then, the proposed integral terminal sliding mode controller stabilizes the approximated system based on Lyapunov’s stability theory. In addition, a Bee algorithm is used to select the coefficients of integral terminal sliding mode controller to improve the performance of the proposed method. Simulation results demonstrate the improvement in the response speed, chattering rejection, transient response, and robustness against uncertainties. (paper)

  4. Positive sliding mode control for blood glucose regulation

    Menani, Karima; Mohammadridha, Taghreed; Magdelaine, Nicolas; Abdelaziz, Mourad; Moog, Claude H.

    2017-11-01

    Biological systems involving positive variables as concentrations are some examples of so-called positive systems. This is the case of the glycemia-insulinemia system considered in this paper. To cope with these physical constraints, it is shown that a positive sliding mode control (SMC) can be designed for glycemia regulation. The largest positive invariant set (PIS) is obtained for the insulinemia subsystem in open and closed loop. The existence of a positive SMC for glycemia regulation is shown here for the first time. Necessary conditions to design the sliding surface and the discontinuity gain are derived to guarantee a positive SMC for the insulin dynamics. SMC is designed to be positive everywhere in the largest closed-loop PIS of plasma insulin system. Two-stage SMC is employed; the last stage SMC2 block uses the glycemia error to design the desired insulin trajectory. Then the plasma insulin state is forced to track the reference via SMC1. The resulting desired insulin trajectory is the required virtual control input of the glycemia system to eliminate blood glucose (BG) error. The positive control is tested in silico on type-1 diabetic patients model derived from real-life clinical data.

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

    Zhu, Rongwu; Chen, Zhe; Wu, Xiaojie

    2013-01-01

    This paper deals with a doubly-fed induction generator-based (DFIG) wind turbine system under grid fault conditions such as: unbalanced grid voltage, three-phase grid fault, using a high order sliding mode control (SMC). A second order sliding mode controller, which is robust with respect...

  6. Active Disturbance Rejection Approach for Robust Fault-Tolerant Control via Observer Assisted Sliding Mode Control

    John Cortés-Romero

    2013-01-01

    Full Text Available This work proposes an active disturbance rejection approach for the establishment of a sliding mode control strategy in fault-tolerant operations. The core of the proposed active disturbance rejection assistance is a Generalized Proportional Integral (GPI observer which is in charge of the active estimation of lumped nonlinear endogenous and exogenous disturbance inputs related to the creation of local sliding regimes with limited control authority. Possibilities are explored for the GPI observer assisted sliding mode control in fault-tolerant schemes. Convincing improvements are presented with respect to classical sliding mode control strategies. As a collateral advantage, the observer-based control architecture offers the possibility of chattering reduction given that a significant part of the control signal is of the continuous type. The case study considers a classical DC motor control affected by actuator faults, parametric failures, and perturbations. Experimental results and comparisons with other established sliding mode controller design methodologies, which validate the proposed approach, are provided.

  7. Adaptive Synchronization for Two Different Stochastic Chaotic Systems with Unknown Parameters via a Sliding Mode Controller

    Zengyun Wang

    2013-01-01

    Full Text Available This paper investigates the problem of synchronization for two different stochastic chaotic systems with unknown parameters and uncertain terms. The main work of this paper consists of the following aspects. Firstly, based on the Lyapunov theory in stochastic differential equations and the theory of sliding mode control, we propose a simple sliding surface and discuss the occurrence of the sliding motion. Secondly, we design an adaptive sliding mode controller to realize the asymptotical synchronization in mean squares. Thirdly, we design an adaptive sliding mode controller to realize the almost surely synchronization. Finally, the designed adaptive sliding mode controllers are used to achieve synchronization between two pairs of different stochastic chaos systems (Lorenz-Chen and Chen-Lu in the presence of the uncertainties and unknown parameters. Numerical simulations are given to demonstrate the robustness and efficiency of the proposed robust adaptive sliding mode controller.

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

    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.

  9. Sliding Mode Control for Mass Moment Aerospace Vehicles Using Dynamic Inversion Approach

    Xiao-Yu Zhang

    2013-01-01

    Full Text Available The moving mass actuation technique offers significant advantages over conventional aerodynamic control surfaces and reaction control systems, because the actuators are contained entirely within the airframe geometrical envelope. Modeling, control, and simulation of Mass Moment Aerospace Vehicles (MMAV utilizing moving mass actuators are discussed. Dynamics of the MMAV are separated into two parts on the basis of the two time-scale separation theory: the dynamics of fast state and the dynamics of slow state. And then, in order to restrain the system chattering and keep the track performance of the system by considering aerodynamic parameter perturbation, the flight control system is designed for the two subsystems, respectively, utilizing fuzzy sliding mode control approach. The simulation results describe the effectiveness of the proposed autopilot design approach. Meanwhile, the chattering phenomenon that frequently appears in the conventional variable structure systems is also eliminated without deteriorating the system robustness.

  10. Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot.

    Niu, Jie; Yang, Qianqian; Chen, Guangtao; Song, Rong

    2017-07-01

    This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller is compared with a PID controller and a traditional sliding mode controller. Results show that the proposed controller can effectively improve the tracking performance as compared with the other two controllers and cause lower chattering as compared with a traditional sliding mode controller.

  11. Sliding mode control for uncertain unified chaotic systems with input nonlinearity

    Chiang, T.-Y.; Hung, M.-L.; Yan, J.-J.; Yang, Y.-S.; Chang, J.-F.

    2007-01-01

    This paper investigates the stabilization problem for a class of unified chaotic systems subject to uncertainties and input nonlinearity. Using the sliding mode control technique, a robust control law is established which stabilizes the uncertain unified chaotic systems even when the nonlinearity in the actuators is present. A novel adaptive switching surface is introduced to simplify the task of assigning the stability of the closed-loop system in the sliding mode motion. An illustrative example is given to demonstrate the effectiveness of the proposed sliding mode control design

  12. Chaos control in delayed chaotic systems via sliding mode based delayed feedback

    Vasegh, Nastaran [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)], E-mail: vasegh@eetd.kntu.ac.ir; Sedigh, Ali Khaki [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)

    2009-04-15

    This paper investigates chaos control for scalar delayed chaotic systems using sliding mode control strategy. Sliding surface design is based on delayed feedback controller. It is shown that the proposed controller can achieve stability for an arbitrary unstable fixed point (UPF) or unstable periodic orbit (UPO) with arbitrary period. The chaotic system used in this study to illustrate the theoretical concepts is the well known Mackey-Glass model. Simulation results show the effectiveness of the designed nonlinear sliding mode controller.

  13. Chaos control in delayed chaotic systems via sliding mode based delayed feedback

    Vasegh, Nastaran; Sedigh, Ali Khaki

    2009-01-01

    This paper investigates chaos control for scalar delayed chaotic systems using sliding mode control strategy. Sliding surface design is based on delayed feedback controller. It is shown that the proposed controller can achieve stability for an arbitrary unstable fixed point (UPF) or unstable periodic orbit (UPO) with arbitrary period. The chaotic system used in this study to illustrate the theoretical concepts is the well known Mackey-Glass model. Simulation results show the effectiveness of the designed nonlinear sliding mode controller.

  14. Sliding mode control of a "Soft" 2-DOF Planar Pneumatic Manipulator

    Van Damme, M.; Vanderborght, B.; Beyl, P.; Versluys, R.; Vanderniepen, I.; Van Ham, R.; Cherelle, P.; Daerden, F.; Lefeber, D.

    2008-10-01

    This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed

  15. Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System

    Fengjiao Wu; Junling Ding; Zhengzhong Wang

    2016-01-01

    The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the d...

  16. Robust Sliding Mode Control of Permanent Magnet Synchronous Generator-Based Wind Energy Conversion Systems

    Guangping Zhuo

    2016-12-01

    Full Text Available The subject of this paper pertains to sliding mode control and its application in nonlinear electrical power systems as seen in wind energy conversion systems. Due to the robustness in dealing with unmodeled system dynamics, sliding mode control has been widely used in electrical power system applications. This paper presents first and high order sliding mode control schemes for permanent magnet synchronous generator-based wind energy conversion systems. The application of these methods for control using dynamic models of the d-axis and q-axis currents, as well as those of the high speed shaft rotational speed show a high level of efficiency in power extraction from a varying wind resource. Computer simulation results have shown the efficacy of the proposed sliding mode control approaches.

  17. A Robust Control Concept for Hydraulic Drives Based on Second Order Sliding Mode Disturbance Compensation

    Schmidt, Lasse; Andersen, Torben O.; Johansen, Per

    2017-01-01

    , the successful implementation relies heavily on the low-pass filter design where the drive dynamics, sample rate etc. play a significant role. In this paper the utilization of the super twisting algorithm for disturbance compensation is considered. The fact that the discontinuity here is nested in an integral......The application of sliding mode algorithms for control of hydraulic drives has gained increasing interest in recent years due to algorithm simplicity, low number of parameters and possible excellent control performance. Both application of firstand higher order sliding mode control algorithms...... observer based control etc., and several examples of such approaches have been presented in literature. The latter case appear especially interesting as a sliding mode actually takes place, but only the low-pass filtered sliding mode algorithm output is used in the actual control input. However...

  18. A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems

    Tao, Yong; Zheng, Jiaqi; Lin, Yuanchang

    2016-01-01

    A sliding mode control method based on radial basis function (RBF) neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC) has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network par...

  19. Neural Adaptive Sliding-Mode Control of a Vehicle Platoon Using Output Feedback

    Maode Yan

    2017-11-01

    Full Text Available This paper investigates the output feedback control problem of a vehicle platoon with a constant time headway (CTH policy, where each vehicle can communicate with its consecutive vehicles. Firstly, based on the integrated-sliding-mode (ISM technique, a neural adaptive sliding-mode control algorithm is developed to ensure that the vehicle platoon is moving with the CTH policy and full state measurement. Then, to further decrease the measurement complexity and reduce the communication load, an output feedback control protocol is proposed with only position information, in which a higher order sliding-mode observer is designed to estimate the other required information (velocities and accelerations. In order to avoid collisions among the vehicles, the string stability of the whole vehicle platoon is proven through the stability theorem. Finally, numerical simulation results are provided to verify its effectiveness and advantages over the traditional sliding-mode control method in vehicle platoons.

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

    Benzineb, Omar; Taibi, Fateh; Laleg-Kirati, Taous-Meriem; Boucherit, Mohamed Seghir; Tadjine, Mohamed

    2013-01-01

    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.

  1. Design of adaptive sliding mode control for synchronization Genesio–Tesi chaotic system

    Ghamati, Mina; Balochian, Saeed

    2015-01-01

    In this paper two adaptive sliding mode controls for synchronizing the state trajectories of the Genesio–Tesi system with unknown parameters and external disturbance are proposed. A switching surface is introduced and based on this switching surface, two adaptive sliding mode control schemes are presented to guarantee the occurrence of the sliding motion. The stability and robustness of the two proposed schemes are proved using Lyapunov stability theory. The effectiveness of our introduced schemes is provided by numerical simulations

  2. Sensorless sliding mode torque control of an IPMSM drive based on active flux concept

    A.A. Hassan

    2012-03-01

    Full Text Available This paper investigates a novel direct torque control of a sensorless interior permanent magnet synchronous motor based on a sliding mode technique. The speed and position of the interior permanent magnet synchronous motor are estimated online based on active flux concept. To overcome the large ripple content associated with the direct torque, a torque/flux sliding mode controller has been employed. Two integral surface functions are used to construct the sliding mode controller. The command voltage is estimated from the torque and flux errors based on the two switching functions. The idea of the total sliding mode is used to eliminate the problem of reaching phase stability. The space vector modulation is combined with the sliding mode controller to ensure minimum torque and flux ripples and provides high resolution voltage control. The proposed scheme has the advantages of simple implementation, and does not require an external signal injection. In addition, it combines the merits of the direct torque control, sliding mode controller, and space vector modulation besides to the sensorless control. Simulation works are carried out to demonstrate the ability of the proposed scheme at different operating conditions. The results confirm the high performance of the proposed scheme at standstill, low and high speeds including load disturbance and parameters variation.

  3. Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft

    Yanchao Yin

    2017-01-01

    Full Text Available A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS is proposed to design a flight controller for performing the attitude tracking control of a quad tilt rotors aircraft (QTRA. Firstly, the attitude dynamic model of the QTRA concerning propeller tension, channel arm, and moment of inertia is formulated, and the equivalent sliding mode control law is stated. Secondly, an adaptive control algorithm is presented to eliminate the approximation error, where a radial basis function (RBF neural network is used to online regulate the equivalent sliding mode control law, and the novel M-CBDCS algorithm is developed to uniformly update the unknown neural network weights and essential model parameters adaptively. The nonlinear approximation error is obtained and serves as a novel leakage term in the adaptations to guarantee the sliding surface convergence and eliminate the chattering phenomenon, which benefit the overall attitude control performance for QTRA. Finally, the appropriate comparisons among the novel adaptive neural network sliding mode control, the classical neural network sliding mode control, and the dynamic inverse PID control are examined, and comparative simulations are included to verify the efficacy of the proposed control method.

  4. Adaptive proportional–integral–derivative tuning sliding mode control for a shape memory alloy actuator

    Tai, Nguyen Trong; Ahn, Kyoung Kwan

    2011-01-01

    In this paper, a novel adaptive sliding mode control with a proportional–integral–derivative (PID) tuning method is proposed to control a shape memory alloy (SMA) actuator. The goal of the controller is to achieve system robustness against the SMA hysteresis phenomenon, system uncertainties and external disturbances. In the controller, the PID controller is employed to approximate the sliding mode equivalent control along the direction that makes the sliding mode asymptotically stable. Due to the system nonlinearity, the PID control gain parameters are systematically computed online according to the adaptive law. To improve the transient performance, the initial PID gain parameters are optimized by the particle swarm optimization (PSO) method. Simulation and experimental results demonstrate that the controller performs well for the desired trajectory tracking, and the hysteresis phenomenon is compensated for completely. The control results are also compared with the optimized PID controller

  5. Simplex sliding mode control for nonlinear uncertain systems via chaos optimization

    Lu, Zhao; Shieh, Leang-San; Chen, Guanrong; Coleman, Norman P.

    2005-01-01

    As an emerging effective approach to nonlinear robust control, simplex sliding mode control demonstrates some attractive features not possessed by the conventional sliding mode control method, from both theoretical and practical points of view. However, no systematic approach is currently available for computing the simplex control vectors in nonlinear sliding mode control. In this paper, chaos-based optimization is exploited so as to develop a systematic approach to seeking the simplex control vectors; particularly, the flexibility of simplex control is enhanced by making the simplex control vectors dependent on the Euclidean norm of the sliding vector rather than being constant, which result in both reduction of the chattering and speedup of the convergence. Computer simulation on a nonlinear uncertain system is given to illustrate the effectiveness of the proposed control method

  6. Investigation on the Development of a Sliding Mode Controller for Constant Power Loads in Microgrids

    Eklas Hossain

    2017-07-01

    Full Text Available To implement renewable energy resources, microgrid systems have been adopted and developed into the technology of choice to assure mass electrification in the next decade. Microgrid systems have a number of advantages over conventional utility grid systems, however, they face severe instability issues due to the continually increasing constant power loads. To improve the stability of the entire system, the load side compensation technique is chosen because of its robustness and cost effectiveness. In this particular occasion, a sliding mode controller is developed for a microgrid system in the presence of constant power loads to assure a certain control objective of keeping the output voltage constant at 480 V. After that, a robustness analysis of the sliding mode controller against parametric uncertainties was performed and the sliding mode controller’s robustness against parametric uncertainties, frequency variations, and additive white Gaussian noise (AWGN are presented. Later, the performance of the proportional integral derivative (PID and sliding mode controller are compared in the case of nonlinearity, parameter uncertainties, and noise rejection to justify the selection of the sliding mode controller over the PID controller. All the necessary calculations are reckoned mathematically and results are verified in a virtual platform such as MATLAB/Simulink with a positive outcome.

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

    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.

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

    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.

  9. Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System

    Fengjiao Wu

    2016-01-01

    Full Text Available The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the designed controller has good robustness which could resist external random disturbances. Numerical simulations are employed to verify the effectiveness and superiority of the designed finite-time sliding mode control scheme. The approach proposed in this paper is simple and also provides a reference for relevant hydropower systems.

  10. Terminal Sliding Mode Control with Unidirectional Auxiliary Surfaces for Hypersonic Vehicles Based on Adaptive Disturbance Observer

    Naibao He

    2015-01-01

    Full Text Available A novel flight control scheme is proposed using the terminal sliding mode technique, unidirectional auxiliary surfaces and the disturbance observer model. These proposed dynamic attitude control systems can improve control performance of hypersonic vehicles despite uncertainties and external disturbances. The terminal attractor is employed to improve the convergence rate associated with the critical damping characteristics problem noted in short-period motions of hypersonic vehicles. The proposed robust attitude control scheme uses a dynamic terminal sliding mode with unidirectional auxiliary surfaces. The nonlinear disturbance observer is designed to estimate system uncertainties and external disturbances. The output of the disturbance observer aids the robust adaptive control scheme and improves robust attitude control performance. Finally, simulation results are presented to illustrate the effectiveness of the proposed terminal sliding mode with unidirectional auxiliary surfaces.

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

    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.

  12. Adaptive sliding mode control of tri-layer conjugated polymer actuators

    Wang, Xiangjiang; Alici, Gursel; Nguyen, Chuc Huu

    2013-01-01

    This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances. (paper)

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

    Mehta, Axaykumar

    2015-01-01

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

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

    Li, W.-L.; Chang, K.-M.

    2009-01-01

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

  15. Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control

    Fuguang Ding

    2013-01-01

    Full Text Available The paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and adaptive sliding mode, was suitable for solving the problem of the control of higher systems, can keep the system global asymptotic stability, and can inhibit unknown interference, and boundary layer can weaken the buffeting generated by sliding mode. The unknown interference was estimated by adaptive function. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control laws.

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

    Yao Zong Chen

    2016-01-01

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

  17. A Discrete-Time Chattering Free Sliding Mode Control with Multirate Sampling Method for Flight Simulator

    Yunjie Wu

    2013-01-01

    Full Text Available In order to improve the tracking accuracy of flight simulator and expend its frequency response, a multirate-sampling-method-based discrete-time chattering free sliding mode control is developed and imported into the systems. By constructing the multirate sampling sliding mode controller, the flight simulator can perfectly track a given reference signal with an arbitrarily small dynamic tracking error, and the problems caused by a contradiction of reference signal period and control period in traditional design method can be eliminated. It is proved by theoretical analysis that the extremely high dynamic tracking precision can be obtained. Meanwhile, the robustness is guaranteed by sliding mode control even though there are modeling mismatch, external disturbances and measure noise. The validity of the proposed method is confirmed by experiments on flight simulator.

  18. Sliding-Mode Control Design of a Boost-Buck Switching Converter for AC Signal Generation

    Biel Solé, Domingo; Guinjoan Gispert, Francisco; Fossas Colet, Enric; Chavarría Roé, Javier

    2004-01-01

    This paper presents a sliding-mode control design of a boost–buck switching converter for a voltage step-up dc–ac conversion without the use of any transformer. This approach combines the step-up/step-down conversion ratio capability of the converter with the robustness properties of sliding-mode control. The proposed control strategy is based on the design of two slidingcontrol laws, one ensuring the control of a full-bridge buck converter for proper dc–ac conversion, and the other one the c...

  19. On robust control of uncertain chaotic systems: a sliding-mode synthesis via chaotic optimization

    Lu Zhao; Shieh Leangsan; Chen GuanRong

    2003-01-01

    This paper presents a novel Lyapunov-based control approach which utilizes a Lyapunov function of the nominal plant for robust tracking control of general multi-input uncertain nonlinear systems. The difficulty of constructing a control Lyapunov function is alleviated by means of predefining an optimal sliding mode. The conventional schemes for constructing sliding modes of nonlinear systems stipulate that the system of interest is canonical-transformable or feedback-linearizable. An innovative approach that exploits a chaotic optimizing algorithm is developed thereby obtaining the optimal sliding manifold for the control purpose. Simulations on the uncertain chaotic Chen's system illustrate the effectiveness of the proposed approach

  20. Design of permanent magnet synchronous motor speed loop controller based on sliding mode control algorithm

    Qiang, Jiang; Meng-wei, Liao; Ming-jie, Luo

    2018-03-01

    Abstract.The control performance of Permanent Magnet Synchronous Motor will be affected by the fluctuation or changes of mechanical parameters when PMSM is applied as driving motor in actual electric vehicle,and external disturbance would influence control robustness.To improve control dynamic quality and robustness of PMSM speed control system, a new second order integral sliding mode control algorithm is introduced into PMSM vector control.The simulation results show that, compared with the traditional PID control,the modified control scheme optimized has better control precision and dynamic response ability and perform better with a stronger robustness facing external disturbance,it can effectively solve the traditional sliding mode variable structure control chattering problems as well.

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

    Lascu, Christian; Boldea, Ion; Blaabjerg, Frede

    2013-01-01

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

  2. Synchronization of uncertain time-varying network based on sliding mode control technique

    Lü, Ling; Li, Chengren; Bai, Suyuan; Li, Gang; Rong, Tingting; Gao, Yan; Yan, Zhe

    2017-09-01

    We research synchronization of uncertain time-varying network based on sliding mode control technique. The sliding mode control technique is first modified so that it can be applied to network synchronization. Further, by choosing the appropriate sliding surface, the identification law of uncertain parameter, the adaptive law of the time-varying coupling matrix element and the control input of network are designed, it is sure that the uncertain time-varying network can synchronize effectively the synchronization target. At last, we perform some numerical simulations to demonstrate the effectiveness of the proposed results.

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

    Siddiqui, Bilal A.; El-Ferik, Sami; Abdelkader, Mohamed

    2016-01-01

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

    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.

  5. Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

    Chen, Syuan-Yi; Gong, Sheng-Sian

    2017-09-01

    This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

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

    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.

  7. Minimal-Learning-Parameter Technique Based Adaptive Neural Sliding Mode Control of MEMS Gyroscope

    Bin Xu

    2017-01-01

    Full Text Available This paper investigates an adaptive neural sliding mode controller for MEMS gyroscopes with minimal-learning-parameter technique. Considering the system uncertainty in dynamics, neural network is employed for approximation. Minimal-learning-parameter technique is constructed to decrease the number of update parameters, and in this way the computation burden is greatly reduced. Sliding mode control is designed to cancel the effect of time-varying disturbance. The closed-loop stability analysis is established via Lyapunov approach. Simulation results are presented to demonstrate the effectiveness of the method.

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

    Yan, J.-J.; Lin, J.-S.; Liao, T.-L.

    2008-01-01

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

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

    Merheb Abdel-Razzak

    2015-09-01

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

  10. Speed control of switched reluctance motor using sliding mode control strategy

    John, G. [Kenetech Windpower, Livermore, CA (United States); Eastham, A.R. [Queen`s Univ., Kingston, Ontario (Canada). Dept. of Electrical Engineering

    1995-12-31

    A robust speed drive system for a switched reluctance motor (SRM) using sliding mode control strategy (SLMC) is presented. After reviewing the operation of an SRM drive, a SLMC based scheme is formulated to control the drive speed. The scheme is implemented using a micro-controller and a high resolution position sensor. The parameter insensitive characteristics are demonstrated through computer simulations and experimental verification.

  11. Chaos Control and Synchronization of a Hyperchaotic Zhou System by Integral Sliding Mode control

    Yashar Toopchi

    2014-12-01

    Full Text Available In this paper, an adaptive integral sliding mode control scheme is proposed for synchronization of hyperchaotic Zhou systems. In the proposed scheme, an integral sliding mode control is designed to stabilize a hyperchaotic Zhou system with known parameters to its unstable equilibrium at the origin. The control is then applied to the synchronization of two identical systems, i.e., a slave and a master hyperchaotic Zhou system with unknown parameters. The adaptive control mechanism introduced synchronizes the systems by estimating the unknown parameters. Simulation results have shown that the proposed method has an excellent convergence from both speed and accuracy points of view, and it outperforms Vaidyanathan’s scheme, which is a well-recognized scheme in this area.

  12. On Application of Second Order Sliding Mode Control to Electro-Hydraulic Systems

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

    2014-01-01

    This paper discusses the application of second order mode controls to hydraulic valve-cylinder drives with a special focus on the limitations resulting from nonlinear dynamic effects in flow control valves. Second order sliding mode algorithms appear highly attractive in the successive...

  13. On decentralized adaptive full-order sliding mode control of multiple UAVs.

    Xiang, Xianbo; Liu, Chao; Su, Housheng; Zhang, Qin

    2017-11-01

    In this study, a novel decentralized adaptive full-order sliding mode control framework is proposed for the robust synchronized formation motion of multiple unmanned aerial vehicles (UAVs) subject to system uncertainty. First, a full-order sliding mode surface in a decentralized manner is designed to incorporate both the individual position tracking error and the synchronized formation error while the UAV group is engaged in building a certain desired geometric pattern in three dimensional space. Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller. In addition, robust adaptive technique is integrated in the decentralized chattering free sliding control design in order to handle unknown bounded uncertainties, without requirements for assuming a priori knowledge of bounds on the system uncertainties as stated in conventional chattering free control methods. Subsequently, system robustness as well as stability of the decentralized full-order sliding mode control of multiple UAVs is synthesized. Numerical simulation results illustrate the effectiveness of the proposed control framework to achieve robust 3D formation flight of the multi-UAV system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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

    Niu Xuemei

    2015-05-01

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

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

    Congyan Chen

    2014-01-01

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

  16. Sliding-Mode Control to Compensate PVT Variations in Dual Core Systems

    Pourshaghaghi, H.R.; Fatemi, S.H.; Pineda de Gyvez, J.

    2012-01-01

    In this paper, we present a novel robust sliding-mode controller for stabilizing supply voltage and clock frequency of dual core processors determined by dynamic voltage and frequency scaling (DVFS) methods in the presence of systematic and random variations. We show that maximum rejection for

  17. Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

    Khan, S.; Sabanovic, A.; Nergiz, A.O.

    2009-01-01

    In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance

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

    Jawaada, Wafaa; Noorani, M. S. M.; Al-Sawalha, M. Mossa

    2012-01-01

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

  19. Terminal sliding mode control for continuous stirred tank reactor

    Zhao, D.; Zhu, Q.; Dubbeldam, J.

    2015-01-01

    A continuous stirred tank reactor (CSTR) is a typical example of chemical industrial equipment, whose dynamics represent an extensive class of second order nonlinear systems. It has been witnessed that designing a good control algorithm for the CSTR is very challenging due to the high complexity. The two difficult issues in CSTR control are state estimation and external disturbance attenuation. In general, in industrial process control a fast and robust response is essential. Driven by these ...

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

    Kazraji Saeed Masoumi

    2014-05-01

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

  1. Application of Adaptive Sliding Mode Position Controller with PI ...

    PISMC) techniques for controlling the rotor position of PMDC motor drive system. In particular, since SMC is robust in the presence of the matched uncertainties and external disturbances, the desired position is perfectly tracked. In addition, the ...

  2. Dynamic performance enhancement of microgrids by advanced sliding mode controller

    Sofla, Mohammadhassan Abdollahi [Electrical Engineering and Computer Science Dept., University of Toledo, Ohio (United States); Gharehpetian, Gevorg B. [Electrical Engineering Dept., Amirkabir University of Technology, Tehran (Iran, Islamic Republic of)

    2011-01-15

    Dynamics are the most important problems in the microgrid operation. In the islanded microgrid, the mismatch of parallel operations of inverters during dynamics can result in the instability. This paper considers severe dynamics which can occur in the microgrid. Microgrid can have different configurations with different load and generation dynamics which are facing voltage disturbances. As a result, microgrid has many uncertainties and is placed in the distribution network where is full of voltage disturbances. Moreover, characteristics of the distribution network and distributed energy resources in the islanded mode make microgrid vulnerable and easily lead to instability. The main aim of this paper is to discuss the suitable mathematical modeling based on microgrid characteristics and to design properly inner controllers to enhance the dynamics of microgrid with uncertain and changing parameters. This paper provides a method for inner controllers of inverter-based distributed energy resources to have a suitable response for different dynamics. Parallel inverters in distribution networks were considered to be controlled by nonlinear robust voltage and current controllers. Theoretical prove beyond simulation results, reveal evidently the effectiveness of the proposed controller. (author)

  3. Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

    Wei Sun

    2013-01-01

    Full Text Available This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.

  4. The simplex method for nonlinear sliding mode control

    Bartolini G.

    1998-01-01

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

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

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

    2014-01-01

    Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and provide for 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 actuat...

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

    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.

  7. A novel fractional sliding mode control configuration for ...

    Karima Rabah

    2017-09-09

    Sep 9, 2017 ... for synchronizing disturbed fractional-order chaotic systems. KARIMA RABAH1, SAMIR ... duced to realize chaos synchronization, such as PC control [19] .... where t0 is the initial time, α ∈ (0,1), λ > 0, b > 0, m(0) = 0, m(x) ≥ 0 .... where k = k2/k1 is a positive real number. Choosing .... operating conditions.

  8. Robust antisynchronization of chaos using sliding mode control ...

    tiveness of the method is established by implementing it to antisynchronize ... research in the field of physics, mathematics and engineering sciences. ... for mixed synchronization and the papers discussed antisynchronization as a ...... As a result, we have a very elegant and concise controller that is quite easy to implement,.

  9. Model-free adaptive sliding mode controller design for generalized ...

    L M WANG

    2017-08-16

    Aug 16, 2017 ... The main contribution of this paper is that a control strategy is provided for ... differential equation provides a new mathematical tool, ... methods of synchronization and GPS, which only use ... the effectiveness of the proposed method by numerical ...... [24] M Anthony and P L Bartlett, Neural network learning.

  10. Extended observer based on adaptive second order sliding mode control for a fixed wing UAV.

    Castañeda, Herman; Salas-Peña, Oscar S; León-Morales, Jesús de

    2017-01-01

    This paper addresses the design of attitude and airspeed controllers for a fixed wing unmanned aerial vehicle. An adaptive second order sliding mode control is proposed for improving performance under different operating conditions and is robust in presence of external disturbances. Moreover, this control does not require the knowledge of disturbance bounds and avoids overestimation of the control gains. Furthermore, in order to implement this controller, an extended observer is designed to estimate unmeasurable states as well as external disturbances. Additionally, sufficient conditions are given to guarantee the closed-loop stability of the observer based control. Finally, using a full 6 degree of freedom model, simulation results are obtained where the performance of the proposed method is compared against active disturbance rejection based on sliding mode control. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  11. A Fault Tolerant Direct Control Allocation Scheme with Integral Sliding Modes

    Hamayun Mirza Tariq

    2015-03-01

    Full Text Available In this paper, integral sliding mode control ideas are combined with direct control allocation in order to create a fault tolerant control scheme. Traditional integral sliding mode control can directly handle actuator faults; however, it cannot do so with actuator failures. Therefore, a mechanism needs to be adopted to distribute the control effort amongst the remaining functioning actuators in cases of faults or failures, so that an acceptable level of closed-loop performance can be retained. This paper considers the possibility of introducing fault tolerance even if fault or failure information is not provided to the control strategy. To demonstrate the efficacy of the proposed scheme, a high fidelity nonlinear model of a large civil aircraft is considered in the simulations in the presence of wind, gusts and sensor noise.

  12. A Sliding Mode Control-Based on a RBF Neural Network for Deburring Industry Robotic Systems

    Yong Tao

    2016-01-01

    Full Text Available A sliding mode control method based on radial basis function (RBF neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network parameters are derived by a Koski function algorithm to ensure the network convergences and enacts stable control. The simulations and experimental results of the deburring robot system are provided to illustrate the effectiveness of the proposed RBFNN-SMC control method. The advantages of the proposed RBFNN-SMC method are also evaluated by comparing it to existing control schemes.

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

    Sohn, J W; Choi, S B [Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751 (Korea, Republic of); Wereley, N M [Smart Structures Laboratory, Department of Aerospace Engineering, University of Maryland, College Park, MD 20742 (United States)], E-mail: seungbok@inha.ac.kr

    2009-02-01

    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.

  14. Adaptive Sliding-Mode Control in Bus Voltage for an Islanded DC Microgrid

    Dan Zhang

    2017-01-01

    Full Text Available The control of bus voltage is a crucial task for the stable operation of islanded DC microgrids. To improve the DC bus voltage control dynamics and stability, this paper proposes an adaptive sliding-mode control method based on large-signal model. The sliding-mode control, adaptive observation, and fix-frequency pulse width modulation technology are adopted and combined efficiently, which guarantee stable bus voltage and the constant switching frequency of closed-loop system, regardless of how the parameters vary with the variable constant-power loads and uncertainties. In addition, the reference values can be quickly tracked by the state variables using the proposed method without any additional sensors/hardware circuits. Therefore, this method is beneficial for the scalability and plug-play of the distributed generators and loads within the DC microgrids. The performance of the proposed control method has been successfully verified in simulation.

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

    Sohn, J W; Choi, S B; Wereley, N M

    2009-01-01

    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.

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

    Yan Ren

    2013-01-01

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

  17. Integral sliding mode-based formation control of multiple unertain robots via nonlinear disturbane observer

    Dianwei Qian

    2016-11-01

    Full Text Available This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader–follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov’s theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.

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

    Xuzhong Wu

    2015-01-01

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

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

    Xuxi Zhang

    2014-01-01

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

  20. A New Sliding Mode Controller for DC/DC Converters in Photovoltaic Systems

    M. Sarvi

    2013-01-01

    Full Text Available DC/DC converters are widely used in many industrial and electrical systems. As DC/DC converters are nonlinear and time-variant systems, the application of linear control techniques for the control of these converters is not suitable. In this paper, a new sliding mode controller is proposed as the indirect control method and compared to a simple direct control method in order to control a buck converter in photovoltaic applications. The solar arrays are dependent power sources with nonlinear voltage-current characteristics under different environmental conditions (insolation and temperature. From this point of view, the DC/DC converter is particularly suitable for the application of the sliding mode control in photovoltaic application, because of its controllable states. Simulations are performed in Matlab/Simulink software. The simulation results are presented for a step change in reference voltage and input voltage as well as step load variations. The simulations results of proposed method are compared with the conventional PID controller. The results show the good performance of the proposed sliding mode controller. The proposed method can be used for the other DC/DC converter.

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

    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).

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

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

    2009-05-15

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

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

    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.

  4. Chaos synchronization of uncertain chaotic systems using composite nonlinear feedback based integral sliding mode control.

    Mobayen, Saleh

    2018-06-01

    This paper proposes a combination of composite nonlinear feedback and integral sliding mode techniques for fast and accurate chaos synchronization of uncertain chaotic systems with Lipschitz nonlinear functions, time-varying delays and disturbances. The composite nonlinear feedback method allows accurate following of the master chaotic system and the integral sliding mode control provides invariance property which rejects the perturbations and preserves the stability of the closed-loop system. Based on the Lyapunov- Krasovskii stability theory and linear matrix inequalities, a novel sufficient condition is offered for the chaos synchronization of uncertain chaotic systems. This method not only guarantees the robustness against perturbations and time-delays, but also eliminates reaching phase and avoids chattering problem. Simulation results demonstrate that the suggested procedure leads to a great control performance. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Sliding Mode Fault Tolerant Control with Adaptive Diagnosis for Aircraft Engines

    Xiao, Lingfei; Du, Yanbin; Hu, Jixiang; Jiang, Bin

    2018-03-01

    In this paper, a novel sliding mode fault tolerant control method is presented for aircraft engine systems with uncertainties and disturbances on the basis of adaptive diagnostic observer. By taking both sensors faults and actuators faults into account, the general model of aircraft engine control systems which is subjected to uncertainties and disturbances, is considered. Then, the corresponding augmented dynamic model is established in order to facilitate the fault diagnosis and fault tolerant controller design. Next, a suitable detection observer is designed to detect the faults effectively. Through creating an adaptive diagnostic observer and based on sliding mode strategy, the sliding mode fault tolerant controller is constructed. Robust stabilization is discussed and the closed-loop system can be stabilized robustly. It is also proven that the adaptive diagnostic observer output errors and the estimations of faults converge to a set exponentially, and the converge rate greater than some value which can be adjusted by choosing designable parameters properly. The simulation on a twin-shaft aircraft engine verifies the applicability of the proposed fault tolerant control method.

  6. Sliding Mode Control of Fractional-Order Delayed Memristive Chaotic System with Uncertainty and Disturbance

    Ding, Da-Wei; Liu, Fang-Fang; Chen, Hui; Wang, Nian; Liang, Dong

    2017-12-01

    In this paper, a simplest fractional-order delayed memristive chaotic system is proposed in order to control the chaos behaviors via sliding mode control strategy. Firstly, we design a sliding mode control strategy for the fractional-order system with time delay to make the states of the system asymptotically stable. Then, we obtain theoretical analysis results of the control method using Lyapunov stability theorem which guarantees the asymptotic stability of the non-commensurate order and commensurate order system with and without uncertainty and an external disturbance. Finally, numerical simulations are given to verify that the proposed sliding mode control method can eliminate chaos and stabilize the fractional-order delayed memristive system in a finite time. Supported by the National Nature Science Foundation of China under Grant No. 61201227, Funding of China Scholarship Council, the Natural Science Foundation of Anhui Province under Grant No. 1208085M F93, 211 Innovation Team of Anhui University under Grant Nos. KJTD007A and KJTD001B

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

    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

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

    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.

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

    Congqing, Wang; Pengfei, Wu; Xin, Zhou; Xiwu, Pei

    2013-01-01

    The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free-floating space rigid-flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external distur...

  10. Partial Finite-Time Synchronization of Switched Stochastic Chua's Circuits via Sliding-Mode Control

    Zhang-Lin Wan

    2011-01-01

    Full Text Available This paper considers the problem of partial finite-time synchronization between switched stochastic Chua's circuits accompanied by a time-driven switching law. Based on the Ito formula and Lyapunov stability theory, a sliding-mode controller is developed to guarantee the synchronization of switched stochastic master-slave Chua's circuits and for the mean of error states to obtain the partial finite-time stability. Numerical simulations demonstrate the effectiveness of the proposed methods.

  11. Chaos synchronization in noisy environment using nonlinear filtering and sliding mode control

    Behzad, Mehdi [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Postal Code 11365-9567, Azadi Avenue, Tehran (Iran, Islamic Republic of)], E-mail: m_behzad@sharif.edu; Salarieh, Hassan [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Postal Code 11365-9567, Azadi Avenue, Tehran (Iran, Islamic Republic of)], E-mail: salarieh@mech.sharif.edu; Alasty, Aria [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Postal Code 11365-9567, Azadi Avenue, Tehran (Iran, Islamic Republic of)], E-mail: aalasti@sharif.edu

    2008-06-15

    This paper presents an algorithm for synchronizing two different chaotic systems, using a combination of the extended Kalman filter and the sliding mode controller. It is assumed that the drive chaotic system has a random excitation with a stochastically chaotic behavior. Two different cases are considered in this study. At first it is assumed that all state variables of the drive system are available, i.e. complete state measurement, and a sliding mode controller is designed for synchronization. For the second case, it is assumed that the output of the drive system does not contain the whole state variables of the drive system, and it is also affected by some random noise. By combination of extended Kalman filter and the sliding mode control, a synchronizing control law is proposed. As a case study, the presented algorithm is applied to the Lur'e-Genesio chaotic systems as the drive-response dynamic systems. Simulation results show the good performance of the algorithm in synchronizing the chaotic systems in presence of noisy environment.

  12. Chaos synchronization in noisy environment using nonlinear filtering and sliding mode control

    Behzad, Mehdi; Salarieh, Hassan; Alasty, Aria

    2008-01-01

    This paper presents an algorithm for synchronizing two different chaotic systems, using a combination of the extended Kalman filter and the sliding mode controller. It is assumed that the drive chaotic system has a random excitation with a stochastically chaotic behavior. Two different cases are considered in this study. At first it is assumed that all state variables of the drive system are available, i.e. complete state measurement, and a sliding mode controller is designed for synchronization. For the second case, it is assumed that the output of the drive system does not contain the whole state variables of the drive system, and it is also affected by some random noise. By combination of extended Kalman filter and the sliding mode control, a synchronizing control law is proposed. As a case study, the presented algorithm is applied to the Lur'e-Genesio chaotic systems as the drive-response dynamic systems. Simulation results show the good performance of the algorithm in synchronizing the chaotic systems in presence of noisy environment

  13. A Novel Sliding Mode Control Technique for Indirect Current Controlled Active Power Filter

    Juntao Fei

    2012-01-01

    Full Text Available A novel sliding mode control (SMC method for indirect current controlled three-phase parallel active power filter is presented in this paper. There are two designed closed loops in the system: one is the DC voltage controlling loop and the other is the reference current tracking loop. The first loop with a PI regulator is used to control the DC voltage approximating to the given voltage of capacitor, and the output of PI regulator through a low-pass filter is applied as the input of the power supply reference currents. The second loop implements the tracking of the reference currents using integral sliding mode controller, which can improve the harmonic treating performance. Compared with the direct current control technique, it is convenient to be implemented with digital signal processing system because of simpler system structure and better harmonic treating property. Simulation results verify that the generated reference currents have the same amplitude with the load currents, demonstrating the superior harmonic compensating effects with the proposed shunt active power filter compared with the hysteresis method.

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

    Fan, Quan-Yong; Yang, Guang-Hong

    2016-01-01

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

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

    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. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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

    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.

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

    Chang Weider; Yan Junjuh

    2005-01-01

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

  18. Robust adaptive multivariable higher-order sliding mode flight control for air-breathing hypersonic vehicle with actuator failures

    Peng Li

    2016-10-01

    Full Text Available This article proposes an adaptive multivariable higher-order sliding mode control for the longitudinal model of an air-breathing vehicle under system uncertainties and actuator failures. Firstly, a fast finite-time control law is designed for a chain of integrators. Secondly, based on the input/output feedback linearization technique, the system uncertainty and external disturbances are modeled as additive certainty and the actuator failures are modeled as multiplicative uncertainty. By using the proposed fast finite-time control law, a robust multivariable higher-order sliding mode control is designed for the air-breathing hypersonic vehicle with actuator failures. Finally, adaptive laws are proposed for the adaptation of the parameters in the robust multivariable higher-order sliding mode control. Thus, the bounds of the uncertainties are not needed in the control system design. Simulation results show the effectiveness of the proposed robust adaptive multivariable higher-order sliding mode control.

  19. Sliding Mode Controller and Lyapunov Redesign Controller to Improve Microgrid Stability

    Hossain, Eklas; Perez, Ron; Padmanaban, Sanjeevikumar

    2017-01-01

    technique is used to enhance stability of microgrids. Besides adopting this technique here, Sliding Mode Controller (SMC) and Lyapunov Redesign Controller (LRC), two of the most prominent nonlinear control techniques, are individually implemented to control microgrid system stability with desired robustness....... CPL power is then varied to compare robustness of these two control techniques. This investigation revealed the better performance of the LRC system compared to SMC to retain stability in microgrid with dense CPL load. All the necessary results are simulated in Matlab/Simulink platform for authentic......To mitigate the microgrid instability despite the presence of dense Constant Power Load (CPL) loads in the system, a number of compensation techniques have already been gone through extensive research, proposed, and implemented around the world. In this paper, a storage based load side compensation...

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

    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. Sliding-mode control of single input multiple output DC-DC converter

    Zhang, Libo; Sun, Yihan; Luo, Tiejian; Wan, Qiyang

    2016-10-01

    Various voltage levels are required in the vehicle mounted power system. A conventional solution is to utilize an independent multiple output DC-DC converter whose cost is high and control scheme is complicated. In this paper, we design a novel SIMO DC-DC converter with sliding mode controller. The proposed converter can boost the voltage of a low-voltage input power source to a controllable high-voltage DC bus and middle-voltage output terminals, which endow the converter with characteristics of simple structure, low cost, and convenient control. In addition, the sliding mode control (SMC) technique applied in our converter can enhance the performances of a certain SIMO DC-DC converter topology. The high-voltage DC bus can be regarded as the main power source to the high-voltage facility of the vehicle mounted power system, and the middle-voltage output terminals can supply power to the low-voltage equipment on an automobile. In the respect of control algorithm, it is the first time to propose the SMC-PID (Proportion Integration Differentiation) control algorithm, in which the SMC algorithm is utilized and the PID control is attended to the conventional SMC algorithm. The PID control increases the dynamic ability of the SMC algorithm by establishing the corresponding SMC surface and introducing the attached integral of voltage error, which endow the sliding-control system with excellent dynamic performance. At last, we established the MATLAB/SIMULINK simulation model, tested performance of the system, and built the hardware prototype based on Digital Signal Processor (DSP). Results show that the sliding mode control is able to track a required trajectory, which has robustness against the uncertainties and disturbances.

  2. Model-based Sliding Mode Controller of Anti-lock Braking System

    Zheng, Lin; Luo, Yue-Gang; Kang, Jing; Shi, Zhan-Qun

    2016-05-01

    The anti-lock braking system (ABS) used in automobiles is used to prevent wheel from lockup and to maintain the steering ability and stability. The sliding mode controller is able to control nonlinear system steadily. In this research, a one-wheel dynamic model with ABS control is built up using model-based method. Using the sliding model controller, the simulation results by using Matlab/Simulink show qualified data compared with optimal slip rate. By using this method, the ABS brake efficiency is improved efficiently.

  3. Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach

    Sami ud Din

    2016-01-01

    Full Text Available This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinear model of the underactuated systems is transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous control laws are designed which are capable of maintaining sliding mode from the very beginning. The closed loop stability of these systems is presented in an impressive way. The effectiveness and demand of the designed control laws are verified via the simulation and experimental results of ball and beam system.

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

    Wei Wang

    2008-09-01

    Full Text Available 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.

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

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

    2017-08-01

    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.

  6. Core Power Control of the fast nuclear reactors with estimation of the delayed neutron precursor density using Sliding Mode method

    Ansarifar, G.R.; Nasrabadi, M.N.; Hassanvand, R.

    2016-01-01

    Highlights: • We present a S.M.C. system based on the S.M.O for control of a fast reactor power. • A S.M.O has been developed to estimate the density of delayed neutron precursor. • The stability analysis has been given by means Lyapunov approach. • The control system is guaranteed to be stable within a large range. • The comparison between S.M.C. and the conventional PID controller has been done. - Abstract: In this paper, a nonlinear controller using sliding mode method which is a robust nonlinear controller is designed to control a fast nuclear reactor. The reactor core is simulated based on the point kinetics equations and one delayed neutron group. Considering the limitations of the delayed neutron precursor density measurement, a sliding mode observer is designed to estimate it and finally a sliding mode control based on the sliding mode observer is presented. The stability analysis is given by means Lyapunov approach, thus the control system is guaranteed to be stable within a large range. Sliding Mode Control (SMC) is one of the robust and nonlinear methods which have several advantages such as robustness against matched external disturbances and parameter uncertainties. The employed method is easy to implement in practical applications and moreover, the sliding mode control exhibits the desired dynamic properties during the entire output-tracking process independent of perturbations. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness and stability.

  7. Application of second order sliding mode algorithms for output feedback control in hydraulic cylinder drives with profound valve dynamics

    Schmidt, Lasse; Andersen, Torben O.

    2016-01-01

    The application of second order sliding mode algorithms for output feedback control in hydraulic valve-cylinder drives appear attractive due to their simple realization and parametrization, and strong robustness toward bounded parameter variations and uncertainties. However, intrinsic nonlinear...

  8. Maximum Power Point Tracking Using Sliding Mode Control for Photovoltaic Array

    J. Ghazanfari

    2013-09-01

    Full Text Available In this paper, a robust Maximum Power Point Tracking (MPPT for PV array has been proposed using sliding mode control by defining a new formulation for sliding surface which is based on increment conductance (INC method. The stability and robustness of the proposed controller are investigated to load variations and environment changes. Three different types of DC-DC converter are used in Maximum Power Point (MPP system and the results obtained are given. The simulation results confirm the effectiveness of the proposed method in the presence of load variations and environment changes for different types of DC-DC converter topologies.

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

    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.

  10. Higher order sliding mode control of laser pointing for orbital debris mitigation

    Palosz, Arthur

    This thesis explores the use of a space-based laser to clean up small orbital debris from near Earth space. This system's challenge is to quickly and precisely aim the laser beam at very small (laser beam onto the orbital debris. A Kalman Filter (KF) is designed to accurately track the orbital debris and generate a command signal for the controller. A second order Super Twisting Sliding Mode Controller (2-SMC) is designed to follow the command signal generated by the KF and to overcome the parametric uncertainties and external disturbances. The performance of the system is validated with a computer simulation created in MATLAB and Simulink.

  11. Sliding mode control for synchronization of Roessler systems with time delays and its application to secure communication

    Chen, C-K; Yan, J-J; Liao, T-L

    2007-01-01

    This study is concerned with the chaos synchronization problem of Roessler systems subjected to multiple time delays. Based on the sliding mode control (SMC) technique, we first propose an adaptive switching surface which does not allow for a reduction of system order, as is the case in most SMC schemes. Then both a sliding mode controller and a new sufficient condition are derived to guarantee, respectively, the global hitting of the sliding mode and stability of the equivalent error dynamics in the sliding mode. Thus, the chaos synchronization for Roessler systems with multiple time delays can surely be achieved. Moreover, the proposed scheme is then applied to the secure communication system. Numerical simulations are included to demonstrate the feasibility of the proposed scheme

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

    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.

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

    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,...

  14. Fractional-order sliding mode control for a class of uncertain nonlinear systems based on LQR

    Dong Zhang

    2017-03-01

    Full Text Available This article presents a new fractional-order sliding mode control (FOSMC strategy based on a linear-quadratic regulator (LQR for a class of uncertain nonlinear systems. First, input/output feedback linearization is used to linearize the nonlinear system and decouple tracking error dynamics. Second, LQR is designed to ensure that the tracking error dynamics converges to the equilibrium point as soon as possible. Based on LQR, a novel fractional-order sliding surface is introduced. Subsequently, the FOSMC is designed to reject system uncertainties and reduce the magnitude of control chattering. Then, the global stability of the closed-loop control system is analytically proved using Lyapunov stability theory. Finally, a typical single-input single-output system and a typical multi-input multi-output system are simulated to illustrate the effectiveness and advantages of the proposed control strategy. The results of the simulation indicate that the proposed control strategy exhibits excellent performance and robustness with system uncertainties. Compared to conventional integer-order sliding mode control, the high-frequency chattering of the control input is drastically depressed.

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

    Feng Zhao

    2015-01-01

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

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

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

    2014-05-01

    This paper deals with the fault ride-through capability assessment of a doubly fed induction generator-based wind turbine using a high-order sliding mode control. Indeed, it has been recently suggested that sliding mode control is a solution of choice to the fault ride-through problem. In this context, this paper proposes a second-order sliding mode as an improved solution that handle the classical sliding mode chattering problem. Indeed, the main and attractive features of high-order sliding modes are robustness against external disturbances, the grids faults in particular, and chattering-free behavior (no extra mechanical stress on the wind turbine drive train). Simulations using the NREL FAST code on a 1.5-MW wind turbine are carried out to evaluate ride-through performance of the proposed high-order sliding mode control strategy in case of grid frequency variations and unbalanced voltage sags. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Second-order sliding mode controller with model reference adaptation for automatic train operation

    Ganesan, M.; Ezhilarasi, D.; Benni, Jijo

    2017-11-01

    In this paper, a new approach to model reference based adaptive second-order sliding mode control together with adaptive state feedback is presented to control the longitudinal dynamic motion of a high speed train for automatic train operation with the objective of minimal jerk travel by the passengers. The nonlinear dynamic model for the longitudinal motion of the train comprises of a locomotive and coach subsystems is constructed using multiple point-mass model by considering the forces acting on the vehicle. An adaptation scheme using Lyapunov criterion is derived to tune the controller gains by considering a linear, stable reference model that ensures the stability of the system in closed loop. The effectiveness of the controller tracking performance is tested under uncertain passenger load, coupler-draft gear parameters, propulsion resistance coefficients variations and environmental disturbances due to side wind and wet rail conditions. The results demonstrate improved tracking performance of the proposed control scheme with a least jerk under maximum parameter uncertainties when compared to constant gain second-order sliding mode control.

  18. Adaptive Sliding Mode Control of Dynamic Systems Using Double Loop Recurrent Neural Network Structure.

    Fei, Juntao; Lu, Cheng

    2018-04-01

    In this paper, an adaptive sliding mode control system using a double loop recurrent neural network (DLRNN) structure is proposed for a class of nonlinear dynamic systems. A new three-layer RNN is proposed to approximate unknown dynamics with two different kinds of feedback loops where the firing weights and output signal calculated in the last step are stored and used as the feedback signals in each feedback loop. Since the new structure has combined the advantages of internal feedback NN and external feedback NN, it can acquire the internal state information while the output signal is also captured, thus the new designed DLRNN can achieve better approximation performance compared with the regular NNs without feedback loops or the regular RNNs with a single feedback loop. The new proposed DLRNN structure is employed in an equivalent controller to approximate the unknown nonlinear system dynamics, and the parameters of the DLRNN are updated online by adaptive laws to get favorable approximation performance. To investigate the effectiveness of the proposed controller, the designed adaptive sliding mode controller with the DLRNN is applied to a -axis microelectromechanical system gyroscope to control the vibrating dynamics of the proof mass. Simulation results demonstrate that the proposed methodology can achieve good tracking property, and the comparisons of the approximation performance between radial basis function NN, RNN, and DLRNN show that the DLRNN can accurately estimate the unknown dynamics with a fast speed while the internal states of DLRNN are more stable.

  19. Hysteresis Compensation and Sliding Mode Control with Perturbation Estimation for Piezoelectric Actuators

    Bingxiao Ding

    2018-05-01

    Full Text Available Based on the background of atomic force microscope (AFM driven by piezoelectric actuators (PEAs, this paper proposes a sliding mode control coupled with an inverse Bouc–Wen (BW hysteresis compensator to improve the positioning performance of PEAs. The intrinsic hysteresis and creep characteristics degrade the performance of the PEA and cause accuracy loss. Although creep effect can be eliminated by the closed-loop control approach, hysteresis effects need to be compensated and alleviated by hysteresis compensators. For the purpose of dealing with the estimation errors, unmodeled vibration, and disturbances, a sliding mode control with perturbation estimation (SMCPE method is adopted to enhance the performance and robustness of the system. In order to validate the feasibility and performance of the proposed method, experimental studies are carried out, and the results show that the proposed controller performs better than a proportional-integral-derivative (PID controller at 1 and 2 Hz, reducing error to 1.2% and 1.4%, respectively.

  20. Sliding mode direct power control of RSC for DFIGs driven by variable speed wind turbines

    E.G. Shehata

    2015-12-01

    Full Text Available In spite of its several advantages, a classic direct power control (DPC of doubly fed induction generators (DFIGs driven by variable speed wind turbines has some drawbacks. In this paper, a simple and robust total sliding mode controller (TSMC is designed to improve the classical DPC performance without complicating the overall scheme. The TSMC is designed to regulate the DFIG stator active and reactive powers. Two integral switching functions are selected for describing the switching surfaces of the active and reactive powers. Reaching phase stability problem of the classical sliding mode controller is avoided in the proposed TSMC. Neither current control loops nor accurate values of machine parameters are required in the proposed scheme. In addition, axes transformation of the stator voltage and current are eliminated. The grid side converter is controlled based on DPC principle to regulate both DC-link voltage and total reactive power. The feasibility of the proposed DPC scheme is validated through simulation studies on a 1.5 MW wind power generation system. The performance of the proposed and conventional DPC schemes is compared under different operating conditions.

  1. Sliding-mode control combined with improved adaptive feedforward for wafer scanner

    Li, Xiaojie; Wang, Yiguang

    2018-03-01

    In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

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

    Rui Bai

    2014-01-01

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

  3. Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

    Yaoyao Wang

    2014-01-01

    Full Text Available For the 4-DOF (degrees of freedom trajectory tracking control problem of underwater remotely operated vehicles (ROVs in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC technique is introduced in light of the equivalent output injection sliding mode observer (SMO and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.

  4. On Position Sensorless Control for Permanent Magnet Synchronous Motor Based on a New Sliding Mode Observer

    Qixin Zhu

    2014-10-01

    Full Text Available For the problems of buffeting and phase delay in traditional rotor detection in sensorless vector control of permanent magnet synchronous motor (PMSM, the Sigmoid function is proposed to replace sign function and the approach of piecewise linearization is proposed to compensate phase delay. To the problem that the output of traditional low pass filter contains high- order harmonic, two-stage filter including traditional low-pass filter and Kalman filter is proposed in this paper. Based on the output of traditional first-order low-pass filter, the Kalman filter is used to get modified back-EMF. The phase-locked loop control of rotor position is adopted to estimate motor position and speed. A Matlab/Simulink simulation model of PMSM position servo control system is established. The simulation analysis of the new sliding mode observer’s back-EMF detection, position and speed estimation, load disturbance and dynamic process are carried out respectively. Simulation results verify feasibility of the new sliding mode observer algorithm.

  5. Design of LPV-Based Sliding Mode Controller with Finite Time Convergence for a Morphing Aircraft

    Nuan Wen

    2017-01-01

    Full Text Available This paper proposes a finite time convergence sliding mode control (FSMC strategy based on linear parameter-varying (LPV methodology for the stability control of a morphing aircraft subject to parameter uncertainties and external disturbances. Based on the Kane method, a longitudinal dynamic model of the morphing aircraft is built. Furthermore, the linearized LPV model of the aircraft in the wing transition process is obtained, whose scheduling parameters are wing sweep angle and wingspan. The FSMC scheme is developed into LPV systems by applying the previous results for linear time-invariant (LTI systems. The sufficient condition in form of linear matrix inequality (LMI constraints is derived for the existence of a reduced-order sliding mode, in which the dynamics can be ensured to keep robust stability and L2 gain performance. The tensor-product (TP model transformation approach can be directly applied to solve infinite LMIs belonging to the polynomial parameter-dependent LPV system. Then, by the parameter-dependent Lyapunov function stability analysis, the synthesized FSMC is proved to drive the LPV system trajectories toward the predefined switching surface with a finite time arrival. Comparative simulation results in the nonlinear model demonstrate the robustness and effectiveness of this approach.

  6. Development of Sliding Mode Controller for a Modified Boost Ćuk Converter Configuration

    Sanjeevikumar Padmanaban

    2017-09-01

    Full Text Available This paper introduces a sliding mode control (SMC-based equivalent control method to a novel high output gain Ćuk converter. An additional inductor and capacitor improves the efficiency and output gain of the classical Ćuk converter. Classical proportional integral (PI controllers are widely used in direct current to direct current (DC-DC converters. However, it is a very challenging task to design a single PI controller operating in different loads and disturbances. An SMC-based equivalent control method which achieves a robust operation in a wide operation range is also proposed. Switching frequency is kept constant in appropriate intervals at different loading and disturbance conditions by implementing a dynamic hysteresis control method. Numerical simulations conducted in MATLAB/Simulink confirm the accuracy of analysis of high output gain modified Ćuk converter. In addition, the proposed equivalent control method is validated in different perturbations to demonstrate robust operation in wide operation range.

  7. Continuous high order sliding mode controller design for a flexible air-breathing hypersonic vehicle.

    Wang, Jie; Zong, Qun; Su, Rui; Tian, Bailing

    2014-05-01

    This paper investigates the problem of tracking control with uncertainties for a flexible air-breathing hypersonic vehicle (FAHV). In order to overcome the analytical intractability of this model, an Input-Output linearization model is constructed for the purpose of feedback control design. Then, the continuous finite time convergence high order sliding mode controller is designed for the Input-Output linearization model without uncertainties. In addition, a nonlinear disturbance observer is applied to estimate the uncertainties in order to compensate the controller and disturbance suppression, where disturbance observer and controller synthesis design is obtained. Finally, the synthesis of controller and disturbance observer is used to achieve the tracking for the velocity and altitude of the FAHV and simulations are presented to illustrate the effectiveness of the control strategies. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  8. A coordinated MIMO control design for a power plant using improved sliding mode controller.

    Ataei, Mohammad; Hooshmand, Rahmat-Allah; Samani, Siavash Golmohammadi

    2014-03-01

    For the participation of the steam power plants in regulating the network frequency, boilers and turbines should be co-ordinately controlled in addition to the base load productions. Lack of coordinated control over boiler-turbine may lead to instability; oscillation in producing power and boiler parameters; reduction in the reliability of the unit; and inflicting thermodynamic tension on devices. This paper proposes a boiler-turbine coordinated multivariable control system based on improved sliding mode controller (ISMC). The system controls two main boiler-turbine parameters i.e., the turbine revolution and superheated steam pressure of the boiler output. For this purpose, a comprehensive model of the system including complete and exact description of the subsystems is extracted. The parameters of this model are determined according to our case study that is the 320MW unit of Islam-Abad power plant in Isfahan/Iran. The ISMC method is simulated on the power plant and its performance is compared with the related real PI (proportional-integral) controllers which have been used in this unit. The simulation results show the capability of the proposed controller system in controlling local network frequency and superheated steam pressure in the presence of load variations and disturbances of boiler. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

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

    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.

  10. Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations

    Tuan, Le Anh; Lee, Soon-Geul

    2018-03-01

    In this study, a new mathematical model of crawler cranes is developed for heavy working conditions, with payload-lifting and boom-hoisting motions simultaneously activated. The system model is built with full consideration of wind disturbances, geometrical nonlinearities, and cable elasticities of cargo lifting and boom luffing. On the basis of this dynamic model, three versions of sliding mode control are analyzed and designed to control five system outputs with only two inputs. When used in complicated operations, the effectiveness of the controllers is analyzed using analytical investigation and numerical simulation. Results indicate the effectiveness of the control algorithms and the proposed dynamic model. The control algorithms asymptotically stabilize the system with finite-time convergences, remaining robust amid disturbances and parametric uncertainties.

  11. Reusable Launch Vehicle Attitude Control Using a Time-Varying Sliding Mode Control Technique

    Shtessel, Yuri B.; Zhu, J. Jim; Daniels, Dan; Jackson, Scott (Technical Monitor)

    2002-01-01

    In this paper we present a time-varying sliding mode control (TVSMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC ascent and descent designs are currently being tested with high fidelity, 6-DOF dispersion simulations. The test results will be presented in the final version of this paper.

  12. Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality

    Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur

    2017-04-01

    Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.

  13. Sliding mode synchronization controller design with neural network for uncertain chaotic systems

    Mou Chen [College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016 (China)], E-mail: chenmou@nuaa.edu.cn; Jiang Changsheng; Bin Jiang; Wu Qingxian [College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016 (China)

    2009-02-28

    A sliding mode synchronization controller is presented with RBF neural network for two chaotic systems in this paper. The compound disturbance of the synchronization error system consists of nonlinear uncertainties and exterior disturbances of chaotic systems. Based on RBF neural networks, a compound disturbance observer is proposed and the update law of parameters is given to monitor the compound disturbance. The synchronization controller is given based on the output of the compound disturbance observer. The designed controller can make the synchronization error convergent to zero and overcome the disruption of the uncertainty and the exterior disturbance of the system. Finally, an example is given to demonstrate the availability of the proposed synchronization control method.

  14. Synchronization of the unified chaotic systems using a sliding mode controller

    Zribi, Mohamed; Smaoui, Nejib; Salim, Haitham

    2009-01-01

    The unified chaotic system incorporates the behaviors of the Lorenz, the Chen and the Lue chaotic systems. This paper deals with the synchronization of two identical unified chaotic systems where the slave system is assumed to have a single input. A sliding mode controller is proposed to synchronize the two systems. The asymptotic convergence to zero of the errors between the states of the master and the slave systems is shown. Simulations results are presented to illustrate the proposed controller; they indicate that the designed controller is able to synchronize the unified chaotic systems. Also, simulation results show that the proposed control scheme is robust to random bounded disturbances acting on the master system. Moreover, the proposed scheme is applied to the secure communications field, where simulation results indicate that the proposed scheme is effective.

  15. Comparative Study on Photovoltaic Pumping Systems Driven by Different Motors Optimized with Sliding Mode Control

    Abdelhak Bouchakour

    2017-06-01

    Full Text Available This study investigates the performance of three different photovoltaic (PV water pumping systems driven by three types of motors, namely a separately excited DC motor (DCM, an asynchronous motor (ASM, and a permanent magnet synchronous motor (PMSM, via a DC/DC buck-boost converter coupled to a centrifugal pump. The purpose of this study is to implement a fast and robust control for this type of a nonlinear system, controlled by sliding mode (SM. This paper presents an SM control technique for controlling a DC/DC buck-boost converter to transfer the maximum power delivered by the PV generator. Each component is studied and analyzed to simulate the global system in MATLAB/SIMULINK. The three systems are then compared to determine the overall effectiveness of the proposed command. The study concludes that the ASM-driven PV system yields highly favorable results and requires less maintenance compared with other systems.

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

    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.

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

    Bu Xiangwei

    2015-08-01

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

  18. Sliding mode disturbance observer-enhanced adaptive control for the air-breathing hypersonic flight vehicle

    An, Hao; Wang, Changhong; Fidan, Baris

    2017-10-01

    This paper presents a backstepping procedure to design an adaptive controller for the air-breathing hypersonic flight vehicle (AHFV) subject to external disturbances and actuator saturations. In each step, a sliding mode exact disturbance observer (SMEDO) is exploited to exactly estimate the lumped disturbance in finite time. Specific dynamics are introduced to handle the possible actuator saturations. Based on SMEDO and introduced dynamics, an adaptive control law is designed, along with the consideration on ;explosion of complexity; in backstepping design. The developed controller is equipped with fast disturbance rejection and great capability to accommodate the saturated actuators, which also lead to a wider application scope. A simulation study is provided to show the effectiveness and superiority of the proposed controller.

  19. Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems

    Hao Ce

    2018-01-01

    Full Text Available A continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR is presented in this paper. The proposed approach is composed of conventional sliding-mode control (SMC in the internal loop and modified switched second-order sliding-mode (S-SOSM control in the external loop. Sliding-mode controller is equivalently represented as stabilization of the nominal system without uncertainties. An S-SOSM control algorithm is employed to counteract the impact of state-dependent unmodeled dynamics and time-varying external disturbances, and the unexpected chattering has been attenuated significantly. Particularly, state-space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements. Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach.

  20. Sliding Mode Tracking Control of Manipulator Based on the Improved Reaching Law

    Wei-Na ZHAI

    2013-04-01

    Full Text Available Due to the mechanical hand often have serious uncertainty, as the state in which the different and external changes, also its parameters are changing, this is very adverse to achieve precise control. In this paper, the traditional sliding mode variable structure was improved, the sign function is replaced by saturated function based on the double power reaching law, by adjusting the values of e1, e2, a, b, g and k to effectively improve the manipulator joint reaching speed, track expected trajectory fast and shorten the system response time. Finally, the method is used for simulation of manipulator trajectory tracking, compared to two reaching law control algorithms. The simulation results show that the control algorithm has good dynamic performance, which can effectively restrain the chattering and quickly track the desired trajectory. Therefore, the improved reaching law can effectively improve the performance of robotic manipulator.

  1. Sliding Mode Control of DFIG Wind Turbines with a Fast Exponential Reaching Law

    Linyun Xiong

    2017-11-01

    Full Text Available This paper proposes a novel sliding mode control (SMC technique for doubly fed induction generators (DFIGs based on the fast exponential reaching law (FERL. The proposed FERL-based SMC is capable of reducing to a large extent the chattering phenomena existing in the sliding stage. Meanwhile, the reaching stage is accelerated with the introduction of an adaptive gain. The proposed method is employed in a DFIG-based wind energy conversion system (WECS for direct power control (DPC. The FERL-based DPC approach is tested with simulations conducted in Matlab/Simulink under the scenarios of unbalanced grid voltage, grid fault conditions and highly unstable wind speed accompanied by an experimental study. The simulations and experimental results reveal the better performance of the proposed control method in active/reactive power tracking and dc-link voltage maintenance.

  2. On the adaptive sliding mode controller for a hyperchaotic fractional-order financial system

    Hajipour, Ahamad; Hajipour, Mojtaba; Baleanu, Dumitru

    2018-05-01

    This manuscript mainly focuses on the construction, dynamic analysis and control of a new fractional-order financial system. The basic dynamical behaviors of the proposed system are studied such as the equilibrium points and their stability, Lyapunov exponents, bifurcation diagrams, phase portraits of state variables and the intervals of system parameters. It is shown that the system exhibits hyperchaotic behavior for a number of system parameters and fractional-order values. To stabilize the proposed hyperchaotic fractional system with uncertain dynamics and disturbances, an efficient adaptive sliding mode controller technique is developed. Using the proposed technique, two hyperchaotic fractional-order financial systems are also synchronized. Numerical simulations are presented to verify the successful performance of the designed controllers.

  3. Dynamic Analysis and Adaptive Sliding Mode Controller for a Chaotic Fractional Incommensurate Order Financial System

    Hajipour, Ahmad; Tavakoli, Hamidreza

    2017-12-01

    In this study, the dynamic behavior and chaos control of a chaotic fractional incommensurate-order financial system are investigated. Using well-known tools of nonlinear theory, i.e. Lyapunov exponents, phase diagrams and bifurcation diagrams, we observe some interesting phenomena, e.g. antimonotonicity, crisis phenomena and route to chaos through a period doubling sequence. Adopting largest Lyapunov exponent criteria, we find that the system yields chaos at the lowest order of 2.15. Next, in order to globally stabilize the chaotic fractional incommensurate order financial system with uncertain dynamics, an adaptive fractional sliding mode controller is designed. Numerical simulations are used to demonstrate the effectiveness of the proposed control method.

  4. Research on Sliding Mode Control for Steer-by-Wire System in Forklift

    Huang Jun-Jie

    2017-01-01

    Full Text Available Aiming at steering stability and wheel angle tracking of steer-by-wire (SBW three wheeled forklift, steering dynamic model and SBW system mathematical model of three wheeled forklift are established. A control strategy for the ideal transmission ratio is introduced based on this model, which ensures forklift steering gain invariant. A sliding mode controller can then be designed based on the bound information of uncertain system parameters, uncertain self-aligning torque, and external disturbances. The results of simulation show the control strategies above can effectively reduce the sideslip angle when the forklift is steering and improve the sensitivity and stability of the steering forklift; at the same time can effectively restrain the parameter perturbation of internal system and external disturbance, which improves the tracking performance of the wheel angle.

  5. Sliding mode control-based linear functional observers for discrete-time stochastic systems

    Singh, Satnesh; Janardhanan, Sivaramakrishnan

    2017-11-01

    Sliding mode control (SMC) is one of the most popular techniques to stabilise linear discrete-time stochastic systems. However, application of SMC becomes difficult when the system states are not available for feedback. This paper presents a new approach to design a SMC-based functional observer for discrete-time stochastic systems. The functional observer is based on the Kronecker product approach. Existence conditions and stability analysis of the proposed observer are given. The control input is estimated by a novel linear functional observer. This approach leads to a non-switching type of control, thereby eliminating the fundamental cause of chatter. Furthermore, the functional observer is designed in such a way that the effect of process and measurement noise is minimised. Simulation example is given to illustrate and validate the proposed design method.

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

    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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

    Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

    2017-12-01

    In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

  8. Nonlinear adaptive observer-based sliding mode control for LAMOST mount driving

    Zhou Wangping; Guo Wei; Yu Li; Yang Changsong; Zheng Yi

    2010-01-01

    Heavy disturbances caused mainly by wind and friction in the mount drive system greatly impair the pointing accuracy of the Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST). To overcome this negative effect, a third order Higher Order Sliding Mode (HOSM) controller is proposed. The key part of this approach is to design an appropriate observer which obtains the acceleration state. A nonlinear adaptive observer is proposed in which a novel polynomial model is applied to estimate the internal disturbances of the mount drive system. Theoretical analysis demonstrates the stability of the proposed observer. Simulation results show that this nonlinear adaptive observer can obtain a high precision acceleration signal which completes the HOSM controller. Furthermore, the HOSM approach can easily satisfy the position tracking requirements of the LAMOST mount drive system.

  9. Sliding mode fault tolerant control dealing with modeling uncertainties and actuator faults.

    Wang, Tao; Xie, Wenfang; Zhang, Youmin

    2012-05-01

    In this paper, two sliding mode control algorithms are developed for nonlinear systems with both modeling uncertainties and actuator faults. The first algorithm is developed under an assumption that the uncertainty bounds are known. Different design parameters are utilized to deal with modeling uncertainties and actuator faults, respectively. The second algorithm is an adaptive version of the first one, which is developed to accommodate uncertainties and faults without utilizing exact bounds information. The stability of the overall control systems is proved by using a Lyapunov function. The effectiveness of the developed algorithms have been verified on a nonlinear longitudinal model of Boeing 747-100/200. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

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

    Mozayan, Seyed Mehdi; Saad, Maarouf; Vahedi, Hani

    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......) inverter and L filter are used as the interface between the wind turbine and grid. This topology has abundant features such as simplicity for low and medium power wind turbine applications. It is also less costly than back-to-back two-level converters in medium power applications. SMC approach demonstrates...... is explored by simulation study on a 4 kW wind turbine, and then verified by experimental tests for a 2 kW set-up....

  11. Bifurcations, chaos and adaptive backstepping sliding mode control of a power system with excitation limitation

    Fuhong Min

    2016-08-01

    Full Text Available The bifurcation and Lyapunov exponent for a single-machine-infinite bus system with excitation model are carried out by varying the mechanical power, generator damping factor and the exciter gain, from which periodic motions, chaos and the divergence of system are observed respectively. From given parameters and different initial conditions, the coexisting motions are developed in power system. The dynamic behaviors in power system may switch freely between the coexisting motions, which will bring huge security menace to protection operation. Especially, the angle divergences due to the break of stable chaotic oscillation are found which causes the instability of power system. Finally, a new adaptive backstepping sliding mode controller is designed which aims to eliminate the angle divergences and make the power system run in stable orbits. Numerical simulations are illustrated to verify the effectivity of the proposed method.

  12. Bifurcations, chaos and adaptive backstepping sliding mode control of a power system with excitation limitation

    Min, Fuhong, E-mail: minfuhong@njnu.edu.cn; Wang, Yaoda; Peng, Guangya; Wang, Enrong [School of Electrical and Automation Engineering, Nanjing Normal University, Jiangsu, 210042 (China)

    2016-08-15

    The bifurcation and Lyapunov exponent for a single-machine-infinite bus system with excitation model are carried out by varying the mechanical power, generator damping factor and the exciter gain, from which periodic motions, chaos and the divergence of system are observed respectively. From given parameters and different initial conditions, the coexisting motions are developed in power system. The dynamic behaviors in power system may switch freely between the coexisting motions, which will bring huge security menace to protection operation. Especially, the angle divergences due to the break of stable chaotic oscillation are found which causes the instability of power system. Finally, a new adaptive backstepping sliding mode controller is designed which aims to eliminate the angle divergences and make the power system run in stable orbits. Numerical simulations are illustrated to verify the effectivity of the proposed method.

  13. Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems

    Zhihong Wang

    2015-01-01

    Full Text Available Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties.

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

    Xiuchun Li

    2013-01-01

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

  15. Control of equipment isolation system using wavelet-based hybrid sliding mode control

    Huang, Shieh-Kung; Loh, Chin-Hsiung

    2017-04-01

    Critical non-structural equipment, including life-saving equipment in hospitals, circuit breakers, computers, high technology instrumentations, etc., is vulnerable to strong earthquakes, and on top of that, the failure of the vibration-sensitive equipment will cause severe economic loss. In order to protect vibration-sensitive equipment or machinery against strong earthquakes, various innovative control algorithms are developed to compensate the internal forces that to be applied. These new or improved control strategies, such as the control algorithms based on optimal control theory and sliding mode control (SMC), are also developed for structures engineering as a key element in smart structure technology. The optimal control theory, one of the most common methodologies in feedback control, finds control forces through achieving a certain optimal criterion by minimizing a cost function. For example, the linear-quadratic regulator (LQR) was the most popular control algorithm over the past three decades, and a number of modifications have been proposed to increase the efficiency of classical LQR algorithm. However, except to the advantage of simplicity and ease of implementation, LQR are susceptible to parameter uncertainty and modeling error due to complex nature of civil structures. Different from LQR control, a robust and easy to be implemented control algorithm, SMC has also been studied. SMC is a nonlinear control methodology that forces the structural system to slide along surfaces or boundaries; hence this control algorithm is naturally robust with respect to parametric uncertainties of a structure. Early attempts at protecting vibration-sensitive equipment were based on the use of existing control algorithms as described above. However, in recent years, researchers have tried to renew the existing control algorithms or developing a new control algorithm to adapt the complex nature of civil structures which include the control of both structures and non

  16. Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces

    Ali Tavasoli

    2012-01-01

    Full Text Available Nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. A high-level sliding mode control with adaptive upper bounds is considered to assess the body yaw moment and lateral force for the vehicle motion. The proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties. Static and dynamic control allocation approaches have been formulated to distribute high-level control objectives among the system inputs. For static control allocation, the interior-point method is applied to solve the formulated nonlinear optimization problem. Based on the dynamic control allocation method, a dynamic update law is derived to allocate vehicle control to tire forces. The allocated tire forces are fed into a low-level control module, where the applied torque and active steering angle at each wheel are determined through a slip-ratio controller and an inverse tire model. Computer simulations are used to prove the significant effects of the proposed control allocation methods on improving the stability and handling performance. The advantages and limitations of each method have been discussed, and conclusions have been derived.

  17. Extended Kalman Filter Based Sliding Mode Control of Parallel-Connected Two Five-Phase PMSM Drive System

    Tounsi Kamel

    2018-01-01

    Full Text Available This paper presents sliding mode control of sensor-less parallel-connected two five-phase permanent magnet synchronous machines (PMSMs fed by a single five-leg inverter. For both machines, the rotor speeds and rotor positions as well as load torques are estimated by using Extended Kalman Filter (EKF scheme. Fully decoupled control of both machines is possible via an appropriate phase transposition while connecting the stator windings parallel and employing proposed speed sensor-less method. In the resulting parallel-connected two-machine drive, the independent control of each machine in the group is achieved by controlling the stator currents and speed of each machine under vector control consideration. The effectiveness of the proposed Extended Kalman Filter in conjunction with the sliding mode control is confirmed through application of different load torques for wide speed range operation. Comparison between sliding mode control and PI control of the proposed two-motor drive is provided. The speed response shows a short rise time, an overshoot during reverse operation and settling times is 0.075 s when PI control is used. The speed response obtained by SMC is without overshoot and follows its reference and settling time is 0.028 s. Simulation results confirm that, in transient periods, sliding mode controller remarkably outperforms its counterpart PI controller.

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

    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.

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

    Yi Long

    2016-01-01

    Full Text Available 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.

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

    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

  1. Robust control of an industrial boiler system; a comparison between two approaches: Sliding mode control and H∞ technique

    Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid

    2009-01-01

    To achieve a good performance of the utility boiler, dynamic variables such as drum pressure, steam temperature and water level of drum must be controlled. In this paper, a linear time invariant (LTI) model of a boiler system is considered in which the input variables are feed-water and fuel mass rates. However this dynamic model may associate with uncertainties. With considering the uncertainties of the dynamic model, a sliding mode controller is designed. After representation of the uncertain dynamic system in general control configuration and modelling the parametric uncertainties, nominal performance, robust stability and robust performance are analyzed by the concept of structured singular value μ. Using an algorithm for μ-analysis and applying an inversed-base controller, robust stability and nominal performance are guaranteed but robust performance is not satisfied. Finally, an optimal robust controller is designed based on μ-synthesis with DK-iteration algorithm. Both optimal robust and sliding mode controllers guarantee robust performance of the system against the uncertainties and result in desired time responses of the output variables. By applying H ∞ robust control, system tracks the desire reference inputs in a less time and with smoother time responses. However, less control efforts, feedwater and fuel mass rates, are needed when the sliding mode controller is applied.

  2. Global fast dynamic terminal sliding mode control for a quadrotor UAV.

    Xiong, Jing-Jing; Zhang, Guo-Bao

    2017-01-01

    A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer.

    Xingling, Shao; Honglun, Wang

    2014-11-01

    This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Sliding Mode Controller and Lyapunov Redesign Controller to Improve Microgrid Stability:A Comparative Analysis with CPL Power Variation

    Hossain, Eklas; Perez, Ron; Padmanaban, Sanjeevikumar; Mihet-Popa, Lucian; Blaabjerg, Frede; Ramachandaramurthy, Vigna K.

    2017-01-01

    To mitigate the microgrid instability despite the presence of dense Constant Power Load (CPL) loads in the system, a number of compensation techniques have already been gone through extensive research, proposed, and implemented around the world. In this paper, a storage based load side compensation technique is used to enhance stability of microgrids. Besides adopting this technique here, Sliding Mode Controller (SMC) and Lyapunov Redesign Controller (LRC), two of the most prominent nonlinear...

  5. Variable Structure Disturbance Rejection Control for Nonlinear Uncertain Systems with State and Control Delays via Optimal Sliding Mode Surface Approach

    Jing Lei

    2013-01-01

    Full Text Available The paper considers the problem of variable structure control for nonlinear systems with uncertainty and time delays under persistent disturbance by using the optimal sliding mode surface approach. Through functional transformation, the original time-delay system is transformed into a delay-free one. The approximating sequence method is applied to solve the nonlinear optimal sliding mode surface problem which is reduced to a linear two-point boundary value problem of approximating sequences. The optimal sliding mode surface is obtained from the convergent solutions by solving a Riccati equation, a Sylvester equation, and the state and adjoint vector differential equations of approximating sequences. Then, the variable structure disturbance rejection control is presented by adopting an exponential trending law, where the state and control memory terms are designed to compensate the state and control delays, a feedforward control term is designed to reject the disturbance, and an adjoint compensator is designed to compensate the effects generated by the nonlinearity and the uncertainty. Furthermore, an observer is constructed to make the feedforward term physically realizable, and thus the dynamical observer-based dynamical variable structure disturbance rejection control law is produced. Finally, simulations are demonstrated to verify the effectiveness of the presented controller and the simplicity of the proposed approach.

  6. Model-based adaptive sliding mode control of the subcritical boiler-turbine system with uncertainties.

    Tian, Zhen; Yuan, Jingqi; Xu, Liang; Zhang, Xiang; Wang, Jingcheng

    2018-05-25

    As higher requirements are proposed for the load regulation and efficiency enhancement, the control performance of boiler-turbine systems has become much more important. In this paper, a novel robust control approach is proposed to improve the coordinated control performance for subcritical boiler-turbine units. To capture the key features of the boiler-turbine system, a nonlinear control-oriented model is established and validated with the history operation data of a 300 MW unit. To achieve system linearization and decoupling, an adaptive feedback linearization strategy is proposed, which could asymptotically eliminate the linearization error caused by the model uncertainties. Based on the linearized boiler-turbine system, a second-order sliding mode controller is designed with the super-twisting algorithm. Moreover, the closed-loop system is proved robustly stable with respect to uncertainties and disturbances. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves excellent tracking performance, strong robustness and chattering reduction. Copyright © 2018. Published by Elsevier Ltd.

  7. Sliding-Mode Controller for Maximum Power Point Tracking in Grid-Connected Photovoltaic Systems

    Paula Andrea Ortiz Valencia

    2015-11-01

    Full Text Available The maximum power point tracking (MPPT of photovoltaic systems must be as fast and accurate as possible to increase the power production, which eventually increases the PV system profitability. This paper proposes and mathematically analyses a sliding-mode controller to provide a fast and accurate maximum power point tracking in grid-connected photovoltaic systems using a single control stage. This approach avoids the circular dependency in the design of classical cascade controllers used to optimize the photovoltaic system operation, and at the same time, it reduces the number of controllers and avoids the use of linearized models to provide global stability in all the operation range. Such a compact solution also reduces the system cost and implementation complexity. To ensure the stability of the proposed solution, detailed mathematical analyses are performed to demonstrate the fulfillment of the transversality, reachability and equivalent control conditions. Finally, the performance of the proposed solution is validated using detailed simulations, executed in the power electronics simulator PSIM, accounting for both environmental and load perturbations.

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

    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.

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

    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.

  10. Robust Sliding Mode Control of Air Handling Unit for Energy Efficiency Enhancement

    Awais Shah

    2017-11-01

    Full Text Available In order to achieve feasible and copacetic low energy consuming building, a robust and efficient air conditioning system is necessary. Since heating ventilation and air conditioning systems are nonlinear and temperature and humidity are coupled, application of conventional control is inappropriate. A multi-input multi-output nonlinear model is presented. The temperature and humidity of thermal zone are ascendance by the manipulation of the water and air flow rates. A sliding mode controller (SMC is designed to ensure robust performance of air handling unit in the presence of uncertainties. A simple proportional-integral-derivative (PID controller is used as a comparison template to highlight the efficiency of the proposed controller. To accomplish tracking targets, a variety of desired temperature and relative humidity commands (including ramp and combination with sequence of steps are investigated. According to simulation results, SMC transcends the PID controller in terms of settling time, steady state and rise time, which makes SMC more energy efficient.

  11. Transparent Higher Order Sliding Mode Control for Nonlinear Master-Slave Systems without Velocity Measurement

    Luis G. Garcia-Valdovinos

    2015-04-01

    Full Text Available Transparency has been a major objective in bilateral teleoperation systems, even in the absence of time delay induced by the communication channel, since a high degree of transparency would allow humans to drive the remote teleoperator as if he or she were directly interacting with the remote environment, with the remote teleoperator as a physical and sensorial extension of the operator. When fast convergence of position and force tracking errors are ensured by the control system, then complete transparency is obtained, which would ideally guarantee humans to be tightly kinaesthetically coupled. In this paper a model-free Cartesian second order sliding mode (SOSM PD control scheme for nonlinear master-slave systems is presented. The proposed scheme does not rely on velocity measurements and attains very fast convergence of position trajectories, with bounded tracking of force trajectories, rendering a high degree of transparency with lesser knowledge of the system. The degree of transparency can easily be improved by tuning a feedback gain in the force loop. A unique energy storage function is introduced; such that a similar Cartesian-based controller is implemented in the master and slave sides. The resulting properties of the Cartesian control structure allows the human operator to input directly Cartesian variables, which makes clearer the kinaesthetic coupling, thus the proposed controller becomes a suitable candidate for practical implementation. The performance of the proposed scheme is evaluated in a semi-experimental setup.

  12. A Robust MPP Tracker Based on Sliding Mode Control for a Photovoltaic Based Pumping System

    Farhat Maissa; Oscar Barambones; Sbita Lassad; Aymen Fleh

    2017-01-01

    In this paper,a mathematical model of the photovoltaic (PV) pumping system's main components is firstly established.Then,the design of maximum power point tracking (MPPT) stage that ensures battery charging is described.This work is motivated by the need of photovoltaic generator (PVG) that efficiently extracts maximum power.The PVG is a special source of energy which has nonlinear current-voltage characteristics depending on variations in temperature and solar irradiance.In order to achieve the MPPT operating goals,a special interest is focused on the variable structure sliding mode (SM) control strategy and the classic perturb and observe (P&O) algorithm.The permanent magnet synchronous motor (PMSM) is selected as a pump driver.The field oriented control is performed as the motor drive strategy.Simulation results show a high level of efficiency,obtained with the proposed PV based pumping system.The performance comparison between SM controller and P&O controller has been carried out to demonstrate the effectiveness of the former in drawing more energy and a fast response against irradiation disturbances.

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

    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.

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

    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. Robust tracking control of an IPMC actuator using nonsingular terminal sliding mode

    Khawwaf, Jasim; Zheng, Jinchuan; Lu, Renquan; Al-Ghanimi, Ali; Kazem, Bahaa I.; Man, Zhihong

    2017-09-01

    Ionic polymer metal composite (IPMC) is a highly innovative material that has recently gained attention in many fields such as medical, biomimetic, and micro/nano underwater applications. The main characteristic of IPMC lies in its ability to achieve a large deflection under a fairly low driving voltage. Moreover, its agile, light weight, noiseless and flexible features render it well suited for certain specific applications. Like other smart materials, such as piezoelectric ceramics, IPMC could be used in actuators or sensors. In this paper, we study the application of IPMC as an actuator for underwater use. The goal is to develop a robust feedback controller for the IPMC actuator to track a desired reference whilst dealing with the uncertainties due to the inherent actuator nonlinearity, external disturbance or the variations of working environment. To this end, we first present a nominal model of the IPMC actuator through experimental identification. Next, a nonsingular terminal sliding mode controller is proposed. Lastly, experimental studies are conducted to verify the tracking accuracy and robustness of the designed controller.

  16. Passive impedance-based second-order sliding mode control for non-linear teleoperators

    Luis G García-Valdovinos

    2017-02-01

    Full Text Available Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.

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

    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.

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

    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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Feedback attitude sliding mode regulation control of spacecraft using arm motion

    Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

    2013-09-01

    The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

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

    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.

  1. Robust maximum power point tracker using sliding mode controller for the three-phase grid-connected photovoltaic system

    Kim, Il-Song [LG Chem. Ltd./Research park, Mobile Energy R and D, 104-1 Moonji-Dong, Yuseong-Gu, Daejeon 305-380 (Korea)

    2007-03-15

    A robust maximum power point tracker (MPPT) using sliding mode controller for the three-phase grid-connected photovoltaic system has been proposed in this paper. Contrary to the previous controller, the proposed system consists of MPPT controller and current controller for tight regulation of the current. The proposed MPPT controller generates current reference directly from the solar array power information and the current controller uses the integral sliding mode for the tight control of current. The proposed system can prevent the current overshoot and provide optimal design for the system components. The structure of the proposed system is simple, and it shows robust tracking property against modeling uncertainties and parameter variations. Mathematical modeling is developed and the experimental results verify the validity of the proposed controller. (author)

  2. Second-order Sliding Mode Control of DFIG Based Variable Speed Wind Turbine for Maximum Power Point Tracking

    Xiangjie Liu; Chengcheng Wang; Yaozhen Han

    2017-01-01

    This paper proposes a super-twisting second order sliding mode control scheme to maximize the wind energy capture of a doubly fed induction generator based variable speed wind turbine (VSWT) system, and minimize the reactive power simultaneously. Two second order sliding mode controllers are designed to achieve the control objectives, reduce mechanical stress and improve control accuracy. By regulating the generator rotor voltage, one controller makes the wind turbine rotor speed track the optimal speed, which can maximize power generation. The other maintains the rotor current at rated value to minimize the reactive power. A quadratic form Lyapunov function is adopted to determine the range of controller parameters and guarantee the finite time stability. Simulation results on a 1.5 MW doubly fed induction generator (DFIG)-based variable speed wind turbine demonstrate the validity of the proposed control strategy.

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

    Liu, Juanxiu; Wu, Yifei; Guo, Jian; Chen, Qingwei

    2015-01-01

    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-or...

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

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

    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.

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

    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.

  7. Sliding Mode Control of a Bidirectional Buck/Boost DC-DC Converter with Constant Switching Frequency

    A. Safari

    2018-03-01

    Full Text Available In this paper, sliding mode control (SMC for a bidirectional buck/boost DC-DC converter (BDC with constant frequency in continuous conduction mode (CCM is discussed. Since the converter is a high-order converter, the reduced-order sliding manifold is exploited. Because of right-half-plan zero (RHPZ in the converter’s duty ratio to output voltage transfer function, sliding mode current controller is used. This controller benefits from various advantages such as fast dynamic response, robustness, stable and small variation of the settling time over a wide range of operation conditions. Because the converter operates in both step-down and step-up modes, two sliding manifold is derived for each mode. The existence and stability conditions are analyzed for both SMC in step-down and step-up modes. Finally, Simulation results are also provided to justify the feasibility of the controller using MATLAB/Simulink.

  8. Parameters Designing of Slide Mode Variable Structure Controller of Bus Voltage of DC Microgrid Based on Proportion Switching Function

    Sun Zhenchuan

    2017-01-01

    Full Text Available Constant value control of the DC-bus voltage is a essential problem of the control system of the DC microgrids. DC-DC converters are applied in parallel to realize the transform of energy from the distributed generations (DGs to the DC-bus. Droop control methods are applied to the DC-bus voltage while PI controllers are used in controlling the duty ratios of the converters. This method may bring out the slow response speed of the system accompanied by the large ripple of the voltage. The slide mode variable structure control can speed up the response and reduce the ripple of the voltage as well. In the traditional slide mode control based on the proportion switching function, the denominator of the transfer function of the controlled plant is a second-order characteristic polynomial without the constant term. The denominators of the transfer functions of the buck DC-DC converters contain the constant terms. The designing of the parameters of the slide mode control based on the proportion switching function is analyzed based on mathematics deductions. Simulation results show that the selected parameters can not only speed up the response of the system but also greatly reduce the ripple of the voltage.

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

    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.

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

    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.

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

    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.

  12. A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups.

    Lilly, John H; Quesada, Peter M

    2004-09-01

    Multiple-input sliding-mode techniques are applied to a planar arm actuated by four groups of pneumatic muscle (PM) actuators in opposing pair configuration. The control objective is end-effector tracking of a desired path in Cartesian space. The inputs to the system are commanded input pressure differentials for the two opposing PM groups. An existing model for the muscle is incorporated into the arm equations of motion to arrive at a two-input, two-output nonlinear model of the planar arm that is affine in the input and, therefore, suitable for sliding-mode techniques. Relationships between static input pressures are derived for suitable arm behavior in the absence of a control signal. Simulation studies are reported.

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

    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...

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

    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

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

    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

  16. Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control.

    Van, Mien; Ge, Shuzhi Sam; Ren, Hongliang

    2016-04-28

    In this paper, a novel finite time fault tolerant control (FTC) is proposed for uncertain robot manipulators with actuator faults. First, a finite time passive FTC (PFTC) based on a robust nonsingular fast terminal sliding mode control (NFTSMC) is investigated. Be analyzed for addressing the disadvantages of the PFTC, an AFTC are then investigated by combining NFTSMC with a simple fault diagnosis scheme. In this scheme, an online fault estimation algorithm based on time delay estimation (TDE) is proposed to approximate actuator faults. The estimated fault information is used to detect, isolate, and accommodate the effect of the faults in the system. Then, a robust AFTC law is established by combining the obtained fault information and a robust NFTSMC. Finally, a high-order sliding mode (HOSM) control based on super-twisting algorithm is employed to eliminate the chattering. In comparison to the PFTC and other state-of-the-art approaches, the proposed AFTC scheme possess several advantages such as high precision, strong robustness, no singularity, less chattering, and fast finite-time convergence due to the combined NFTSMC and HOSM control, and requires no prior knowledge of the fault due to TDE-based fault estimation. Finally, simulation results are obtained to verify the effectiveness of the proposed strategy.

  17. SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

    Podder, T

    2016-01-01

    Purpose: In medical interventional procedures such as brachytherapy, ablative therapies and biopsy precise steering and accurate placement of needles are very important for anatomical obstacle avoidance and accurate targeting. This study presents the efficacy of a sliding mode controller for Shape Memory Alloy (SMA) actuated flexible needle for medical procedures. Methods: Second order system dynamics of the SMA actuated active flexible needle was used for deriving the sliding mode control equations. Both proportional-integral-derivative (PID) and adaptive PID sliding mode control (APIDSMC) algorithms were developed and implemented. The flexible needle was attached at the end of a 6 DOF robotic system. Through LabView programming environment, the control commands were generated using the PID and APIDSMC algorithms. Experiments with artificial tissue mimicking phantom were performed to evaluate the performance of the controller. The actual needle tip position was obtained using an electromagnetic (EM) tracking sensor (Aurora, NDI, waterloo, Canada) at a sampling period of 1ms. During experiment, external disturbances were created applying force and thermal shock to investigate the robustness of the controllers. Results: The root mean square error (RMSE) values for APIDSMC and PID controllers were 0.75 mm and 0.92 mm, respectively, for sinusoidal reference input. In the presence of external disturbances, the APIDSMC controller showed much smoother and less overshooting response compared to that of the PID controller. Conclusion: Performance of the APIDSMC was superior to the PID controller. The APIDSMC was proved to be more effective controller in compensating the SMA uncertainties and external disturbances with clinically acceptable thresholds.

  18. SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

    Podder, T [University Hospitals Case Medical Center, Cleveland, OH (United States)

    2016-06-15

    Purpose: In medical interventional procedures such as brachytherapy, ablative therapies and biopsy precise steering and accurate placement of needles are very important for anatomical obstacle avoidance and accurate targeting. This study presents the efficacy of a sliding mode controller for Shape Memory Alloy (SMA) actuated flexible needle for medical procedures. Methods: Second order system dynamics of the SMA actuated active flexible needle was used for deriving the sliding mode control equations. Both proportional-integral-derivative (PID) and adaptive PID sliding mode control (APIDSMC) algorithms were developed and implemented. The flexible needle was attached at the end of a 6 DOF robotic system. Through LabView programming environment, the control commands were generated using the PID and APIDSMC algorithms. Experiments with artificial tissue mimicking phantom were performed to evaluate the performance of the controller. The actual needle tip position was obtained using an electromagnetic (EM) tracking sensor (Aurora, NDI, waterloo, Canada) at a sampling period of 1ms. During experiment, external disturbances were created applying force and thermal shock to investigate the robustness of the controllers. Results: The root mean square error (RMSE) values for APIDSMC and PID controllers were 0.75 mm and 0.92 mm, respectively, for sinusoidal reference input. In the presence of external disturbances, the APIDSMC controller showed much smoother and less overshooting response compared to that of the PID controller. Conclusion: Performance of the APIDSMC was superior to the PID controller. The APIDSMC was proved to be more effective controller in compensating the SMA uncertainties and external disturbances with clinically acceptable thresholds.

  19. Indirect intelligent sliding mode control of a shape memory alloy actuated flexible beam using hysteretic recurrent neural networks

    Hannen, Jennifer C; Buckner, Gregory D; Crews, John H

    2012-01-01

    This paper introduces an indirect intelligent sliding mode controller (IISMC) for shape memory alloy (SMA) actuators, specifically a flexible beam deflected by a single offset SMA tendon. The controller manipulates applied voltage, which alters SMA tendon temperature to track reference bending angles. A hysteretic recurrent neural network (HRNN) captures the nonlinear, hysteretic relationship between SMA temperature and bending angle. The variable structure control strategy provides robustness to model uncertainties and parameter variations, while effectively compensating for system nonlinearities, achieving superior tracking compared to an optimized PI controller. (paper)

  20. A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering

    Chiu-Keng Lai

    2014-01-01

    Full Text Available Sliding mode control (SMC is rapped for the chattering due to high gain control. However, high gain control causes the system robust. For developing a system with robustness of SMC, a servo motor motion controller combining the two-degree-of-freedom (2DOF system and SMC is proposed. The discussed motion type is point-to-point control with the constraint of trapezoid velocity profile. SMC is designed to guide the motor motion to follow a predefined trail, and the inner 2DOF system is used to compensate the deterioration due to the adoption of load observer. The proposed hybrid system is realized on a PC-based motion controller, and the validness is verified by simulation and experimental results.

  1. Synchronization in reduced-order of chaotic systems via control approaches based on high-order sliding-mode observer

    Rodriguez, A. [Electrical Engineering Doctoral Program, Mechanical and Electrical Engineering Faculty, Autonomous University of Nuevo Leon, 66450 San Nicolas de los Garza, N.L. (Mexico)], E-mail: angelrdz@gmail.com; De Leon, J. [Electrical Engineering Doctoral Program, Mechanical and Electrical Engineering Faculty, Autonomous University of Nuevo Leon, 66450 San Nicolas de los Garza, N.L. (Mexico)], E-mail: drjleon@gmail.com; Fridman, L. [Department of Control, Division of Electrical Engineering, Engineering Faculty, National Autonomous University of Mexico, 04510 Mexico City (Mexico)], E-mail: lfridman@servidor.unam.mx

    2009-12-15

    The reduced-order synchronization problem of two chaotic systems (master-slave) with different dimension and relative degree is considered. A control scheme based on a high-order sliding-mode observer-identifier and a feedback state controller is proposed, where the trajectories of slave can be synchronized with a canonical projection of the master. Thus, the reduced-order synchronization is achieved in spite of master/slave mismatches. Simulation results are provided in order to illustrate the performance of the proposed synchronization scheme.

  2. Synchronization in reduced-order of chaotic systems via control approaches based on high-order sliding-mode observer

    Rodriguez, A.; De Leon, J.; Fridman, L.

    2009-01-01

    The reduced-order synchronization problem of two chaotic systems (master-slave) with different dimension and relative degree is considered. A control scheme based on a high-order sliding-mode observer-identifier and a feedback state controller is proposed, where the trajectories of slave can be synchronized with a canonical projection of the master. Thus, the reduced-order synchronization is achieved in spite of master/slave mismatches. Simulation results are provided in order to illustrate the performance of the proposed synchronization scheme.

  3. A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

    Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

    2018-06-01

    Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

  4. Research of Active Power Filter Modeling with Grid Impedance in Feedback Linearization and Quasi-Sliding Mode Control

    Zeyu Shi

    2017-01-01

    Full Text Available Active power filter (APF is the most popular device in regulating power quality issues. Currently, most literatures ignored the impact of grid impedance and assumed the load voltage is ideal, which had not described the system accurately. In addition, the controllers applied PI control; thus it is hard to improve the compensation quality. This paper establishes a precise model which consists of APF, load, and grid impedance. The Bode diagram of traditional simplified model is obviously different with complete model, which means the descriptions of the system based on the traditional simplified model are inaccurate and incomplete. And then design exact feedback linearization and quasi-sliding mode control (FBL-QSMC is based on precise model in inner current loop. The system performances in different parameters are analyzed and dynamic performance of proposed algorithm is compared with traditional PI control algorithm. At last, simulations are taken in three cases to verify the performance of proposed control algorithm. The results proved that the proposed feedback linearization and quasi-sliding mode control algorithm has fast response and robustness; the compensation performance is superior to PI control obviously, which also means the complete modeling and proposed control algorithm are correct.

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

    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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Integral Plus Resonant Sliding Mode Direct Power Control for VSC-HVDC Systems under Unbalanced Grid Voltage Conditions

    Weipeng Yang

    2017-10-01

    Full Text Available An integral plus resonant sliding mode direct power control (IRSMC DPC strategy for voltage source converter high voltage direct current (VSC-HVDC systems under unbalanced grid voltage conditions is proposed in this paper. Through detailed instantaneous power flow analysis, a generalized power compensation method, by which the ratio between the amplitude of active and reactive power ripples can be controlled continuously, is obtained. This enables the system to provide flexible power control, so that the desired performance of the system on both the ac and dc sides can be attained under different operating conditions. When the grid voltage is unbalanced, one or both of the active and reactive power terms contain ripples, oscillating at twice the grid frequency, to obtain non-distorted ac current. A power controller consisting of the proportional, integral and resonant control laws is designed using the sliding mode control approach, to achieve accurate power control objective. Simulation studies on a two-terminal VSC-HVDC system using MATLAB/SIMULINK (R2013b, Mathworks, Natick, MA, USA are conducted to verify the effectiveness of the IRSMC DPC strategy. The results show that this strategy ensures satisfactory performance of the system over a wide range of operating conditions.

  7. A novel discrete adaptive sliding-mode-like control method for ionic polymer–metal composite manipulators

    Sun, Zhiyong; Hao, Lina; Liu, Liqun; Chen, Wenlin; Li, Zhi

    2013-01-01

    Ionic polymer–metal composite (IPMC), also called artificial muscle, is an EAP material which can generate a relatively large deformation with a low driving voltage (generally less than 5 V). Like other EAP materials, IPMC possesses strong nonlinear properties, which can be described as a hybrid of back-relaxation (BR) and hysteresis characteristics, which also vary with water content, environmental temperature and even the usage consumption. Nowadays, many control approaches have been developed to tune the IPMC actuators, among which adaptive methods show a particular striking performance. To deal with IPMCs’ nonlinear problem, this paper represents a robust discrete adaptive inverse (AI) control approach, which employs an on-line identification technique based on the BR operator and Prandtl–Ishlinskii (PI) hysteresis operator hybrid model estimation method. Here the newly formed control approach is called discrete adaptive sliding-mode-like control (DASMLC) due to the similarity of its design method to that of a sliding mode controller. The weighted least mean squares (WLMS) identification method was employed to estimate the hybrid IPMC model because of its advantage of insensitivity to environmental noise. Experiments with the DASMLC approach and a conventional PID controller were carried out to compare and demonstrate the proposed controller’s better performance. (paper)

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

    Kim, Gi-Woo; Wang, K. W.

    2009-08-01

    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\\to 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.

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

    Kim, Gi-Woo; Wang, K W

    2009-01-01

    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

  10. Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer

    Jie Niu

    2017-12-01

    Full Text Available Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

  11. Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode

    Su, Zikang; Wang, Honglun; Li, Na; Yu, Yue; Wu, Jianfa

    2018-02-01

    Autonomous aerial refueling (AAR) exact docking control has always been an intractable problem due to the strong nonlinearity, the tight coupling of the 6 DOF aircraft model and the complex disturbances of the multiple environment flows. In this paper, the strongly coupled nonlinear 6 DOF model of the receiver aircraft which considers the multiple flow disturbances is established in the affine nonlinear form to facilitate the nonlinear controller design. The items reflecting the influence of the unknown flow disturbances in the receiver dynamics are taken as the components of the "lumped disturbances" together with the items which have no linear correlation with the virtual control variables. These unmeasurable lumped disturbances are estimated and compensated by a specially designed high order sliding mode observer (HOSMO) with excellent estimation property. With the compensation of the estimated lumped disturbances, a back-stepping high order sliding mode based exact docking flight controller is proposed for AAR in the presence of multiple flow disturbances. Extensive simulation results demonstrate the feasibility and superiority of the proposed docking controller.

  12. Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

    Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

    2018-03-01

    This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm ​combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.

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

    Wu Xiaobo; Liu Qing; Zhao Menglian; Chen Mingyang

    2013-01-01

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

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

    Xiaobo, Wu; Qing, Liu; Menglian, Zhao; Mingyang, Chen

    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.

  15. Sliding Mode Control of a Variable- Speed Wind Energy Conversion System Using a Squirrel Cage Induction Generator

    Mohamed Zribi

    2017-05-01

    Full Text Available This paper deals with the control of a variable-speed wind energy conversion (WEC system using a squirrel cage induction generator (SCIG connected to the grid through a back-to-back three phase (AC-DC-AC power converter. The sliding mode control technique is used to control the WEC system. The objective of the controllers is to force the states of the system to track their desired states. One controller is used to regulate the generator speed and the flux so that maximum power is extracted from the wind. Another controller is used to control the grid side converter, which controls the DC bus voltage and the active and reactive powers injected into the grid. The performance of the controlled wind energy conversion system is verified through MATLAB simulations, which show that the controlled system performs well.

  16. Improved double integral sliding mode MPPT controller based parameter estimation for a stand-alone photovoltaic system

    Chatrenour, Nasrin; Razmi, Hadi; Doagou-Mojarrad, Hasan

    2017-01-01

    Highlights: • IDISMC based MPPT algorithm is introduced. • Hurwitz stability theorem is used for switching surface coefficients computation. • GA approach is presented for parameter estimation of the stand-alone PV system. - Abstract: In this paper, an Improved Double Integral Sliding Mode MPPT Controller (IDISMC) for a stand-alone photovoltaic (PV) system is proposed. Performance of a sliding mode controller (SMC) is greatly influenced by the choice of the sliding surface. Switching surface coefficients were selected by the use of Hurwitz stability theorem. The IDISMC not only is robust against parametric and non-parametric uncertainties, but also has a very small steady-state error, thanks to the use of double integral of tracking voltage error in the definition of its sliding surface. For realistic simulation, Genetic Algorithm (GA) method was used to estimate parameters of solar panels model. The validity of the proposed double integral SMC in maximum power point tracking was approved by comparing the simulation results obtained for a sample PV system with the results of other methods.

  17. Designing adaptive integral sliding mode control for heart rate regulation during cycle-ergometer exercise using bio-feedback.

    Argha, Ahmadreza; Su, Steven W; Nguyen, Hung; Celler, Branko G

    2015-01-01

    This paper considers our developed control system which aims to regulate the exercising subjects' heart rate (HR) to a predefined profile. The controller would be an adaptive integral sliding mode controller. Here it is assumed that the controller commands are interpreted as biofeedback auditory commands. These commands can be heard and implemented by the exercising subject as a part of the control-loop. However, transmitting a feedback signal while the pedals are not in the appropriate position to efficiently exert force may lead to a cognitive disengagement of the user from the feedback controller. To address this problem this paper will employ a different form of control system regarding as "actuator-based event-driven control system". This paper will claim that the developed event-driven controller makes it possible to effectively regulate HR to a predetermined HR profile.

  18. A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

    Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

    2016-03-01

    Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  19. A New Fast Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Uncertain Systems

    Linjie Xin

    2016-01-01

    Full Text Available This paper considers the robust and adaptive nonsingular terminal sliding mode (NTSM control for a class of second-order uncertain systems. First, a new fast NTSM was proposed which had global fast convergence rate in the sliding phase. Then, a new form of robust NTSM controller was designed to handle a wider class of second-order uncertain systems. Moreover, an exponential-decline switching gain was introduced for chattering suppression. After that, a double sliding surfaces control scheme was constructed to combine the NTSM control with the adaptive technique. The benefit is that a strict demonstration can be given for the stagnation problem in the stability analysis of NTSM. Finally, a case study for tracking control of a variable-length pendulum was performed to verify the proposed controllers.

  20. Control of spool position of on/off solenoid operated hydraulic valve by sliding-mode controller

    Lee, Jae Hak; Hong, Hyun Wook; Park, Myeong Kwan [Pusan National University, Busan (Korea, Republic of); Yun, Young Won [KHPS, Busan (Korea, Republic of)

    2015-11-15

    The use of on/off solenoid operated hydraulic valves instead of proportional valves has been attracting the interest of many researchers and engineers. However, there exist difficulties in controlling the on/off valve because of highly nonlinear characteristics including hysteresis and saturation. This paper considers the application of on/off solenoid operated hydraulic valves to control position of a hydraulic cylinder with the aim of evaluating, feasibility and practicability of their implementation and understanding the potential benefits when they are used in existing hydraulic systems. Assuming that only the current is measured, a sliding mode observer is designed to estimate the spool position and velocity. To alleviate the aforementioned difficulties in controlling the spool position, a nonlinear observer-based controller of an on/off solenoid valve is designed, taking into account the estimated values, based on a nonlinear model including hysteresis and saturation. The control objective is to track a desired spool trajectory. Simulation and experimental results illustrate the efficiency of the designed controller. The proposed controller is validated again in a single-rod hydraulic actuator. Experimental results show that the fluid flow through the valve orifice by controlling the spool position was successfully controlled.

  1. Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

    Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

    2010-08-01

    This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

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

    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.

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

    Zhao, Bo; Li, Yuanchun

    2015-01-01

    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. PMID:26181826

  4. Sliding mode control of dissolved oxygen in an integrated nitrogen removal process in a sequencing batch reactor (SBR).

    Muñoz, C; Young, H; Antileo, C; Bornhardt, C

    2009-01-01

    This paper presents a sliding mode controller (SMC) for dissolved oxygen (DO) in an integrated nitrogen removal process carried out in a suspended biomass sequencing batch reactor (SBR). The SMC performance was compared against an auto-tuning PI controller with parameters adjusted at the beginning of the batch cycle. A method for cancelling the slow DO sensor dynamics was implemented by using a first order model of the sensor. Tests in a lab-scale reactor showed that the SMC offers a better disturbance rejection capability than the auto-tuning PI controller, furthermore providing reasonable performance in a wide range of operation. Thus, SMC becomes an effective robust nonlinear tool to the DO control in this process, being also simple from a computational point of view, allowing its implementation in devices such as industrial programmable logic controllers (PLCs).

  5. An energy-saving set-point optimizer with a sliding mode controller for automotive air-conditioning/refrigeration systems

    Huang, Yanjun; Khajepour, Amir; Ding, Haitao; Bagheri, Farshid; Bahrami, Majid

    2017-01-01

    Highlights: • A novel two-layer energy-saving controller for automotive A/C-R system is developed. • A set-point optimizer at the outer loop is designed based on the steady state model. • A sliding mode controller in the inner loop is built. • Extensively experiments studies show that about 9% energy can be saving by this controller. - Abstract: This paper presents an energy-saving controller for automotive air-conditioning/refrigeration (A/C-R) systems. With their extensive application in homes, industry, and vehicles, A/C-R systems are consuming considerable amounts of energy. The proposed controller consists of two different time-scale layers. The outer or the slow time-scale layer called a set-point optimizer is used to find the set points related to energy efficiency by using the steady state model; whereas, the inner or the fast time-scale layer is used to track the obtained set points. In the inner loop, thanks to its robustness, a sliding mode controller (SMC) is utilized to track the set point of the cargo temperature. The currently used on/off controller is presented and employed as a basis for comparison to the proposed controller. More importantly, the real experimental results under several disturbed scenarios are analysed to demonstrate how the proposed controller can improve performance while reducing the energy consumption by 9% comparing with the on/off controller. The controller is suitable for any type of A/C-R system even though it is applied to an automotive A/C-R system in this paper.

  6. Sliding Mode Control for Pressurized-Water Nuclear Reactors in load following operations with bounded xenon oscillations

    Ansarifar, G.R.; Saadatzi, S.

    2015-01-01

    Highlights: • We present SMC which is a robust nonlinear controller to control the PWR power. • Xenon oscillations are kept bounded within acceptable limits. • The stability analysis has been based on Lyapunov approach. • Simulation results indicate the high performance of this new control. - Abstract: One of the important operations in nuclear power plants is load-following in which imbalance of axial power distribution induces xenon oscillations. These oscillations must be maintained within acceptable limits otherwise the nuclear power plant could become unstable. Therefore, bounded xenon oscillation considered to be a constraint for the load-following operation. In this paper, sliding mode control (SMC) which is a robust nonlinear controller is designed to control the Pressurized-Water Nuclear Reactor (PWR) power for the load-following operation problem that ensures xenon oscillations are kept bounded within acceptable limits. The proposed controller uses constant axial offset (AO) strategy to maintain xenon oscillations to be bounded. The constant AO is a robust state constraint for load-following problem. The reactor core is simulated based on the two-point nuclear reactor model and one delayed neutron group. The stability analysis is given by means Lyapunov approach, thus the control system is guaranteed to be stable within a large range. The employed method is easy to implement in practical applications and moreover, the sliding mode control exhibits the desired dynamic properties during the entire output-tracking process independent of perturbations. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness and stability. Results show that the proposed controller for the load-following operation is sufficiently effective so that the xenon oscillations are kept bounded in the considered region

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

    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.

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

    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.

  9. Sliding mode controller gain adaptation and chattering reduction techniques for DSP-based PM DC motor drives

    Dal, Mehmet; Teodorescu, Remus

    2011-01-01

    In order to achieve and maintain the prospective benefits of sliding mode control (SMC) methodology, the phenomenon known as “chattering”, the main obstacle encountered in real-time applications, has to be suppressed. In this study, two promising switching control gain adaptation and chattering...... reduction techniques are investigated, and the effectiveness of chattering suppression for current regulation of PM DC drives is tested. The sampling rate was also examined to determine how it affects the amplitude of chattering. This paper concentrates on various combinations of observer-based methods...... in order to find the best solution for chattering reduction. To find a practical solution a tunable low-pass filter (LPF) was used to average the discontinuous control term. The validity of the existing conditions for the gain adaptation methods are examined and observer gain value was determined through...

  10. Sliding Mode Controller and Lyapunov Redesign Controller to Improve Microgrid Stability: A Comparative Analysis with CPL Power Variation

    Eklas Hossain

    2017-11-01

    Full Text Available To mitigate the microgrid instability despite the presence of dense Constant Power Load (CPL loads in the system, a number of compensation techniques have already been gone through extensive research, proposed, and implemented around the world. In this paper, a storage based load side compensation technique is used to enhance stability of microgrids. Besides adopting this technique here, Sliding Mode Controller (SMC and Lyapunov Redesign Controller (LRC, two of the most prominent nonlinear control techniques, are individually implemented to control microgrid system stability with desired robustness. CPL power is then varied to compare robustness of these two control techniques. This investigation revealed the better performance of the LRC system compared to SMC to retain stability in microgrid with dense CPL load. All the necessary results are simulated in Matlab/Simulink platform for authentic verification. Reasons behind inferior SMC performance and ways to mitigate that are also discussed. Finally, the effectiveness of SMC and LRC systems to attain stability in real microgrids is verified by numerical analysis.

  11. On synchronisation of a class of complex chaotic systems with complex unknown parameters via integral sliding mode control

    Tirandaz, Hamed; Karami-Mollaee, Ali

    2018-06-01

    Chaotic systems demonstrate complex behaviour in their state variables and their parameters, which generate some challenges and consequences. This paper presents a new synchronisation scheme based on integral sliding mode control (ISMC) method on a class of complex chaotic systems with complex unknown parameters. Synchronisation between corresponding states of a class of complex chaotic systems and also convergence of the errors of the system parameters to zero point are studied. The designed feedback control vector and complex unknown parameter vector are analytically achieved based on the Lyapunov stability theory. Moreover, the effectiveness of the proposed methodology is verified by synchronisation of the Chen complex system and the Lorenz complex systems as the leader and the follower chaotic systems, respectively. In conclusion, some numerical simulations related to the synchronisation methodology is given to illustrate the effectiveness of the theoretical discussions.

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

    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.

  13. Maximum power point tracking in PV systems based on adaptive control and sliding mode control

    Paula Andrea Ortiz-Valencia

    2015-01-01

    Full Text Available Los sistemas fotovoltaicos (PV son comúnmente controlados utilizando estructuras PI o PID, las cuales no pueden asegurar estabilidad global y un tiempo de establecimiento constante. Por esto, los algoritmos de optimización, e.g. Perturbar y Observar (P&O, son diseñados utilizando el tiempo de establecimiento más alto en el rango de operación, lo cual produce una búsqueda lenta del punto de máxima potencia (MPP para gran parte del rango de operación, introduciendo pérdidas dinámicas de potencia al sistema. Este artículo propone combinar un controlador adaptativo y un controlador de corriente por modos deslizantes (SMCC para garantizar estabilidad global y un tiempo de establecimiento constante para cualquier condición de operación, lo que permite incrementar la potencia generada en comparación con controladores PI y PID. El SMCC permite mitigar las perturbaciones del sistema y garantizar estabilidad global, mientras que el controlador adaptativo define la referencia del SMCC para asegurar un tiempo de estabilización constante. El diseño de la nueva estructura de control se soporta con análisis matemáticos y simulaciones realizadas en Matlab® para validar la robustez del sistema.

  14. Voltage regulation of the Y-source boost DC-DC converter considering effects of leakage inductances based on cascaded sliding-mode control

    Ahmadzadeh, Soheil; Markadeh, Gholamreza Arab; Blaabjerg, Frede

    2017-01-01

    In this study, a sliding mode-based controller is designed for regulating the output voltage of a high step-up DC-DC converter with three coupled inductors called Y-source impedance network. As Y-source converter can provide a very high boost at a lower shoot-through duty cycle of the switch...

  15. Modeling and sliding mode predictive control of the ultra-supercritical boiler-turbine system with uncertainties and input constraints.

    Tian, Zhen; Yuan, Jingqi; Zhang, Xiang; Kong, Lei; Wang, Jingcheng

    2018-05-01

    The coordinated control system (CCS) serves as an important role in load regulation, efficiency optimization and pollutant reduction for coal-fired power plants. The CCS faces with tough challenges, such as the wide-range load variation, various uncertainties and constraints. This paper aims to improve the load tacking ability and robustness for boiler-turbine units under wide-range operation. To capture the key dynamics of the ultra-supercritical boiler-turbine system, a nonlinear control-oriented model is developed based on mechanism analysis and model reduction techniques, which is validated with the history operation data of a real 1000 MW unit. To simultaneously address the issues of uncertainties and input constraints, a discrete-time sliding mode predictive controller (SMPC) is designed with the dual-mode control law. Moreover, the input-to-state stability and robustness of the closed-loop system are proved. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves good tracking performance, disturbance rejection ability and compatibility to input constraints. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Improved Hybrid Fireworks Algorithm-Based Parameter Optimization in High-Order Sliding Mode Control of Hypersonic Vehicles

    Xiaomeng Yin

    2018-01-01

    Full Text Available With respect to the nonlinear hypersonic vehicle (HV dynamics, achieving a satisfactory tracking control performance under uncertainties is always a challenge. The high-order sliding mode control (HOSMC method with strong robustness has been applied to HVs. However, there are few methods for determining suitable HOSMC parameters for an efficacious control of HV, given that the uncertainties are randomly distributed. In this study, we introduce a hybrid fireworks algorithm- (FWA- based parameter optimization into HV control design to satisfy the design requirements with high probability. First, the complex relation between design parameters and the cost function that evaluates the likelihood of system instability and violation of design requirements is modeled via stochastic robustness analysis. Subsequently, we propose an efficient hybrid FWA to solve the complex optimization problem concerning the uncertainties. The efficiency of the proposed hybrid FWA-based optimization method is demonstrated in the search of the optimal HV controller, in which the proposed method exhibits a better performance when compared with other algorithms.

  17. Adaptive terminal sliding mode control for hypersonic flight vehicles with strictly lower convex function based nonlinear disturbance observer.

    Wu, Yun-Jie; Zuo, Jing-Xing; Sun, Liang-Hua

    2017-11-01

    In this paper, the altitude and velocity tracking control of a generic hypersonic flight vehicle (HFV) is considered. A novel adaptive terminal sliding mode controller (ATSMC) with strictly lower convex function based nonlinear disturbance observer (SDOB) is proposed for the longitudinal dynamics of HFV in presence of both parametric uncertainties and external disturbances. First, for the sake of enhancing the anti-interference capability, SDOB is presented to estimate and compensate the equivalent disturbances by introducing a strictly lower convex function. Next, the SDOB based ATSMC (SDOB-ATSMC) is proposed to guarantee the system outputs track the reference trajectory. Then, stability of the proposed control scheme is analyzed by the Lyapunov function method. Compared with other HFV control approaches, key novelties of SDOB-ATSMC are that a novel SDOB is proposed and drawn into the (virtual) control laws to compensate the disturbances and that several adaptive laws are used to deal with the differential explosion problem. Finally, it is illustrated by the simulation results that the new method exhibits an excellent robustness and a better disturbance rejection performance than the convention approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  18. Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

    Shiqiang Zhu

    2016-10-01

    Full Text Available This article presents a human–robot cooperation controller towards the lower extremity exoskeleton which aims to improve the tracking performance of the exoskeleton and reduce the human–robot interaction force. Radial basis function neural network is introduced to model the human–machine interaction which can better approximate the non-linear relationship than the general impedance model. A new method to calculate the inverse Jacobian matrix is presented. Compared to traditional damped least squares method, the novel method is proved to be able to avoid the orientation change of the velocity of the human–robot interaction point by the simulation result. This feature is very important in human–robot system. Then, an improved non-linear robust sliding mode controller is designed to promote the tracking performance considering system uncertainties and model errors, where a new non-linear integral sliding surface is given. The stability analysis of the proposed controller is performed using Lyapunov stability theory. Finally, the novel methods are applied to the swing leg control of the lower extremity exoskeleton, its effectiveness is validated by simulation and comparative experiments.

  19. Accurate torque-sensorless control approach for interior permanent-magnet synchronous machine based on cascaded sliding mode observer

    Kai-Hui Zhao

    2017-06-01

    Full Text Available To improve the accuracy of torque control for vector control of interior permanent-magnet synchronous machine (IPMSM, this study proposes a torque-sensorless control method based on cascaded sliding mode observer (SMO. First, the active flux model is discussed, which converts the model of IPMSM into the equivalent model of surface-mounted permanent-magnet synchronous machine. Second, to reduce chattering caused by system parameters variations and external disturbances, the cascaded observer is designed, which is composed of a variable gain adaptive SMO and an active flux SMO. The variable gain adaptive SMO is designed to estimate the speed, rotor position and stator resistance in the d–q reference frame. The active flux SMO is designed to estimate the active flux and torque in the α–β reference frame. Global asymptotic stability of the observers is guaranteed by the Lyapunov stability analysis. Finally, simulations and experiments are carried out to verify the effectiveness of the proposed control scheme.

  20. Chaos Suppression of an Electrically Actuated Microresonator Based on Fractional-Order Nonsingular Fast Terminal Sliding Mode Control

    Jianxin Han

    2017-01-01

    Full Text Available This paper focuses on chaos suppression strategy of a microresonator actuated by two symmetrical electrodes. Dynamic behavior of this system under the case where the origin is the only stable equilibrium is investigated first. Numerical simulations reveal that system may exhibit chaotic motion under certain excitation conditions. Then, bifurcation diagrams versus amplitude or frequency of AC excitation are drawn to grasp system dynamics nearby its natural frequency. Results show that the vibration is complex and may exhibit period-doubling bifurcation, chaotic motion, or dynamic pull-in instability. For the suppression of chaos, a novel control algorithm, based on an integer-order nonsingular fast terminal sliding mode and a fractional-order switching law, is proposed. Fractional Lyapunov Stability Theorem is used to guarantee the asymptotic stability of the system. Finally, numerical results with both fractional-order and integer-order control laws show that our proposed control law is effective in controlling chaos with system uncertainties and external disturbances.

  1. Short-Circuit Fault Tolerant Control of a Wind Turbine Driven Induction Generator Based on Sliding Mode Observers

    Takwa Sellami

    2017-10-01

    Full Text Available The installed energy production capacity of wind turbines is growing intensely on a global scale, making the reliability of wind turbine subsystems of greater significance. However, many faults like Inter-Turn Short-Circuit (ITSC may affect the turbine generator and quickly lead to a decline in supplied power quality. In this framework, this paper proposes a Sliding Mode Observer (SMO-based Fault Tolerant Control (FTC scheme for Induction Generator (IG-based variable-speed grid-connected wind turbines. First, the dynamic models of the wind turbine subsystems were developed. The control schemes were elaborated based on the Maximum Power Point Tracking (MPPT method and Indirect Rotor Flux Oriented Control (IRFOC method. The grid control was also established by regulating the active and reactive powers. The performance of the wind turbine system and the stability of injected power to the grid were hence analyzed under both healthy and faulty conditions. The robust developed SMO-based Fault Detection and Isolation (FDI scheme was proved to be fast and efficient for ITSC detection and localization.Afterwards, SMO were involved in scheming the FTC technique. Accordingly, simulation results assert the efficacy of the proposed ITSC FTC method for variable-speed wind turbines with faulty IG in protecting the subsystems from damage and ensuring continuous connection of the wind turbine to the grid during ITSC faults, hence maintaining power quality.

  2. Synchronization of a variable frequency source with a fixed frequency source using a Sliding-Mode controller

    Mestha, L.K.; Yeung, K.S.

    1991-01-01

    One way of synchronizing the SSC Low Energy Booster with the Medium Energy Booster is by matching the longitudinal phase of the designated RF buckets of two machines throughout acceleration to a preprogrammed trajectory. This makes the synchronization predictable in advance. The model associated with the phase-locking is time-varying and model parameters are subjected to disturbance due to errors in the bending magnetic field. Also the disturbance could be due to other feedback loops such as a B-field loop or a beam phase loop in the system. The measured phase error between the two reference waves may not be accurate. Hence in this paper the authors have shown the design of a Sliding-Mode controller for such an application. In the absence of measurement errors and parameter uncertainties and with no disturbance, the controller reduces to a classical gain feedback. Due to the general approach they have adopted in synthesizing the controller, the techniques can be applied to existing synchronization schemes

  3. Adaptive twisting sliding mode algorithm for hypersonic reentry vehicle attitude control based on finite-time observer.

    Guo, Zongyi; Chang, Jing; Guo, Jianguo; Zhou, Jun

    2018-06-01

    This paper focuses on the adaptive twisting sliding mode control for the Hypersonic Reentry Vehicles (HRVs) attitude tracking issue. The HRV attitude tracking model is transformed into the error dynamics in matched structure, whereas an unmeasurable state is redefined by lumping the existing unmatched disturbance with the angular rate. Hence, an adaptive finite-time observer is used to estimate the unknown state. Then, an adaptive twisting algorithm is proposed for systems subject to disturbances with unknown bounds. The stability of the proposed observer-based adaptive twisting approach is guaranteed, and the case of noisy measurement is analyzed. Also, the developed control law avoids the aggressive chattering phenomenon of the existing adaptive twisting approaches because the adaptive gains decrease close to the disturbance once the trajectories reach the sliding surface. Finally, numerical simulations on the attitude control of the HRV are conducted to verify the effectiveness and benefit of the proposed approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Chaos synchronization in a Josephson junction system via active sliding mode control

    Zhao Yang; Wang Wei

    2009-01-01

    In this letter, two types of active siding control methods are proposed and applied to achieve chaotic synchronization in a Josephson junction system. Numerical simulations are used to verify the proposed control techniques.

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

    Fredy E. Hoyos

    2013-01-01

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

  6. Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

    Qingsong Ai

    2017-12-01

    Full Text Available A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs. To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

  7. Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

    Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Sheng Q; Yang, Ming

    2017-12-28

    A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM's nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

  8. Friction-resilient position control for machine tools—Adaptive and sliding-mode methods compared

    Papageorgiou, Dimitrios; Blanke, Mogens; Niemann, Hans Henrik

    2018-01-01

    Robust trajectory tracking and increasing demand for high-accuracy tool positioning have motivated research in advanced control design for machine tools. State-of-the-art industry solutions employ cascades of Proportional (P) and Proportional-Integral (PI) controllers for closed-loop servo contro...

  9. Congestion Control in Data Transmission Networks Sliding Mode and Other Designs

    Ignaciuk, Przemysław

    2013-01-01

    Congestion Control in Data Transmission Networks details the modeling and control of data traffic in communication networks. It shows how various networking phenomena can be represented in a consistent mathematical framework suitable for rigorous formal analysis. The monograph differentiates between fluid-flow continuous-time traffic models, discrete-time processes with constant sampling rates, and sampled-data systems with variable discretization periods. The authors address a number of difficult real-life problems, such as: • optimal control of flows with disparate, time-varying delay; • the existence of source and channel nonlinearities; • the balancing of quality of service and fairness requirements; and • the incorporation of variable rate allocation policies. Appropriate control mechanisms which can handle congestion and guarantee high throughput in various traffic scenarios (with different networking phenomena being considered) are proposed. Systematic design procedures using sound control-theo...

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

    Yuzheng Yang

    2014-01-01

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

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

    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.

  12. Energy-Based Adaptive Sliding Mode Speed Control for Switched Reluctance Motor Drive

    M. M. Namazi Isfahani

    2012-03-01

    Full Text Available Torque ripple minimization of switched reluctance motor drives is a major subject based on these drives’ extensive use in the industry. In this paper, by using a well-known cascaded torque control structure and taking the machine physical structure characteristics into account, the proposed energy-based (passivity-based adaptive sliding algorithm derived from the view point of energy dissipation, control stability and algorithm robustness. First, a nonlinear dynamic model is developed and decomposed into separate slow and fast passive subsystems which are interconnected by negative feedbacks. Then, an outer loop speed control is employed by adaptive sliding controller to determine the appropriate torque command. Finally, to reduce torque ripple in switched reluctance motor a high-performance passivity-based current controller is proposed. It can overcome the inherent nonlinear characteristics of the system and make the whole system robust to uncertainties and bounded disturbances. The performance of the proposed controller algorithm has been demonstrated in simulation, and experimental using a 4KW, four-phase, 8/6 pole SRM DSP-based drive system.

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

    Leśniewski, Piotr; Bartoszewicz, Andrzej

    2013-01-01

    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 s...

  14. Stabilization and control of fractional order systems a sliding mode approach

    Bandyopadhyay, Bijnan

    2015-01-01

    In the last two decades fractional differential equations have been used more frequently in physics, signal processing, fluid mechanics, viscoelasticity, mathematical biology, electro chemistry and many others. It opens a new and more realistic way to capture memory dependent phenomena and irregularities inside the systems by using more sophisticated mathematical analysis.This monograph is based on the authors' work on stabilization and control design for continuous and discrete fractional order systems. The initial two chapters and some parts of the third chapter are written in tutorial fashi

  15. Adaptive super-twisting sliding mode control for a three-phase single-stage grid-connected differential boost inverter based photovoltaic system.

    Pati, Akshaya K; Sahoo, N C

    2017-07-01

    This paper presents an adaptive super-twisting sliding mode control (STC) along with double-loop control for voltage tracking performance of three-phase differential boost inverter and DC-link capacitor voltage regulation in grid-connected PV system. The effectiveness of the proposed control strategies are demonstrated under realistic scenarios such as variations in solar insolation, load power demand, grid voltage, and transition from grid-connected to standalone mode etc. Additional supplementary power quality control functions such as harmonic compensation, and reactive power management are also investigated with the proposed control strategy. The results are compared with conventional proportional-integral controller, and PWM sliding mode controller. The system performance is evaluated in simulation and in real-time. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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

    Hasheminejad, Seyyed M; Nezami, M; Aryaee Panah, M E

    2012-01-01

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

  17. Mixed H∞ and passive projective synchronization for fractional-order memristor-based neural networks with time delays via adaptive sliding mode control

    Song, Shuai; Song, Xiaona; Balsera, Ines Tejado

    2017-05-01

    This paper investigates the mixed H∞ and passive projective synchronization problem for fractional-order (FO) memristor-based neural networks with time delays. Our aim is to design a controller such that, though the unavoidable phenomena of time delay and external disturbances is fully considered, the resulting closed-loop system is stable with a mixed H∞ and passive performance level. By combining sliding mode control and adaptive control methods, a novel adaptive sliding mode control strategy is designed for the synchronization of time-delayed FO dynamic networks. Via the application of FO system stability theory, the projective synchronization conditions are addressed in terms of linear matrix inequalities. Based on the conditions, a desired controller which can guarantee the stability of the closed-loop system and also ensure a mixed H∞ and passive performance level is designed. Finally, two simulation examples are given to illustrate the effectiveness of the proposed method.

  18. Maximum Power Point Tracking in Variable Speed Wind Turbine Based on Permanent Magnet Synchronous Generator Using Maximum Torque Sliding Mode Control Strategy

    Esmaeil Ghaderi; Hossein Tohidi; Behnam Khosrozadeh

    2017-01-01

    The present study was carried out in order to track the maximum power point in a variable speed turbine by minimizing electromechanical torque changes using a sliding mode control strategy.In this strategy,fhst,the rotor speed is set at an optimal point for different wind speeds.As a result of which,the tip speed ratio reaches an optimal point,mechanical power coefficient is maximized,and wind turbine produces its maximum power and mechanical torque.Then,the maximum mechanical torque is tracked using electromechanical torque.In this technique,tracking error integral of maximum mechanical torque,the error,and the derivative of error are used as state variables.During changes in wind speed,sliding mode control is designed to absorb the maximum energy from the wind and minimize the response time of maximum power point tracking (MPPT).In this method,the actual control input signal is formed from a second order integral operation of the original sliding mode control input signal.The result of the second order integral in this model includes control signal integrity,full chattering attenuation,and prevention from large fluctuations in the power generator output.The simulation results,calculated by using MATLAB/m-file software,have shown the effectiveness of the proposed control strategy for wind energy systems based on the permanent magnet synchronous generator (PMSG).

  19. Sliding Mode Control of Diesel Engine Air-path System With Dual-loop EGR and VGT Based on the Reduced-order Model

    Kim Sooyoung

    2016-01-01

    Full Text Available This paper presents the design of a model-based controller for the diesel engine air-path system. The controller is implemented based on a reduced order model consisting of only pressure and power dynamics with practical concerns. To deal with the model uncertainties effectively, a sliding mode controller, which is robust to model uncertainties, is proposed for the air-path system. The control performance of the proposed control scheme is verified through simulation with the valid plant model of a 6,000cc heavy duty diesel engine.

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

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

    2015-09-01

    A variable-displacement pump controlled pitch system is proposed to mitigate generator power and flap-wise load fluctuations for wind turbines. The pitch system mainly consists of a variable-displacement hydraulic pump, a fixed-displacement hydraulic motor and a gear set. The hydraulic motor can be accurately regulated by controlling the pump displacement and fluid flows to change the pitch angle through the gear set. The detailed mathematical representation and dynamic characteristics of the proposed pitch system are thoroughly analyzed. An adaptive sliding mode pump displacement controller and a back-stepping stroke piston controller are designed for the proposed pitch system such that the resulting pitch angle tracks its desired value regardless of external disturbances and uncertainties. The effectiveness and control efficiency of the proposed pitch system and controllers have been verified by using realistic dataset of a 750 kW research wind turbine. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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

    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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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

    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.

  3. Adaptive fuzzy sliding control of single-phase PV grid-connected inverter.

    Fei, Juntao; Zhu, Yunkai

    2017-01-01

    In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance.

  4. Direct Flux Control for Stand-Alone Operation Brushless Doubly Fed Induction Generators Using a Resonant-Based Sliding-Mode Control Approach

    Kai Ji

    2018-04-01

    Full Text Available In this paper, a novel voltage control strategy for stand-alone operation brushless doubly fed induction generators for variable speed constant frequency wind energy conversion systems was presented and discussed. Based on the model of the power generation system, the proposed direct flux control strategy employs a nonlinear reduced-order generalized integrator-based resonant sliding-mode control approach to directly calculate and regulate the output value of converter which the control winding stator requires so as to eliminate its instantaneous errors, without involving any synchronous rotating coordinate transformations. The stability, robustness and convergence capability of the proposed control strategy were described and analyzed. Owing to the fact no additional current control inner loops are involved, the system configuration is therefore simplified and the dynamic performance enhanced. A constant converter switching frequency was achieved by using space vector pulse width modulation, which reduces the harmonics of the generator terminal voltage. In addition, the feasibility and validity of the proposed scheme is verified by experiments, and excellent steady and transient performance is achieved.

  5. Robust pre-specified time synchronization of chaotic systems by employing time-varying switching surfaces in the sliding mode control scheme

    Khanzadeh, Alireza; Pourgholi, Mahdi

    2016-01-01

    In the conventional chaos synchronization methods, the time at which two chaotic systems are synchronized, is usually unknown and depends on initial conditions. In this work based on Lyapunov stability theory a sliding mode controller with time-varying switching surfaces is proposed to achieve chaos synchronization at a pre-specified time for the first time. The proposed controller is able to synchronize chaotic systems precisely at any time when we want. Moreover, by choosing the time-varying switching surfaces in a way that the reaching phase is eliminated, the synchronization becomes robust to uncertainties and exogenous disturbances. Simulation results are presented to show the effectiveness of the proposed method of stabilizing and synchronizing chaotic systems with complete robustness to uncertainty and disturbances exactly at a pre-specified time. (paper)

  6. Robust pre-specified time synchronization of chaotic systems by employing time-varying switching surfaces in the sliding mode control scheme

    Khanzadeh, Alireza; Pourgholi, Mahdi

    2016-08-01

    In the conventional chaos synchronization methods, the time at which two chaotic systems are synchronized, is usually unknown and depends on initial conditions. In this work based on Lyapunov stability theory a sliding mode controller with time-varying switching surfaces is proposed to achieve chaos synchronization at a pre-specified time for the first time. The proposed controller is able to synchronize chaotic systems precisely at any time when we want. Moreover, by choosing the time-varying switching surfaces in a way that the reaching phase is eliminated, the synchronization becomes robust to uncertainties and exogenous disturbances. Simulation results are presented to show the effectiveness of the proposed method of stabilizing and synchronizing chaotic systems with complete robustness to uncertainty and disturbances exactly at a pre-specified time.

  7. Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

    Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

    2016-01-01

    Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

  8. Robust Control of Industrial Hydraulic Cylinder Drives - with Special Reference to Sliding Mode- & Finite-Time Control

    Schmidt, Lasse

    In industry, performance requirements regarding machinery, applications etc., are constantly increasing, and with the development of reliable proportional flow control components to reasonable prices, the market is increasingly turning its attention toward controllable fluid power solutions....... For series produced systems such as presses etc., dedicated controls are often developed. However, the great majority of the hydraulic systems developed, are produced in limited numbers for specialized applications, and here stand alone economically feasible digital controllers with ease-of-use interfaces...... are widely used. Such controllers typically provide the possibility to employ traditional linear controls such as PID schemes, and variants of this, with parameters tunable via graphical user interfaces. However, due to the intrinsic nonlinearities of hydraulic systems as well as the often limited knowledge...

  9. Active vibration control of vehicle suspension systems using sliding modes, differential flatness and generalized proportional-integral control

    Esteban Chávez Conde

    2011-01-01

    Full Text Available En este artículo se presenta un enfoque de diseño de esquemas de control activo robusto para sistemas de suspensión de vehículos, usando técnicas de control Proporcional-Integral Generalizado, modos deslizantes y planitud diferencial, para atenuar vibraciones indeseables inducidas por perturbaciones de terreno irregular. Se proponen dos esquemas de control: uno de ellos emplea mediciones de posición y de velocidad y el otro requiere únicamente mediciones de posición. Se propone la reconstrucción integral de las derivadas de la salida plana para evitar el uso de sensores de velocidad y de aceleración, así como la información de perturbaciones de terreno desconocidas.

  10. Guaranteed performance in reaching mode of sliding mode ...

    R. Narasimhan (Krishtel eMaging) 1461 1996 Oct 15 13:05:22

    addresses the design of constant plus proportional rate reaching law-based SMC for second-order ... Reaching mode; sliding mode controlled systems; output tracking ... The uncertainty in the input distribution function g is expressed as.

  11. Improved Re-Configurable Sliding Mode Controller for Reusable Launch Vehicle of Second Generation Addressing Aerodynamic Surface Failures and Thrust Deficiencies

    Shtessel, Yuri B.

    2002-01-01

    In this report we present a time-varying sliding mode control (TV-SMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC is developed and tuned up for the X-33 sub-orbital technology demonstration vehicle in launch and re-entry modes. A variety of nominal, dispersion and failure scenarios have tested via high fidelity 6DOF simulations using MAVERIC/SLIM simulation software.

  12. Instantaneous power control of a high speed permanent magnet synchronous generator based on a sliding mode observer and a phase locked loop

    Duan, Jiandong; Fan, Shaogui; Wu, Fengjiang; Sun, Li; Wang, Guanglin

    2018-06-01

    This paper proposes an instantaneous power control method for high speed permanent magnet synchronous generators (PMSG), to realize the decoupled control of active power and reactive power, through vector control based on a sliding mode observer (SMO), and a phase locked loop (PLL). Consequently, the high speed PMSG has a high internal power factor, to ensure efficient operation. Vector control and accurate estimation of the instantaneous power require an accurate estimate of the rotor position. The SMO is able to estimate the back electromotive force (EMF). The rotor position and speed can be obtained using a combination of the PLL technique and the phase compensation method. This method has the advantages of robust operation, and being resistant to noise when estimating the position of the rotor. Using instantaneous power theory, the relationship between the output active power, reactive power, and stator current of the PMSG is deduced, and the power constraint condition is analysed for operation at the unit internal power factor. Finally, the accuracy of the rotor position detection, the instantaneous power detection, and the control methods are verified using simulations and experiments.

  13. Non-desired transitions and sliding-mode control of a multi-DOF mechanical system with stick-slip oscillations

    Navarro-Lopez, Eva M.; Liceaga-Castro, Eduardo

    2009-01-01

    Systems with discontinuous elements exhibit a wide variety of complex phenomena which must be considered in the control design process. A dynamical sliding-mode control is used to avoid different bit sticking problems appearing in conventional vertical oilwell drillstrings. The aim of the control system is to drive the rotary velocities of drillstring components to specified values. A discontinuous lumped-parameter torsional model of four degrees of freedom is considered. This model is more generic than those so far reported in the literature. The closed-loop system dynamics have four discontinuity surfaces. One of these surfaces is introduced in order to accomplish the control goal despite variations of key drilling parameters, such as, the weight on the bit, the top-rotary velocity and friction characteristics. Self-excited bit stick-slip oscillations and sticking phenomena are avoided with the controller here proposed. Moreover, an alternative procedure to investigate the stick-slip motion is presented, it is based on the study of the stability characteristics of the different system equilibria and their relationships to different sliding motions.

  14. Discrete sliding mode control for engine idle speed%离散滑模控制在发动机怠速设计中的应用

    郭兴进; 刘珺

    2009-01-01

    A novel discrete sliding mode(DSM)controller is designed. Engine idle speed can be controlled by a nonlinear model for the idle speed control(ISC)system of a 4-cylinder, 4-1itre engine. The experimental results show that DSM control system has superior performance on tracking the desired idle speed and rejecting the system disturbances when compared with the existing controller.%利用一种新的离散滑模控制方法, 设计了发动机怠速的离散滑模(DSM)控制器, 用已开发出的4缸、1.4L的AJR发动机怠速控制系统的非线性模型进行发动机怠速转速的控制. 实验结果表明, 与原机的控制器相比较而言, DSM控制器在跟踪期望怠速转速及抗干扰等方面具有优良的性能.

  15. Robust Synchronization of Fractional-Order Chaotic Systems at a Pre-Specified Time Using Sliding Mode Controller with Time-Varying Switching Surfaces

    Khanzadeh, Alireza; Pourgholi, Mahdi

    2016-01-01

    A main problem associated with the synchronization of two chaotic systems is that the time in which complete synchronization will occur is not specified. Synchronization time is either infinitely large or is finite but only its upper bound is known and this bound depends on the systems' initial conditions. In this paper we propose a method for synchronizing of two chaotic systems precisely at a time which we want. To this end, time-varying switching surfaces sliding mode control is used and the control law based on Lyapunov stability theorem is derived which is able to synchronize two fractional-order chaotic systems precisely at a pre specified time without concerning about their initial conditions. Moreover, by eliminating the reaching phase in the proposed synchronization scheme, robustness against existence of uncertainties and exogenous disturbances is obtained. Because of the existence of fractional integral of the sign function instead of the sign function in the control equation, the necessity for infinitely fast switching be obviated in this method. To show the effectiveness of the proposed method the illustrative examples under different situations are provided and the simulation results are reported.

  16. Sliding-Mode Control of a Charger/Discharger DC/DC Converter for DC-Bus Regulation in Renewable Power Systems

    Sergio Ignacio Serna-Garcés

    2016-03-01

    Full Text Available Stand-alone power systems based on renewable energy sources are used to replace generators based on fossil fuels. Those renewable power systems also require Energy Storage Devices (ESD interfaced by a charger/discharger power converter, which consist of a bidirectional DC/DC converter, and a DC bus. This paper proposes a single sliding-mode controller (SMC for the charger/discharger DC/DC converter to provide a stable DC bus voltage in any operation condition: charging or discharging the ESD, or even without any power exchange between the ESD and the DC bus. Due to the non-linear nature of the power converter, the SMC parameters are adapted on-line to ensure global stability in any operation condition. Such stability of the adaptive SMC is mathematically demonstrated using analytical expressions for the transversality, reachability and equivalent control conditions. Moreover, a design procedure for the adaptive SMC parameters is provided in order to ensure the dynamic response required for the correct operation of the load. Finally, simulations and experimental tests validate the proposed controller and design procedure.

  17. 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

    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.

  18. Sliding mode load frequency control for multi-area time-delay power system with wind power integration

    Mi, Yang; Hao, Xuezhi; Liu, Yongjuan

    2017-01-01

    The interconnected time-delay power system has become an important issue for the open communication network. Meanwhile, due to the output power fluctuation of integrated wind energy, load frequency control (LFC) for power system with variable sources and loads has become more complicated. The novel...

  19. A magnetorheological damper-based prosthetic knee (MRPK) and sliding mode tracking control method for an MRPK-based lower limb prosthesis

    Fu, Qiang; Wang, Dai-Hua; Xu, Lei; Yuan, Gang

    2017-04-01

    Based on a two-bar linkage and a magnetorheological damper (MRD) with a double-ended structure and shearing operation mode of the magnetorheological fluid, an MRD-based prosthetic knee (MRPK) is realized. Utilizing the developed MRPK, an MRD-based lower limb prosthesis (MRLLP) is developed, modeled, and simulated in this paper, to analyse the effects of hysteresis of the integrated MRD on the swing angle of the shank of the MRLLP. Based on this, a sliding mode tracking control (SMTC) method for controlling the swing angle of the shank of the MRLLP is proposed to suppress hysteresis, along with a robustness analysis. Utilizing the SMTC method, co-simulations on controlling the swing angle of the shank of the MRLLP are carried out in ADAMS and Simulink. The simulation results show that the root mean square error (RMSE) of the swing angle of the shank of the MRLLP produced by the SMTC method is 80% less than that from the computed torque plus PD (CT+PD) control method. Therefore, the SMTC method is effective in suppressing hysteresis of the MRD. Furthermore, when the MRLLP is disturbed, the RMSE of the swing angle of the shank of the MRLLP produced by the SMTC method is 67% less than that from the CT+PD control method. Therefore, the SMTC method has strong robustness to random disturbance. A rapid control prototype of the MRLLP system and a corresponding experimental test system are established. On the established experimental test system, experiments are carried out on control of the swing angle of the shank of the MRLLP via the SMTC method. The results are compared with those from the ON/OFF and the CT+PD control methods. The experimental results show that the MRPK has controllable joint torque, and can be used to imitate the natural swing of a human knee joint. Additionally, the RMSE of the controlled swing angle of the shank of the MRLLP produced by the SMTC method is 34% less than that produced by the CT+PD control method and is 37% less than that from the ON

  20. Feedback Linearization Control of a Shunt Active Power Filter Using a Fuzzy Controller

    Tianhua Li

    2013-09-01

    Full Text Available In this paper, a novel feedback linearization based sliding mode controlled parallel active power filter using a fuzzy controller is presented in a three-phase three-wire grid. A feedback linearization control with fuzzy parameter self-tuning is used to implement the DC side voltage regulation while a novel integral sliding mode controller is applied to reduce the total harmonic distortion of the supply current. Since traditional unit synchronous sinusoidal signal calculation methods are not applicable when the supply voltage contains harmonics, a novel unit synchronous sinusoidal signal computing method based on synchronous frame transforming theory is presented to overcome this disadvantage. The simulation results verify that the DC side voltage is very stable for the given value and responds quickly to the external disturbance. A comparison is also made to show the advantages of the novel unit sinusoidal signal calculating method and the super harmonic treatment property of the designed active power filter.

  1. Design of Robust Supertwisting Algorithm Based Second-Order Sliding Mode Controller for Nonlinear Systems with Both Matched and Unmatched Uncertainty

    Marwa Jouini

    2017-01-01

    Full Text Available This paper proposes a robust supertwisting algorithm (STA design for nonlinear systems where both matched and unmatched uncertainties are considered. The main contributions reside primarily to conceive a novel structure of STA, in order to ensure the desired performance of the uncertain nonlinear system. The modified algorithm is formed of double closed-loop feedback, in which two linear terms are added to the classical STA. In addition, an integral sliding mode switching surface is proposed to construct the attractiveness and reachability of sliding mode. Sufficient conditions are derived to guarantee the exact differentiation stability in finite time based on Lyapunov function theory. Finally, a comparative study for a variable-length pendulum system illustrates the robustness and the effectiveness of the proposed approach compared to other STA schemes.

  2. Virtual reality simulation of fuzzy-logic control during underwater dynamic positioning

    Thekkedan, Midhin Das; Chin, Cheng Siong; Woo, Wai Lok

    2015-03-01

    In this paper, graphical-user-interface (GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle (ROV) using MATLAB™ GUI Designing Environment is proposed. The proposed ROV's GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

  3. Foundations Of Fuzzy Control

    Jantzen, Jan

    The objective of this textbook is to acquire an understanding of the behaviour of fuzzy logic controllers. Under certain conditions a fuzzy controller is equivalent to a proportional-integral-derivative (PID) controller. Using that equivalence as a link, the book applies analysis methods from...... linear and nonlinear control theory. In the linear domain, PID tuning methods and stability analyses are transferred to linear fuzzy controllers. The Nyquist plot shows the robustness of different settings of the fuzzy gain parameters. As a result, a fuzzy controller is guaranteed to perform as well...... as any PID controller. In the nonlinear domain, the stability of four standard control surfaces is analysed by means of describing functions and Nyquist plots. The self-organizing controller (SOC) is shown to be a model reference adaptive controller. There is a possibility that a nonlinear fuzzy PID...

  4. Fuzzy Control Tutorial

    Dotoli, M.; Jantzen, Jan

    1999-01-01

    The tutorial concerns automatic control of an inverted pendulum, especially rule based control by means of fuzzy logic. A ball balancer, implemented in a software simulator in Matlab, is used as a practical case study. The objectives of the tutorial are to teach the basics of fuzzy control......, and to show how to apply fuzzy logic in automatic control. The tutorial is distance learning, where students interact one-to-one with the teacher using e-mail....

  5. Fuzzy control and identification

    Lilly, John H

    2010-01-01

    This book gives an introduction to basic fuzzy logic and Mamdani and Takagi-Sugeno fuzzy systems. The text shows how these can be used to control complex nonlinear engineering systems, while also also suggesting several approaches to modeling of complex engineering systems with unknown models. Finally, fuzzy modeling and control methods are combined in the book, to create adaptive fuzzy controllers, ending with an example of an obstacle-avoidance controller for an autonomous vehicle using modus ponendo tollens logic.

  6. A Lateral Control Method of Intelligent Vehicle Based on Fuzzy Neural Network

    Linhui Li

    2015-01-01

    Full Text Available A lateral control method is proposed for intelligent vehicle to track the desired trajectory. Firstly, a lateral control model is established based on the visual preview and dynamic characteristics of intelligent vehicle. Then, the lateral error and orientation error are melded into an integrated error. Considering the system parameter perturbation and the external interference, a sliding model control is introduced in this paper. In order to design a sliding surface, the integrated error is chosen as the parameter of the sliding mode switching function. The sliding mode switching function and its derivative are selected as two inputs of the controller, and the front wheel angle is selected as the output. Next, a fuzzy neural network is established, and the self-learning functions of neural network is utilized to construct the fuzzy rules. Finally, the simulation results demonstrate the effectiveness and robustness of the proposed method.

  7. Active structural control with stable fuzzy PID techniques

    Yu, Wen

    2016-01-01

    This book presents a detailed discussion of intelligent techniques to measure the displacement of buildings when they are subjected to vibration. It shows how these techniques are used to control active devices that can reduce vibration 60–80% more effectively than widely used passive anti-seismic systems. After introducing various structural control devices and building-modeling and active structural control methods, the authors propose offset cancellation and high-pass filtering techniques to solve some common problems of building-displacement measurement using accelerometers. The most popular control algorithms in industrial settings, PD/PID controllers, are then analyzed and then combined with fuzzy compensation. The stability of this combination is proven with standard weight-training algorithms. These conditions provide explicit methods for selecting PD/PID controllers. Finally, fuzzy-logic and sliding-mode control are applied to the control of wind-induced vibration. The methods described are support...

  8. Why fuzzy controllers should be fuzzy

    Nowe, A.

    1996-01-01

    Fuzzy controllers are usually looked at as crisp valued mappings especially when artificial intelligence learning techniques are used to build up the controller. By doing so the semantics of a fuzzy conclusion being a fuzzy restriction on the viable control actions is non-existing. In this paper the authors criticise from an approximation point of view using a fuzzy controller to express a crisp mapping does not seem the right way to go. Secondly it is illustrated that interesting information is contained in a fuzzy conclusion when indeed this conclusion is considered as a fuzzy restriction. This information turns out to be very valuable when viability problems are concerned, i.e. problems where the objective is to keep a system within predefined boundaries

  9. Fuzzy Control Teaching Models

    Klaus-Dietrich Kramer

    2016-05-01

    Full Text Available Many degree courses at technical universities include the subject of control systems engineering. As an addition to conventional approaches Fuzzy Control can be used to easily find control solutions for systems, even if they include nonlinearities. To support further educational training, models which represent a technical system to be controlled are required. These models have to represent the system in a transparent and easy cognizable manner. Furthermore, a programming tool is required that supports an easy Fuzzy Control development process, including the option to verify the results and tune the system behavior. In order to support the development process a graphical user interface is needed to display the fuzzy terms under real time conditions, especially with a debug system and trace functionality. The experiences with such a programming tool, the Fuzzy Control Design Tool (FHFCE Tool, and four fuzzy teaching models will be presented in this paper. The methodical and didactical objective in the utilization of these teaching models is to develop solution strategies using Computational Intelligence (CI applications for Fuzzy Controllers in order to analyze different algorithms of inference or defuzzyfication and to verify and tune those systems efficiently.

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

    Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

    2015-09-01

    To guarantee the safety and efficient performance of the power plant, a robust controller for the boiler-turbine unit is needed. In this paper, a robust adaptive sliding mode controller (RASMC) is proposed to control a nonlinear multi-input multi-output (MIMO) model of industrial boiler-turbine unit, in the presence of unknown bounded uncertainties and external disturbances. To overcome the coupled nonlinearities and investigate the zero dynamics, input-output linearization is performed, and then the new decoupled inputs are derived. To tackle the uncertainties and external disturbances, appropriate adaption laws are introduced. For constructing the RASMC, suitable sliding surface is considered. To guarantee the sliding motion occurrence, appropriate control laws are constructed. Then the robustness and stability of the proposed RASMC is proved via Lyapunov stability theory. To compare the performance of the purposed RASMC with traditional control schemes, a type-I servo controller is designed. To evaluate the performance of the proposed control schemes, simulation studies on nonlinear MIMO dynamic system in the presence of high frequency bounded uncertainties and external disturbances are conducted and compared. Comparison of the results reveals the superiority of proposed RASMC over the traditional control schemes. RAMSC acts efficiently in disturbance rejection and keeping the system behavior in desirable tracking objectives, without the existence of unstable quasi-periodic solutions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Model predictive control using fuzzy decision functions

    Kaymak, U.; Costa Sousa, da J.M.

    2001-01-01

    Fuzzy predictive control integrates conventional model predictive control with techniques from fuzzy multicriteria decision making, translating the goals and the constraints to predictive control in a transparent way. The information regarding the (fuzzy) goals and the (fuzzy) constraints of the

  12. Compensation of significant parametric uncertainties using sliding mode online learning

    Schnetter, Philipp; Kruger, Thomas

    An augmented nonlinear inverse dynamics (NID) flight control strategy using sliding mode online learning for a small unmanned aircraft system (UAS) is presented. Because parameter identification for this class of aircraft often is not valid throughout the complete flight envelope, aerodynamic parameters used for model based control strategies may show significant deviations. For the concept of feedback linearization this leads to inversion errors that in combination with the distinctive susceptibility of small UAS towards atmospheric turbulence pose a demanding control task for these systems. In this work an adaptive flight control strategy using feedforward neural networks for counteracting such nonlinear effects is augmented with the concept of sliding mode control (SMC). SMC-learning is derived from variable structure theory. It considers a neural network and its training as a control problem. It is shown that by the dynamic calculation of the learning rates, stability can be guaranteed and thus increase the robustness against external disturbances and system failures. With the resulting higher speed of convergence a wide range of simultaneously occurring disturbances can be compensated. The SMC-based flight controller is tested and compared to the standard gradient descent (GD) backpropagation algorithm under the influence of significant model uncertainties and system failures.

  13. Speed control of induction motor using fuzzy recursive least squares technique

    Santiago Sánchez

    2008-12-01

    Full Text Available A simple adaptive controller design is presented in this paper, the control system uses the adaptive fuzzy logic, sliding modes and is trained with the recursive least squares technique. The problem of parameter variation is solved with the adaptive controller; the use of an internal PI regulator produces that the speed control of the induction motor be achieved by the stator currents instead the input voltage. The rotor-flux oriented coordinated system model is used to develop and test the control system.

  14. Speed control of induction motor using fuzzy recursive least squares technique

    Santiago Sánchez; Eduardo Giraldo

    2008-01-01

    A simple adaptive controller design is presented in this paper, the control system uses the adaptive fuzzy logic, sliding modes and is trained with the recursive least squares technique. The problem of parameter variation is solved with the adaptive controller; the use of an internal PI regulator produces that the speed control of the induction motor be achieved by the stator currents instead the input voltage. The rotor-flux oriented coordinated system model is used to develop and test the c...

  15. The foundations of fuzzy control

    Lewis, Harold W

    1997-01-01

    Harold Lewis applied a cross-disciplinary approach in his highly accessible discussion of fuzzy control concepts. With the aid of fifty-seven illustrations, he thoroughly presents a unique mathematical formalism to explain the workings of the fuzzy inference engine and a novel test plant used in the research. Additionally, the text posits a new viewpoint on why fuzzy control is more popular in some countries than in others. A direct and original view of Japanese thinking on fuzzy control methods, based on the author's personal knowledge of - and association with - Japanese fuzzy research, is also included.

  16. The Control of Switched Reluctance Motor in Electric Vehicle

    Zheng Liu

    2014-05-01

    Full Text Available The control of SRM was discussed: current chopping control, angle position control. This paper presents an inverter circuit and a fuzzy sliding mode control method to minimize the torque fluctuation and noise of the SRM. Based on the experimental results, Using the inverter circuit and fuzzy sliding mode control method can effectively minimize the torque fluctuation and noise of the SRM, For the switched reluctance motor applications in electric vehicles to provide a theoretical basis.

  17. A new fuzzy-disturbance observer-enhanced sliding controller for vibration control of a train-car suspension with magneto-rheological dampers

    Nguyen, Sy Dzung; Choi, Seung-Bok; Nguyen, Quoc Hung

    2018-05-01

    Semi-active train-car suspensions are always impacted negatively by uncertainty and disturbance (UAD). In order to deal with this, we propose a novel optimal fuzzy disturbance observer-enhanced sliding mode controller (FDO-SMC) for magneto-rheological damper (MRD)-based semi-active train-car suspensions subjected to UAD whose variability rate may be high but bounded. The two main parts of the FDO-SMC are an adaptive sliding mode controller (ad-SMC) and an optimal fuzzy disturbance observer (op-FDO). As the first step, the initial structures of the sliding mode controller (SMC) and disturbance observer (DO) are built. Adaptive update laws for the SMC and DO are then set up synchronously via Lyapunov stability analysis. Subsequently, an optimal fuzzy system (op-FS) is designed to fully implement a parameter constraint mechanism so as to guarantee the system stability converging to the desired state even if the UAD variability rate increases in a given range. As a result, both the ad-SMC and op-FDO are formulated. It is shown from the comparative work with existing controllers that the proposed method provides the best vibration control capability with relatively low consumed power.

  18. Fuzzy control. Fundamentals, stability and design of fuzzy controllers

    Michels, K. [Fichtner GmbH und Co. KG, Stuttgart (Germany); Klawonn, F. [Fachhochschule Braunschweig/Wolfenbuettel (Germany). Fachbereich Informatik; Kruse, R. [Magdeburg Univ. (Germany). Fakultaet Informatik, Abt. Wiss.- und Sprachverarbeitung; Nuernberger, A. (eds.) [California Univ., Berkeley, CA (United States). Computer Science Division

    2006-07-01

    The book provides a critical discussion of fuzzy controllers from the perspective of classical control theory. Special emphases are placed on topics that are of importance for industrial applications, like (self-) tuning of fuzzy controllers, optimisation and stability analysis. The book is written as a textbook for graduate students as well as a comprehensive reference book about fuzzy control for researchers and application engineers. Starting with a detailed introduction to fuzzy systems and control theory the reader is guided to up-to-date research results. (orig.)

  19. Research on the Diesel Engine with Sliding Mode Variable Structure Theory

    Ma, Zhexuan; Mao, Xiaobing; Cai, Le

    2018-05-01

    This study constructed the nonlinear mathematical model of the diesel engine high-pressure common rail (HPCR) system through two polynomial fitting which was treated as a kind of affine nonlinear system. Based on sliding-mode variable structure control (SMVSC) theory, a sliding-mode controller for affine nonlinear systems was designed for achieving the control of common rail pressure and the diesel engine’s rotational speed. Finally, on the simulation platform of MATLAB, the designed nonlinear HPCR system was simulated. The simulation results demonstrated that sliding-mode variable structure control algorithm shows favourable control performances which are overcoming the shortcomings of traditional PID control in overshoot, parameter adjustment, system precision, adjustment time and ascending time.

  20. Using an adaptive fuzzy-logic system to optimize the performances and the reduction of chattering phenomenon in the control of induction motor

    Barazane Linda

    2009-01-01

    Full Text Available Neural networks and fuzzy inference systems are becoming well recognized tools of designing an identifier/controller capable of perceiving the operating environment and imitating a human operator with high performance. Also, by combining these two features, more versatile and robust models, called 'neuro-fuzzy' architectures have been developed. The motivation behind the use of neuro-fuzzy approaches is based on the complexity of real life systems, ambiguities on sensory information or time-varying nature of the system under investigation. In this way, the present contribution concerns the application of neuro-fuzzy approach in order to perform the responses of the speed regulation and to reduce the chattering phenomenon introduced by sliding mode control, which is very harmful to the actuators in our case and may excite the unmodeled dynamics of the system. The type of the neuro-fuzzy system used here is called:' adaptive neuro fuzzy inference controller (ANFIS'. This neuro-fuzzy is destined to replace the speed fuzzy sliding mode controller after its training process. Simulation results reveal some very interesting features. .

  1. Design of a new adaptive fuzzy controller and its application to vibration control of a vehicle seat installed with an MR damper

    Phu, Do Xuan; Shin, Do Kyun; Choi, Seung-Bok

    2015-01-01

    This paper presents a new adaptive fuzzy controller featuring a combination of two different control methodologies: H infinity control technique and sliding mode control. It is known that both controllers are powerful in terms of high performance and robust stability. However, both control methods require an accurate dynamic model to design a state variable based controller in order to maintain their advantages. Thus, in this work a fuzzy control method which does not require an accurate dynamic model is adopted and two control methodologies are integrated to maintain the advantages even in an uncertain environment of the dynamic system. After a brief explanation of the interval type 2 fuzzy logic, a new adaptive fuzzy controller associated with the H infinity control and sliding mode control is formulated on the basis of Lyapunov stability theory. Subsequently, the formulated controller is applied to vibration control of a vehicle seat equipped with magnetorheological fluid damper (MR damper in short). An experimental setup for realization of the proposed controller is established and vibration control performances such as acceleration at the driver’s seat are evaluated. In addition, in order to demonstrate the effectiveness of the proposed controller, a comparative work with two existing controllers is undertaken. It is shown through simulation and experiment that the proposed controller can provide much better vibration control performance than the two existing controllers. (paper)

  2. Adaptive fuzzy-neural-network control for maglev transportation system.

    Wai, Rong-Jong; Lee, Jeng-Dao

    2008-01-01

    A magnetic-levitation (maglev) transportation system including levitation and propulsion control is a subject of considerable scientific interest because of highly nonlinear and unstable behaviors. In this paper, the dynamic model of a maglev transportation system including levitated electromagnets and a propulsive linear induction motor (LIM) based on the concepts of mechanical geometry and motion dynamics is developed first. Then, a model-based sliding-mode control (SMC) strategy is introduced. In order to alleviate chattering phenomena caused by the inappropriate selection of uncertainty bound, a simple bound estimation algorithm is embedded in the SMC strategy to form an adaptive sliding-mode control (ASMC) scheme. However, this estimation algorithm is always a positive value so that tracking errors introduced by any uncertainty will cause the estimated bound increase even to infinity with time. Therefore, it further designs an adaptive fuzzy-neural-network control (AFNNC) scheme by imitating the SMC strategy for the maglev transportation system. In the model-free AFNNC, online learning algorithms are designed to cope with the problem of chattering phenomena caused by the sign action in SMC design, and to ensure the stability of the controlled system without the requirement of auxiliary compensated controllers despite the existence of uncertainties. The outputs of the AFNNC scheme can be directly supplied to the electromagnets and LIM without complicated control transformations for relaxing strict constrains in conventional model-based control methodologies. The effectiveness of the proposed control schemes for the maglev transportation system is verified by numerical simulations, and the superiority of the AFNNC scheme is indicated in comparison with the SMC and ASMC strategies.

  3. Fuzzy control in environmental engineering

    Chmielowski, Wojciech Z

    2016-01-01

    This book is intended for engineers, technicians and people who plan to use fuzzy control in more or less developed and advanced control systems for manufacturing processes, or directly for executive equipment. Assuming that the reader possesses elementary knowledge regarding fuzzy sets and fuzzy control, by way of a reminder, the first parts of the book contain a reminder of the theoretical foundations as well as a description of the tools to be found in the Matlab/Simulink environment in the form of a toolbox. The major part of the book presents applications for fuzzy controllers in control systems for various manufacturing and engineering processes. It presents seven processes and problems which have been programmed using fuzzy controllers. The issues discussed concern the field of Environmental Engineering. Examples are the control of a flood wave passing through a hypothetical, and then the real Dobczyce reservoir in the Raba River, which is located in the upper Vistula River basin in Southern Poland, th...

  4. Longitudinal tire force estimation based on sliding mode observer

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

    2001-07-01

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

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

    Huang, Shiuh-Jer; Chen, Hung-Yi

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

  6. A new maximum power point method based on a sliding mode approach for solar energy harvesting

    Farhat, Maissa; Barambones, Oscar; Sbita, Lassaad

    2017-01-01

    Highlights: • Create a simple, easy of implement and accurate V_M_P_P estimator. • Stability analysis of the proposed system based on the Lyapunov’s theory. • A comparative study versus P&O, highlight SMC good performances. • Construct a new PS-SMC algorithm to include the partial shadow case. • Experimental validation of the SMC MPP tracker. - Abstract: This paper presents a photovoltaic (PV) system with a maximum power point tracking (MPPT) facility. The goal of this work is to maximize power extraction from the photovoltaic generator (PVG). This goal is achieved using a sliding mode controller (SMC) that drives a boost converter connected between the PVG and the load. The system is modeled and tested under MATLAB/SIMULINK environment. In simulation, the sliding mode controller offers fast and accurate convergence to the maximum power operating point that outperforms the well-known perturbation and observation method (P&O). The sliding mode controller performance is evaluated during steady-state, against load varying and panel partial shadow (PS) disturbances. To confirm the above conclusion, a practical implementation of the maximum power point tracker based sliding mode controller on a hardware setup is performed on a dSPACE real time digital control platform. The data acquisition and the control system are conducted all around dSPACE 1104 controller board and its RTI environment. The experimental results demonstrate the validity of the proposed control scheme over a stand-alone real photovoltaic system.

  7. Sliding mode observers for automotive alternator

    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

  8. Adaptive Sliding Mode Observer for a Class of Systems

    D.Elleuch; T.Damak

    2010-01-01

    In this paper, the performance of two adaptive observers applied to interconnected systems is studied. The nonlinearity of systems can be written in a fractional form. The first adaptive observer is an adaptive sliding mode observer for a Lipchitz nonlinear system and the second one is an adaptive sliding mode observer having a filtered error as a sliding surface. After comparing their performances throughout the inverted pendulum mounted on a car system, it was shown tha...

  9. A neural fuzzy controller learning by fuzzy error propagation

    Nauck, Detlef; Kruse, Rudolf

    1992-01-01

    In this paper, we describe a procedure to integrate techniques for the adaptation of membership functions in a linguistic variable based fuzzy control environment by using neural network learning principles. This is an extension to our work. We solve this problem by defining a fuzzy error that is propagated back through the architecture of our fuzzy controller. According to this fuzzy error and the strength of its antecedent each fuzzy rule determines its amount of error. Depending on the current state of the controlled system and the control action derived from the conclusion, each rule tunes the membership functions of its antecedent and its conclusion. By this we get an unsupervised learning technique that enables a fuzzy controller to adapt to a control task by knowing just about the global state and the fuzzy error.

  10. Safety critical application of fuzzy control

    Schildt, G.H.

    1995-01-01

    After an introduction into safety terms a short description of fuzzy logic will be given. Especially, for safety critical applications of fuzzy controllers a possible controller structure will be described. The following items will be discussed: Configuration of fuzzy controllers, design aspects like fuzzfiication, inference strategies, defuzzification and types of membership functions. As an example a typical fuzzy rule set will be presented. Especially, real-time behaviour a fuzzy controllers is mentioned. An example of fuzzy controlling for temperature control purpose within a nuclear reactor together with membership functions and inference strategy of such a fuzzy controller will be presented. (author). 4 refs, 17 figs

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

    Moreno, Jaime; Iriarte, Rafael

    2012-01-01

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

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

    Lascu, Cristian; Blaabjerg, Frede

    2014-01-01

    This paper presents a new super-twisting sliding modes direct torque and flux controller (STSM-DTC) for induction motor (IM) drives. The STSM is a second-order (type two) variable-structure control which operates without high-frequency chattering. The proposed STSM scheme is a torque and stator...... flux magnitude controller implemented in the stator flux reference frame, and it does not employ current controllers as in conventional vector control. This controller contains a design parameter that allows the designer to balance its operation between a linear PI-like behavior and a constant......-DTC control, design and implementation details, and relevant experimental results for a sensorless IM drive. The scheme is compared to a second-order sliding mode controller and a linear PI controller. A robustness assessment against the PI controller is also included....

  13. Hierarchical type-2 fuzzy aggregation of fuzzy controllers

    Cervantes, Leticia

    2016-01-01

    This book focuses on the fields of fuzzy logic, granular computing and also considering the control area. These areas can work together to solve various control problems, the idea is that this combination of areas would enable even more complex problem solving and better results. In this book we test the proposed method using two benchmark problems: the total flight control and the problem of water level control for a 3 tank system. When fuzzy logic is used it make it easy to performed the simulations, these fuzzy systems help to model the behavior of a real systems, using the fuzzy systems fuzzy rules are generated and with this can generate the behavior of any variable depending on the inputs and linguistic value. For this reason this work considers the proposed architecture using fuzzy systems and with this improve the behavior of the complex control problems.

  14. Fuzzy control of pressurizer dynamic process

    Ming Zhedong; Zhao Fuyu

    2006-01-01

    Considering the characteristics of pressurizer dynamic process, the fuzzy control system that takes the advantages of both fuzzy controller and PID controller is designed for the dynamic process in pressurizer. The simulation results illustrate this type of composite control system is with better qualities than those of single fuzzy controller and single PID controller. (authors)

  15. Speed control of SR motor by self-tuning fuzzy PI controller with ...

    traditional controllers PI (Proportional Integral), PD (Proportional Derivative), ... In SRM control, non-linear techniques such as sliding mode, artificial neural network ..... Proc. of the 1st Int. Confer. on Machine Learning and Cybernetic, Beijing, ...

  16. A fuzzy controller for NPPs

    Schildt, G.H.

    1997-01-01

    A fuzzy controller for safety related process control is presented for applications in the field of NPPs. The size of necessary rules is relatively small. Thus, there exists a real chance for verification and validation of software due to the fact that the whole software can be structured into standard fuzzy software (like fuzzyfication, inference algorithms, and defuzzyfication), real-time operating system software, and the contents of the rule base. Furthermore, there is an excellent advantage fuel to real-time behaviour, because program execution time is much more predictable than for conventional PID-controller software. Additionally, up to now special know-how does exist to prove stability of fuzzy controller. Hardware design has been done due to fundamental principles of safety technique like watch dog function, dynamization principles, and quiescent current principle. (author). 3 refs, 5 figs

  17. A fuzzy controller for NPPs

    Schildt, G.H.

    1996-01-01

    After an introduction into safety terms a fuzzy controller for safety related process control will be presented, especially for applications in the field of NPPs. One can show that the size of necessary rules is relatively small. Thus, there exists a real chance for verification and validation of software due to the fact that the whole software can be structured into standard fuzzy software (like fuzzyfication, inference algorithms, and defuzzyfication), real-time operating system software, and the contents of the rule base. Furthermore, there is an excellent advantage due to real-time behaviour, because program execution time can be much more planned than for conventional PID-controller software. Additionally, up to now special know-how does exist to prove stability of fuzzy controller. Hardware design has been done due to fundamental principles of safety technique like watch dog function, dynamization principle, and quiescent current principle

  18. A fuzzy controller for NPPs

    Schildt, G H [Technische Univ., Vienna (Austria)

    1997-07-01

    A fuzzy controller for safety related process control is presented for applications in the field of NPPs. The size of necessary rules is relatively small. Thus, there exists a real chance for verification and validation of software due to the fact that the whole software can be structured into standard fuzzy software (like fuzzyfication, inference algorithms, and defuzzyfication), real-time operating system software, and the contents of the rule base. Furthermore, there is an excellent advantage fuel to real-time behaviour, because program execution time is much more predictable than for conventional PID-controller software. Additionally, up to now special know-how does exist to prove stability of fuzzy controller. Hardware design has been done due to fundamental principles of safety technique like watch dog function, dynamization principles, and quiescent current principle. (author). 3 refs, 5 figs.

  19. Neuro-fuzzy Control of Integrating Processes

    Anna Vasičkaninová

    2011-11-01

    Full Text Available Fuzzy technology is adaptive and easily applicable in different areas.Fuzzy logic provides powerful tools to capture the perceptionof natural phenomena. The paper deals with tuning of neuro-fuzzy controllers for integrating plant and for integrating plantswith time delay. The designed approach is verified on three examples by simulations and compared plants with classical PID control.Designed fuzzy controllers lead to better closed-loop control responses then classical PID controllers.

  20. Maximum Wind Power Tracking of Doubly Fed Wind Turbine System Based on Adaptive Gain Second-Order Sliding Mode

    Hongchang Sun

    2018-01-01

    Full Text Available This paper proposes an adaptive gain second-order sliding mode control strategy to track optimal electromagnetic torque and regulate reactive power of doubly fed wind turbine system. Firstly, wind turbine aerodynamic characteristics and doubly fed induction generator (DFIG modeling are presented. Then, electromagnetic torque error and reactive power error are chosen as sliding variables, and fixed gain super-twisting sliding mode control scheme is designed. Considering that uncertainty upper bound is unknown and is hard to be estimated in actual doubly fed wind turbine system, a gain scheduled law is proposed to compel control parameters variation according to uncertainty upper bound real-time. Adaptive gain second-order sliding mode rotor voltage control method is constructed in detail and finite time stability of doubly fed wind turbine control system is strictly proved. The superiority and robustness of the proposed control scheme are finally evaluated on a 1.5 MW DFIG wind turbine system.

  1. Nonlinear Robust Control of a Hypersonic Flight Vehicle Using Fuzzy Disturbance Observer

    Lei Zhengdong

    2013-01-01

    Full Text Available This paper is concerned with a novel tracking controller design for a hypersonic flight vehicle in complex and volatile environment. The attitude control model is challengingly constructed with multivariate uncertainties and external disturbances, such as structure dynamic and stochastic wind disturbance. In order to resist the influence of uncertainties and disturbances on the flight control system, nonlinear disturbance observer is introduced to estimate them. Moreover, for the sake of high accuracy and sensitivity, fuzzy theory is adopted to improve the performance of the nonlinear disturbance observer. After the total disturbance is eliminated by dynamic inversion method, a cascade system is obtained and then stabilized by a sliding-mode controller. Finally, simulation results show that the strong robust controller achieves excellent performance when the closed-loop control system is influenced by mass uncertainties and external disturbances.

  2. Sliding mode observer design for automatic steering of vehicle

    Zhang, J.R.; Rachid, A. [LSA, Amiens (France); Xu, S.J. [Harbin Inst. of Tech. (China)]|[IUT de Longwy, Cosnes et Romain (France); Darouach, M. [IUT de Longwy, Cosnes et Romain (France)

    2000-07-01

    This paper deals with the observer design problem for automatic steering of vehicles. The lateral motion of the vehicles is considered. A sliding mode observer is derived such that the observation errors converge to zero asymptotically in finite time. The simulation results have shown that the design is very effective. (orig.)

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

    Li-lian Huang

    2013-01-01

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

  4. A SELF-ORGANISING FUZZY LOGIC CONTROLLER

    ES Obe

    One major drawback of fuzzy logic controllers is the difficulty encountered in the construction of a rule- base ... The greatest limitation of fuzzy logic control is the lack ..... c(kT)= e(kT)-e((k-1)T). (16) .... with the aid of fuzzy models”, It in Industrial.

  5. Disturbance observer-based adaptive sliding mode hybrid projective synchronisation of identical fractional-order financial systems

    Khan, Ayub; Tyagi, Arti

    2018-05-01

    In this paper, we have studied the hybrid projective synchronisation for incommensurate, integer and commensurate fractional-order financial systems with unknown disturbance. To tackle the problem of unknown bounded disturbance, fractional-order disturbance observer is designed to approximate the unknown disturbance. Further, we have introduced simple sliding mode surface and designed adaptive sliding mode controllers incorporating with the designed fractional-order disturbance observer to achieve a bounded hybrid projective synchronisation between two identical fractional-order financial model with different initial conditions. It is shown that the slave system with disturbance can be synchronised with the projection of the master system generated through state transformation. Simulation results are presented to ensure the validity and effectiveness of the proposed sliding mode control scheme in the presence of external bounded unknown disturbance. Also, synchronisation error for commensurate, integer and incommensurate fractional-order financial systems is studied in numerical simulation.

  6. Fuzzy Control of Robotic Arm

    Lin, Kyaw Kyaw; Soe, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    This research work investigates a Self-Tuning Proportional Derivative (PD) type Fuzzy Logic Controller (STPDFLC) for a two link robot system. The proposed scheme adjusts on-line the output Scaling Factor (SF) by fuzzy rules according to the current trend of the robot. The rule base for tuning the output scaling factor is defined on the error (e) and change in error (de). The scheme is also based on the fact that the controller always tries to manipulate the process input. The rules are in the familiar if-then format. All membership functions for controller inputs (e and de) and controller output (UN) are defined on the common interval [-1,1]; whereas the membership functions for the gain updating factor (α) is defined on [0,1]. There are various methods to calculate the crisp output of the system. Center of Gravity (COG) method is used in this application due to better results it gives. Performances of the proposed STPDFLC are compared with those of their corresponding PD-type conventional Fuzzy Logic Controller (PDFLC). The proposed scheme shows a remarkably improved performance over its conventional counterpart especially under parameters variation (payload). The two-link results of analysis are simulated. These simulation results are illustrated by using MATLAB® programming.

  7. Fuzzy logic controller using different inference methods

    Liu, Z.; De Keyser, R.

    1994-01-01

    In this paper the design of fuzzy controllers by using different inference methods is introduced. Configuration of the fuzzy controllers includes a general rule-base which is a collection of fuzzy PI or PD rules, the triangular fuzzy data model and a centre of gravity defuzzification algorithm. The generalized modus ponens (GMP) is used with the minimum operator of the triangular norm. Under the sup-min inference rule, six fuzzy implication operators are employed to calculate the fuzzy look-up tables for each rule base. The performance is tested in simulated systems with MATLAB/SIMULINK. Results show the effects of using the fuzzy controllers with different inference methods and applied to different test processes

  8. Fuzzy logic control of nuclear power plant

    Yao Liangzhong; Guo Renjun; Ma Changwen

    1996-01-01

    The main advantage of the fuzzy logic control is that the method does not require a detailed mathematical model of the object to be controlled. In this paper, the shortcomings and limitations of the model-based method in nuclear power plant control were presented, the theory of the fuzzy logic control was briefly introduced, and the applications of the fuzzy logic control technology in nuclear power plant controls were surveyed. Finally, the problems to be solved by using the fuzzy logic control in nuclear power plants were discussed

  9. Application of fuzzy logic control in industry

    Van der Wal, A.J.

    1994-01-01

    An overview is given of the various ways fuzzy logic can be used to improve industrial control. The application of fuzzy logic in control is illustrated by two case studies. The first example shows how fuzzy logic, incorporated in the hardware of an industrial controller, helps to finetune a PID controller, without the operator having any a priori knowledge of the system to be controlled. The second example is from process industry. Here, fuzzy logic supervisory control is implemented in software and enhances the operation of a sintering oven through a subtle combination of priority management and deviation-controlled timing

  10. Fuzzy logic control and optimization system

    Lou, Xinsheng [West Hartford, CT

    2012-04-17

    A control system (300) for optimizing a power plant includes a chemical loop having an input for receiving an input signal (369) and an output for outputting an output signal (367), and a hierarchical fuzzy control system (400) operably connected to the chemical loop. The hierarchical fuzzy control system (400) includes a plurality of fuzzy controllers (330). The hierarchical fuzzy control system (400) receives the output signal (367), optimizes the input signal (369) based on the received output signal (367), and outputs an optimized input signal (369) to the input of the chemical loop to control a process of the chemical loop in an optimized manner.

  11. Intelligent control-III: fuzzy control system

    Nagrial, M.H.

    2004-01-01

    During the last decade or so, fuzzy logic control (FLC) has emerged as one of the most active and fruitful areas of research and development. The applications include industrial process control to medical diagnostic and financial markets. Many consumer products using this technology are available in the market place. FLC is best suited to complex ill-defined processes that can be controlled by a skilled human operator without much knowledge of their underlying dynamics. This lecture will cover the basic architecture and the design methodology of fuzzy logic controllers. FLC will be strongly based on the concepts of fuzzy set theory, introduced in first lecture. Some practical applications will also be discussed and presented. (author)

  12. Fuzzy systems for process identification and control

    Gorrini, V.; Bersini, H.

    1994-01-01

    Various issues related to the automatic construction and on-line adaptation of fuzzy controllers are addressed. A Direct Adaptive Fuzzy Control (this is an adaptive control methodology requiring a minimal knowledge of the processes to be coupled with) derived in a way reminiscent of neurocontrol methods, is presented. A classical fuzzy controller and a fuzzy realization of a PID controller is discussed. These systems implement a highly non-linear control law, and provide to be quite robust, even in the case of noisy inputs. In order to identify dynamic processes of order superior to one, we introduce a more complex architecture, called Recurrent Fuzzy System, that use some fuzzy internal variables to perform an inferential chaining.I

  13. Synchronization of a coupled Hodgkin-Huxley neurons via high order sliding-mode feedback

    Aguilar-Lopez, R. [Division de Ciencias Basicas e Ingenieria, Universidad Autonoma Metropolitana, Av. San Pablo No. 180, Reynosa-Tamaulipas, 02200 Azcapotzalco, Mexico, D.F. (Mexico)], E-mail: raguilar@correo.azc.uam.mx; Martinez-Guerra, R. [Departamento de Control Automatico, CINVESTAV-IPN, Apartado Postal 14-740, Mexico, D.F. C.P. 07360 (Mexico)], E-mail: rguerra@ctrl.cinvestav.mx

    2008-07-15

    This work deals with the synchronizations of two both coupled Hodgkin-Huxley (H-H) neurons, where the master neuron posses inner noise and the slave neuron is considered in a resting state, (without inner noise) and an exciting state (with inner noise). The synchronization procedure is done via a feedback control, considering a class of high order sliding-mode controller which provides chattering reduction and finite time synchronization convergence, with a satisfactory performance. Theoretical analysis is done in order to show the closed-loop stability of the proposed controller and the calculated finite time for convergence. The main results are illustrated via numerical experiments.

  14. Synchronization of a coupled Hodgkin-Huxley neurons via high order sliding-mode feedback

    Aguilar-Lopez, R.; Martinez-Guerra, R.

    2008-01-01

    This work deals with the synchronizations of two both coupled Hodgkin-Huxley (H-H) neurons, where the master neuron posses inner noise and the slave neuron is considered in a resting state, (without inner noise) and an exciting state (with inner noise). The synchronization procedure is done via a feedback control, considering a class of high order sliding-mode controller which provides chattering reduction and finite time synchronization convergence, with a satisfactory performance. Theoretical analysis is done in order to show the closed-loop stability of the proposed controller and the calculated finite time for convergence. The main results are illustrated via numerical experiments

  15. Fuzzy control of small servo motors

    Maor, Ron; Jani, Yashvant

    1993-01-01

    To explore the benefits of fuzzy logic and understand the differences between the classical control methods and fuzzy control methods, the Togai InfraLogic applications engineering staff developed and implemented a motor control system for small servo motors. The motor assembly for testing the fuzzy and conventional controllers consist of servo motor RA13M and an encoder with a range of 4096 counts. An interface card was designed and fabricated to interface the motor assembly and encoder to an IBM PC. The fuzzy logic based motor controller was developed using the TILShell and Fuzzy C Development System on an IBM PC. A Proportional-Derivative (PD) type conventional controller was also developed and implemented in the IBM PC to compare the performance with the fuzzy controller. Test cases were defined to include step inputs of 90 and 180 degrees rotation, sine and square wave profiles in 5 to 20 hertz frequency range, as well as ramp inputs. In this paper we describe our approach to develop a fuzzy as well as PH controller, provide details of hardware set-up and test cases, and discuss the performance results. In comparison, the fuzzy logic based controller handles the non-linearities of the motor assembly very well and provides excellent control over a broad range of parameters. Fuzzy technology, as indicated by our results, possesses inherent adaptive features.

  16. Analysis of inventory difference using fuzzy controllers

    Zardecki, A.

    1994-01-01

    The principal objectives of an accounting system for safeguarding nuclear materials are as follows: (a) to provide assurance that all material quantities are present in the correct amount; (b) to provide timely detection of material loss; and (c) to estimate the amount of any loss and its location. In fuzzy control, expert knowledge is encoded in the form of fuzzy rules, which describe recommended actions for different classes of situations represented by fuzzy sets. The concept of a fuzzy controller is applied to the forecasting problem in a time series, specifically, to forecasting and detecting anomalies in inventory differences. This paper reviews the basic notion underlying the fuzzy control systems and provides examples of application. The well-known material-unaccounted-for diffusion plant data of Jaech are analyzed using both feedforward neural networks and fuzzy controllers. By forming a deference between the forecasted and observed signals, an efficient method to detect small signals in background noise is implemented

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

    Zayane, Chadia

    2014-06-01

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

  18. A computationally efficient fuzzy control s

    Abdel Badie Sharkawy

    2013-12-01

    Full Text Available This paper develops a decentralized fuzzy control scheme for MIMO nonlinear second order systems with application to robot manipulators via a combination of genetic algorithms (GAs and fuzzy systems. The controller for each degree of freedom (DOF consists of a feedforward fuzzy torque computing system and a feedback fuzzy PD system. The feedforward fuzzy system is trained and optimized off-line using GAs, whereas not only the parameters but also the structure of the fuzzy system is optimized. The feedback fuzzy PD system, on the other hand, is used to keep the closed-loop stable. The rule base consists of only four rules per each DOF. Furthermore, the fuzzy feedback system is decentralized and simplified leading to a computationally efficient control scheme. The proposed control scheme has the following advantages: (1 it needs no exact dynamics of the system and the computation is time-saving because of the simple structure of the fuzzy systems and (2 the controller is robust against various parameters and payload uncertainties. The computational complexity of the proposed control scheme has been analyzed and compared with previous works. Computer simulations show that this controller is effective in achieving the control goals.

  19. Fuzzy logic control for camera tracking system

    Lea, Robert N.; Fritz, R. H.; Giarratano, J.; Jani, Yashvant

    1992-01-01

    A concept utilizing fuzzy theory has been developed for a camera tracking system to provide support for proximity operations and traffic management around the Space Station Freedom. Fuzzy sets and fuzzy logic based reasoning are used in a control system which utilizes images from a camera and generates required pan and tilt commands to track and maintain a moving target in the camera's field of view. This control system can be implemented on a fuzzy chip to provide an intelligent sensor for autonomous operations. Capabilities of the control system can be expanded to include approach, handover to other sensors, caution and warning messages.

  20. Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems

    Waseem Abbasi

    2016-01-01

    Full Text Available This article presents adaptive integral sliding mode control algorithm for the stabilization of nonholonomic drift-free systems. First the system is transformed, by using input transform, into a special structure containing a nominal part and some unknown terms which are computed adaptively. The transformed system is then stabilized using adaptive integral sliding mode control. The stabilizing controller for the transformed system is constructed that consists of the nominal control plus a compensator control. The compensator control and the adaptive laws are derived on the basis of Lyapunov stability theory. The proposed control algorithm is applied to three different nonholonomic drift-free systems: the unicycle model, the front wheel car model, and the mobile robot with trailer model. The controllability Lie algebra of the unicycle model contains Lie brackets of depth one, the model of a front wheel car contains Lie brackets of depths one and two, and the model of a mobile robot with trailer contains Lie brackets of depths one, two, and three. The effectiveness of the proposed control algorithm is verified through numerical simulations.

  1. Robust Fuzzy Controllers Using FPGAs

    Monroe, Author Gene S., Jr.

    2007-01-01

    Electro-mechanical device controllers typically come in one of three forms, proportional (P), Proportional Derivative (PD), and Proportional Integral Derivative (PID). Two methods of control are discussed in this paper; they are (1) the classical technique that requires an in-depth mathematical use of poles and zeros, and (2) the fuzzy logic (FL) technique that is similar to the way humans think and make decisions. FL controllers are used in multiple industries; examples include control engineering, computer vision, pattern recognition, statistics, and data analysis. Presented is a study on the development of a PD motor controller written in very high speed hardware description language (VHDL), and implemented in FL. Four distinct abstractions compose the FL controller, they are the fuzzifier, the rule-base, the fuzzy inference system (FIS), and the defuzzifier. FL is similar to, but different from, Boolean logic; where the output value may be equal to 0 or 1, but it could also be equal to any decimal value between them. This controller is unique because of its VHDL implementation, which uses integer mathematics. To compensate for VHDL's inability to synthesis floating point numbers, a scale factor equal to 10(sup (N/4) is utilized; where N is equal to data word size. The scaling factor shifts the decimal digits to the left of the decimal point for increased precision. PD controllers are ideal for use with servo motors, where position control is effective. This paper discusses control methods for motion-base platforms where a constant velocity equivalent to a spectral resolution of 0.25 cm(exp -1) is required; however, the control capability of this controller extends to various other platforms.

  2. Fuzzy logic for structural system control

    Herbert Martins Gomes

    Full Text Available This paper provides some information and numerical tests that aims to investigate the use of a Fuzzy Controller applied to control systems. Some advantages are reported regarding the use of this controller, such as the characteristic ease of implementation due to its semantic feature in the statement of the control rules. On the other hand, it is also hypothesized that these systems have a lower performance loss when the system to be controlled is nonlinear or has time varying parameters. Numerical tests are performed using modal LQR optimal control and Fuzzy control of non-collocated systems with full state feedback in a two-dimensional structure. The paper proposes a way of designing a controller that may be a supervisory Fuzzy controller for a traditional controller or even a fuzzy controller independent from the traditional control, consisting on individual mode controllers. Some comments are drawn regarding the performance of these proposals in a number of arrangements.

  3. Direct Yaw-Moment Control of All-Wheel-Independent-Drive Electric Vehicles with Network-Induced Delays through Parameter-Dependent Fuzzy SMC Approach

    Wanke Cao

    2017-01-01

    Full Text Available This paper investigates the robust direct yaw-moment control (DYC through parameter-dependent fuzzy sliding mode control (SMC approach for all-wheel-independent-drive electric vehicles (AWID-EVs subject to network-induced delays. AWID-EVs have obvious advantages in terms of DYC over the traditional centralized-drive vehicles. However it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC. Furthermore, the network-induced delays would also reduce control performance of DYC and even deteriorate the EV system. To ensure robustness of DYC and deal with network-induced delays, a parameter-dependent fuzzy sliding mode control (FSMC method based on the real-time information of vehicle states and delays is proposed in this paper. The results of cosimulations with Simulink® and CarSim® demonstrate the effectiveness of the proposed controller. Moreover, the results of comparison with a conventional FSMC controller illustrate the strength of explicitly dealing with network-induced delays.

  4. Fuzzy modeling and control theory and applications

    Matía, Fernando; Jiménez, Emilio

    2014-01-01

    Much work on fuzzy control, covering research, development and applications, has been developed in Europe since the 90's. Nevertheless, the existing books in the field are compilations of articles without interconnection or logical structure or they express the personal point of view of the author. This book compiles the developments of researchers with demonstrated experience in the field of fuzzy control following a logic structure and a unified the style. The first chapters of the book are dedicated to the introduction of the main fuzzy logic techniques, where the following chapters focus on concrete applications. This book is supported by the EUSFLAT and CEA-IFAC societies, which include a large number of researchers in the field of fuzzy logic and control. The central topic of the book, Fuzzy Control, is one of the main research and development lines covered by these associations.

  5. reactor power control using fuzzy logic

    Ahmed, A.E.E.

    2001-01-01

    power stabilization is a critical issue in nuclear reactors. convention pd- controller is currently used in egypt second testing research reactor (ETRR-2). two fuzzy controllers are proposed to control the reactor power of ETRR-2 reactor. the design of the first one is based on a set of linguistic rules that were adopted from the human operators experience. after off-line fuzzy computations, the controller is a lookup table, and thus, real time controller is achieved. comparing this f lc response with the pd-controller response, which already exists in the system, through studying the expected transients during the normal operation of ETRR-2 reactor, the simulation results show that, fl s has the better response, the second controller is adaptive fuzzy controller, which is proposed to deal with system non-linearity . The simulation results show that the proposed adaptive fuzzy controller gives a better integral square error (i se) index than the existing conventional od controller

  6. Designing PID-Fuzzy Controller for Pendubot System

    Ho Trong Nguyen

    2017-12-01

    Full Text Available In the paper, authors analize dynamic equation of a pendubot system. Familiar kinds of controller – PID, fuzzy controllers – are concerned. Then, a structure of PID-FUZZY is presented. The comparison of three kinds of controllers – PID, fuzzy and PID-FUZZY shows the better response of system under PID-FUZZY controller. Then, the experiments on the real model also prove the better stabilization of the hybrid controller which is combined between linear and intelligent controller.

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

    Zeeshan Ali Memon

    2012-10-01

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

  8. Smart Spectrometer for Distributed Fuzzy Control

    Benoit, Eric; Foulloy, Laurent

    2009-01-01

    Document rédigé sous FrameMaker (pas sous Latex); International audience; If the main use of colour measurement is the metrology, it is now possible to find industrial control applications which uses this information. Using colour in process control leads to specific problems where human perception has to be replaced by colour sensors. This paper relies on the fuzzy representation of colours that can be taken into account by fuzzy controllers. If smart sensors already include intelligent func...

  9. Fuzzy controllers in nuclear material accounting

    Zardecki, A.

    1994-01-01

    Fuzzy controllers are applied to predicting and modeling a time series, with particular emphasis on anomaly detection in nuclear material inventory differences. As compared to neural networks, the fuzzy controllers can operate in real time; their learning process does not require many iterations to converge. For this reason fuzzy controllers are potentially useful in time series forecasting, where the authors want to detect and identify trends in real time. They describe an object-oriented implementation of the algorithm advanced by Wang and Mendel. Numerical results are presented both for inventory data and time series corresponding to chaotic situations, such as encountered in the context of strange attractors. In the latter case, the effects of noise on the predictive power of the fuzzy controller are explored

  10. Fuzzy Control in the Process Industry

    Jantzen, Jan; Verbruggen, Henk; Østergaard, Jens-Jørgen

    1999-01-01

    Control problems in the process industry are dominated by non-linear and time-varying behaviour, many inner loops, and much interaction between the control loops. Fuzzy controllers have in some cases nevertheless mimicked the control actions of a human operator. Simple fuzzy controllers can...... be designed starting from PID controllers, and in more complex cases these can be used in connection with model-based predictive control. For high level control and supervisory control several simple controllers can be combined in a priority hierarchy such as the one developed in the cement industry...

  11. A study of fuzzy control in nuclear scale system

    Wang Yu; Zhang Yongming; Wu Ruisheng; Du Xianbin; Liu Shixing

    2001-01-01

    The new development of the nuclear scale system which uses fuzzy control strategy is presented. Good results have been obtained in using fuzzy control to solve the problems, such as un-linearities, instabilities, time delays, which are difficultly described by formula, etc. The fuzzy variance, membership function and fuzzy rules are given, and the noise disturbances of fuzzy control and PID control are also given

  12. Fuzzy logic applications to control engineering

    Langari, Reza

    1993-12-01

    This paper presents the results of a project presently under way at Texas A&M which focuses on the use of fuzzy logic in integrated control of manufacturing systems. The specific problems investigated here include diagnosis of critical tool wear in machining of metals via a neuro-fuzzy algorithm, as well as compensation of friction in mechanical positioning systems via an adaptive fuzzy logic algorithm. The results indicate that fuzzy logic in conjunction with conventional algorithmic based approaches or neural nets can prove useful in dealing with the intricacies of control/monitoring of manufacturing systems and can potentially play an active role in multi-modal integrated control systems of the future.

  13. Control of a mechanical gripper with a fuzzy controller

    Alberdi, J.; Barcala, J.M.; Gamero, E.; Navarrete, J.J.

    1995-01-01

    A fuzzy logic system is used to control a mechanical gripper. System is based in a NLX230 fuzzy micro controller. Control rules are programmed by a 68020 microprocessor in the micro controller memory. Stress and its derived are used as feedback signals in the control. This system can adapt its effort to the mechanical resistance of the object between the fingers. (Author)

  14. Decentralized fuzzy control of multiple nonholonomic vehicles

    Driessen, B.J.; Feddema, J.T.; Kwok, K.S.

    1997-09-01

    This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on simple 8-bit microcontrollers, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle are the (noisy) direction to the source, the distance to the closest neighbor vehicle, and the direction to the closest vehicle. These directions are discretized into four values: Forward, Behind, Left, and Right, and the distance into three values: Near, Far, Gone. The values of the control at these discrete values are obtained based on the collision-avoidance repulsive forces and the change of variables that reduces the motion control problem of each nonholonomic vehicle to a nonsingular one with two degrees of freedom, instead of three. A fuzzy inference system is used to obtain control values for inputs between the small number of discrete input values. Simulation results are provided which demonstrate that the fuzzy control law performs well compared to the exact controller. In fact, the fuzzy controller demonstrates improved robustness to noise.

  15. Learning Control of Fixed-Wing Unmanned Aerial Vehicles Using Fuzzy Neural Networks

    Erdal Kayacan

    2017-01-01

    Full Text Available A learning control strategy is preferred for the control and guidance of a fixed-wing unmanned aerial vehicle to deal with lack of modeling and flight uncertainties. For learning the plant model as well as changing working conditions online, a fuzzy neural network (FNN is used in parallel with a conventional P (proportional controller. Among the learning algorithms in the literature, a derivative-free one, sliding mode control (SMC theory-based learning algorithm, is preferred as it has been proved to be computationally efficient in real-time applications. Its proven robustness and finite time converging nature make the learning algorithm appropriate for controlling an unmanned aerial vehicle as the computational power is always limited in unmanned aerial vehicles (UAVs. The parameter update rules and stability conditions of the learning are derived, and the proof of the stability of the learning algorithm is shown by using a candidate Lyapunov function. Intensive simulations are performed to illustrate the applicability of the proposed controller which includes the tracking of a three-dimensional trajectory by the UAV subject to time-varying wind conditions. The simulation results show the efficiency of the proposed control algorithm, especially in real-time control systems because of its computational efficiency.

  16. Observer based on sliding mode variable structure for synchronization of chaotic systems

    Yin Xunhe; Shan Xiuming; Ren Yong

    2003-01-01

    In the paper an approach, based on the state observer of sliding mode variable structure, is used for synchronizing chaotic systems. It does not require either the computation of the Lyapunov exponents, or the initial conditions belonging to the same basin of attraction as the existed approaches based on the state observer for synchronizing chaotic systems. The approach is more robust against noise and parameter mismatch than the existed approaches based on the state observer for synchronizing chaotic systems, because the former uses variable structure control, which is strong robust with respect to noise and parameter mismatch in the error dynamics, the later uses an appropriate choice of the feedback gain. Two well-known chaotic systems, a chaotic Roessler system and a hyperchaotic Roessler system are considered as illustrative examples to demonstrate the effectiveness of the used approach by numerical simulations

  17. On fuzzy control of water desalination plants

    Titli, A. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Jamshidi, M. [New Mexico Univ., Albuquerque, NM (United States); Olafsson, F. [Institute of Technology, Norway (Norway)

    1995-12-31

    In this report we have chosen a sub-system of an MSF water desalination plant, the brine heater, for analysis, synthesis, and simulation. This system has been modelled and implemented on computer. A fuzzy logic controller (FLC) for the top brine temperature control loop has been designed and implemented on the computer. The performance of the proposed FLC is compared with three other conventional control strategies: PID, cascade and disturbance rejection control. One major concern on FLC`s has been the lack of stability criteria. An up to-date survey of stability of fuzzy control systems is given. We have shown stability of the proposed FLC using the Sinusoidal Input Describing Functions (SIDF) method. The potential applications of fuzzy controllers for complex and large-scale systems through hierarchy of rule sets and hybridization with conventional approaches are also investigated. (authors)

  18. On fuzzy control of water desalination plants

    Titli, A [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Jamshidi, M [New Mexico Univ., Albuquerque, NM (United States); Olafsson, F [Institute of Technology, Norway (Norway)

    1996-12-31

    In this report we have chosen a sub-system of an MSF water desalination plant, the brine heater, for analysis, synthesis, and simulation. This system has been modelled and implemented on computer. A fuzzy logic controller (FLC) for the top brine temperature control loop has been designed and implemented on the computer. The performance of the proposed FLC is compared with three other conventional control strategies: PID, cascade and disturbance rejection control. One major concern on FLC`s has been the lack of stability criteria. An up to-date survey of stability of fuzzy control systems is given. We have shown stability of the proposed FLC using the Sinusoidal Input Describing Functions (SIDF) method. The potential applications of fuzzy controllers for complex and large-scale systems through hierarchy of rule sets and hybridization with conventional approaches are also investigated. (authors)

  19. Discrete-time nonlinear sliding mode controller | Yadav ...

    International Journal of Engineering, Science and Technology. Journal Home · ABOUT · Advanced Search · Current Issue · Archives · Journal Home > Vol 3, No 3 (2011) >. Log in or Register to get access to full text downloads.

  20. Fuzzy Logic Controller Design for Intelligent Robots

    Ching-Han Chen

    2017-01-01

    Full Text Available This paper presents a fuzzy logic controller by which a robot can imitate biological behaviors such as avoiding obstacles or following walls. The proposed structure is implemented by integrating multiple ultrasonic sensors into a robot to collect data from a real-world environment. The decisions that govern the robot’s behavior and autopilot navigation are driven by a field programmable gate array- (FPGA- based fuzzy logic controller. The validity of the proposed controller was demonstrated by simulating three real-world scenarios to test the bionic behavior of a custom-built robot. The results revealed satisfactorily intelligent performance of the proposed fuzzy logic controller. The controller enabled the robot to demonstrate intelligent behaviors in complex environments. Furthermore, the robot’s bionic functions satisfied its design objectives.

  1. Optimization of Inventories for Multiple Companies by Fuzzy Control Method

    Kawase, Koichi; Konishi, Masami; Imai, Jun

    2008-01-01

    In this research, Fuzzy control theory is applied to the inventory control of the supply chain between multiple companies. The proposed control method deals with the amountof inventories expressing supply chain between multiple companies. Referring past demand and tardiness, inventory amounts of raw materials are determined by Fuzzy inference. The method that an appropriate inventory control becomes possible optimizing fuzzy control gain by using SA method for Fuzzy control. The variation of ...

  2. Robust position control of induction motor using fuzzy logic control

    Kim, Sei Chan; Kim, Duk Hun; Yang, Seung Ho; Won, Chung Yuen

    1993-01-01

    In recent years, fuzzy logic or fuzzy set theory has reveived attention of a number of researchers in the area of power electronics and motion control. The paper describes a vector-controlled induction motor position servo drive where fuzzy control is used to get robustness against parameter variation and load torque disturbance effects. Both coarse and fine control with the help of look-up rule tables are used to improve transient response and system settling time. The performance characteristics are then compared with those of proportional-integral(PI) control. The simulation results clearly indicate the superiority of fuzzy control with larger number of rules. The fuzzy controller was implemented with a 16-bit microprocessor and tested in laboratory on a 3-hp IGBT inverter induction motor drive system. The test results verify the simulation performance. (Author)

  3. Study on Design of Control Module and Fuzzy Control System

    Lee, Chang Kyu; Sohn, Chang Ho; Kim, Jung Seon; Kim, Min Kyu

    2005-01-01

    Performance of control unit is improved by introduction of fuzzy control theory and compensation for input of control unit as FLC(Fuzzy Logic Controller). Here, FLC drives thermal control system by linguistic rule-base. Hence, In case of using compensative PID control unit, it doesn't need to revise or compensate for PID control unit. Consequently, this study shows proof that control system which implements H/W module and then uses fuzzy algorism in this system is stable and has reliable performance

  4. Implementation of fuzzy logic control algorithm in embedded ...

    Fuzzy logic control algorithm solves problems that are difficult to address with traditional control techniques. This paper describes an implementation of fuzzy logic control algorithm using inexpensive hardware as well as how to use fuzzy logic to tackle a specific control problem without any special software tools. As a case ...

  5. control of a dc motor using fuzzy logic control algorithm

    user

    controller in the control performance of an industrial type DC motor using MATLAB. The fuzzy logic .... controlled separately excited permanent magnet DC motor (PMDC). ... When the field current is constant, the flux induced by the field ...

  6. Different control applications on a vehicle using fuzzy logic control

    Vehicle vibrations; active suspensions; fuzzy logic control; vehicle model. 1. .... The general expression of the mathematical model is shown below: .... Figure 5a presents the time history of the control force when the controller exists only under.

  7. Fuzzy Logic Based Autonomous Traffic Control System

    Muhammad ABBAS

    2012-01-01

    Full Text Available The aim of this paper is to design and implement fuzzy logic based traffic light Control system to solve the traffic congestion issues. In this system four input parameters: Arrival, Queue, Pedestrian and Emergency Vehicle and two output parameters: Extension in Green and Pedestrian Signals are used. Using Fuzzy Rule Base, the system extends or terminates the Green Signal according to the Traffic situation at the junction. On the presence of emergency vehicle, the system decides which signal(s should be red and how much an extension should be given to Green Signal for Emergency Vehicle. The system also monitors the density of people and makes decisions accordingly. In order to verify the proposed design algorithm MATLAB simulation is adopted and results obtained show concurrency to the calculated values according to the Mamdani Model of the Fuzzy Control System.

  8. Efficient fuzzy logic controller for magnetic levitation systems | Shu ...

    In this paper magnetic levitation controller using fuzzy logic is proposed. The proposed Fuzzy logic controller (FLC) is designed, and developed using triangular membership function with 7×7 rules. The system model was implemented in MATLAB/SIMULINK and the system responses to Fuzzy controller with different input ...

  9. An Application of Chaotic Chua's System for Secure Chaotic Communication Based on Sliding Mode observer

    Kemih, K.; Halimi, M.; Ghanes, M.; Zhang, G.

    2011-12-01

    In this paper, we study the design and implementation of analog secure communication systems via synchronized chaotic Chua's circuit with sliding mode observer. For this, we adopt an approach based on an inclusion of the message in the transmitter and in the receiver; we use a sliding mode observer with un-known input in order to recover the information. Finally, an analog electronic circuit with Multisim software is designed to physically realize the complete system (transmitter-receiver).

  10. Fuzzy model-based control of a nuclear reactor

    Van Den Durpel, L.; Ruan, D.

    1994-01-01

    The fuzzy model-based control of a nuclear power reactor is an emerging research topic world-wide. SCK-CEN is dealing with this research in a preliminary stage, including two aspects, namely fuzzy control and fuzzy modelling. The aim is to combine both methodologies in contrast to conventional model-based PID control techniques, and to state advantages of including fuzzy parameters as safety and operator feedback. This paper summarizes the general scheme of this new research project

  11. Introduction to type-2 fuzzy logic control theory and applications

    Mendel, Jerry M; Tan, Woei-Wan; Melek, William W; Ying, Hao

    2014-01-01

    Written by world-class leaders in type-2 fuzzy logic control, this book offers a self-contained reference for both researchers and students. The coverage provides both background and an extensive literature survey on fuzzy logic and related type-2 fuzzy control. It also includes research questions, experiment and simulation results, and downloadable computer programs on an associated website. This key resource will prove useful to students and engineers wanting to learn type-2 fuzzy control theory and its applications.

  12. Improved fuzzy PID controller design using predictive functional control structure.

    Wang, Yuzhong; Jin, Qibing; Zhang, Ridong

    2017-11-01

    In conventional PID scheme, the ensemble control performance may be unsatisfactory due to limited degrees of freedom under various kinds of uncertainty. To overcome this disadvantage, a novel PID control method that inherits the advantages of fuzzy PID control and the predictive functional control (PFC) is presented and further verified on the temperature model of a coke furnace. Based on the framework of PFC, the prediction of the future process behavior is first obtained using the current process input signal. Then, the fuzzy PID control based on the multi-step prediction is introduced to acquire the optimal control law. Finally, the case study on a temperature model of a coke furnace shows the effectiveness of the fuzzy PID control scheme when compared with conventional PID control and fuzzy self-adaptive PID control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Fuzzy batch controller for granular materials

    Zamyatin Nikolaj; Smirnov Gennadij; Fedorchuk Yuri; Rusina Olga

    2018-01-01

    The paper focuses on batch control of granular materials in production of building materials from fluorine anhydrite. Batching equipment is intended for smooth operation and timely feeding of supply hoppers at a required level. Level sensors and a controller of an asynchronous screw drive motor are used to control filling of the hopper with industrial anhydrite binders. The controller generates a required frequency and ensures required productivity of a feed conveyor. Mamdani-type fuzzy infer...

  14. Contributions to fuzzy polynomial techniques for stability analysis and control

    Pitarch Pérez, José Luis

    2014-01-01

    The present thesis employs fuzzy-polynomial control techniques in order to improve the stability analysis and control of nonlinear systems. Initially, it reviews the more extended techniques in the field of Takagi-Sugeno fuzzy systems, such as the more relevant results about polynomial and fuzzy polynomial systems. The basic framework uses fuzzy polynomial models by Taylor series and sum-of-squares techniques (semidefinite programming) in order to obtain stability guarantees...

  15. Fuzzy batch controller for granular materials

    Zamyatin Nikolaj

    2018-01-01

    Full Text Available The paper focuses on batch control of granular materials in production of building materials from fluorine anhydrite. Batching equipment is intended for smooth operation and timely feeding of supply hoppers at a required level. Level sensors and a controller of an asynchronous screw drive motor are used to control filling of the hopper with industrial anhydrite binders. The controller generates a required frequency and ensures required productivity of a feed conveyor. Mamdani-type fuzzy inference is proposed for controlling the speed of the screw that feeds mixture components. As related to production of building materials based on fluoride anhydrite, this method is used for the first time. A fuzzy controller is proven to be effective in controlling the filling level of the supply hopper. In addition, the authors determined optimal parameters of the batching process to ensure smooth operation and production of fluorine anhydrite materials of specified properties that can compete with gypsum-based products.

  16. Fuzzy multivariable control of domestic heat pumps

    Underwood, C.P.

    2015-01-01

    Poor control has been identified as one of the reasons why recent field trials of domestic heat pumps in the UK have produced disappointing results. Most of the technology in use today uses a thermostatically-controlled fixed speed compressor with a mechanical expansion device. This article investigates improved control of these heat pumps through the design and evaluation of a new multivariable fuzzy logic control system utilising a variable speed compressor drive with capacity control linked through to evaporator superheat control. A new dynamic thermal model of a domestic heat pump validated using experimental data forms the basis of the work. The proposed control system is evaluated using median and extreme daily heating demand profiles for a typical UK house compared with a basic thermostatically-controlled alternative. Results show good tracking of the heating temperature and superheat control variables, reduced cycling and an improvement in performance averaging 20%. - Highlights: • A new dynamic model of a domestic heat pump is developed and validated. • A new multivariable fuzzy logic heat pump control system is developed/reported. • The fuzzy controller regulates both plant capacity and evaporator superheat degree. • Thermal buffer storage is also considered as well as compressor cycling. • The new controller shows good variable tracking and a reduction in energy of 20%.

  17. Fuzzy-predictive direct power control implementation of a grid connected photovoltaic system, associated with an active power filter

    Ouchen, Sabir; Betka, Achour; Abdeddaim, Sabrina; Menadi, Abdelkrim

    2016-01-01

    Highlights: • An implementation on dSPACE 1104 of a double stage grid connected photovoltaic system, associated with an active power filter. • A fuzzy logic controller for maximum power point tracking of photovoltaic generator using a boost converter. • Predictive direct power control almost eliminates the effect of harmonics under a unite power factor. • The robustness of control strategies was examined in different irradiance level conditions. - Abstract: The present paper proposes a real time implementation of an optimal operation of a double stage grid connected photovoltaic system, associated with a shunt active power filter. On the photovoltaic side, a fuzzy logic based maximum power point taking control is proposed to track permanently the optimum point through an adequate tuning of a boost converter regardless the solar irradiance variations; whereas, on the grid side, a model predictive direct power control is applied, to ensure both supplying a part of the load demand with the extracted photovoltaic power, and a compensation of undesirable harmonic contents of the grid current, under a unity power factor operation. The implementation of the control strategies is conducted on a small scale photovoltaic system, controlled via a dSPACE 1104 single card. The obtained experimental results show on one hand, that the proposed Fuzzy logic based maximum power taking point technique provides fast and high performances under different irradiance levels while compared with a sliding mode control, and ensures 1.57% more in efficiency. On the other hand, the predictive power control ensures a flexible settlement of active power amounts exchanges with the grid, under a unity power functioning. Furthermore, the grid current presents a sinusoidal shape with a tolerable total harmonic distortion coefficient 4.71%.

  18. Fuzzy controller for an uncertain dynamical system

    Kulczycki, P.; Wisniewski, Rafal

    2002-01-01

    The present paper deals with the time-optimal control for mechanical systems with uncertain load. A fuzzy approach is used in the design of suboptimal feedback controllers, robust with respect to the load. Statistical kernel estimators are used for the specification of crucial parameters. The met......The present paper deals with the time-optimal control for mechanical systems with uncertain load. A fuzzy approach is used in the design of suboptimal feedback controllers, robust with respect to the load. Statistical kernel estimators are used for the specification of crucial parameters....... The methodology proposed in this work may be easily adopted to other modeling uncertainties of mechanical systems, e.g. motion resistance....

  19. Output Feedback Finite-Time Stabilization of Systems Subject to Hölder Disturbances via Continuous Fractional Sliding Modes

    Aldo-Jonathan Muñoz-Vázquez

    2017-01-01

    Full Text Available The problem of designing a continuous control to guarantee finite-time tracking based on output feedback for a system subject to a Hölder disturbance has remained elusive. The main difficulty stems from the fact that such disturbance stands for a function that is continuous but not necessarily differentiable in any integer-order sense, yet it is fractional-order differentiable. This problem imposes a formidable challenge of practical interest in engineering because (i it is common that only partial access to the state is available and, then, output feedback is needed; (ii such disturbances are present in more realistic applications, suggesting a fractional-order controller; and (iii continuous robust control is a must in several control applications. Consequently, these stringent requirements demand a sound mathematical framework for designing a solution to this control problem. To estimate the full state in finite-time, a high-order sliding mode-based differentiator is considered. Then, a continuous fractional differintegral sliding mode is proposed to reject Hölder disturbances, as well as for uncertainties and unmodeled dynamics. Finally, a homogeneous closed-loop system is enforced by means of a continuous nominal control, assuring finite-time convergence. Numerical simulations are presented to show the reliability of the proposed method.

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

    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.

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

    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.

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

    Xiao-Zheng Jin

    2013-01-01

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

  3. Prototyping qualitative controllers for fuzzy-logic controller design

    Bakhtiari, S.; Jabedar-Maralani, P.

    1999-05-01

    Qualitative controls can be designed for linear and nonlinear models with the same computational complexity. At the same time they show the general form of the proper control. These properties can help ease the design process for quantitative controls. In this paper qualitative controls are used as prototypes for the design of linear or nonlinear, and in particular Sugeno-type fuzzy, controls. The LMS identification method is used to approximate the qualitative control with the nearest fuzzy control. The method is applied to the problem of position control in a permanent magnet synchronous motor; moreover, the performance and the robustness of the two controllers are compared

  4. Optimizing pipeline transportation using a fuzzy controller

    Aramaki, Thiago L.; Correa, Joao L. L.; Montalvoa, Antonio F. F. [National Control and Operation Center Tranpetro, Rio de Janeiro, (Brazil)

    2010-07-01

    The optimization of pipeline transportation is a big concern for the transporter companies. This paper is the third of a series of three articles which investigated the application of a system to simulate the human ability to operate a pipeline in an optimized way. The present paper presents the development of a proportional integral (PI) fuzzy controller, in order to optimize pipeline transportation capacity. The fuzzy adaptive PI controller system was developed and tested with a hydraulic simulator. On-field data were used from the OSBRA pipeline. The preliminary tests showed that the performance of the software simulation was satisfactory. It varied the set-point of the conventional controller within the limits of flow meters. The transport capacity of the pipe was maximize without compromising the integrity of the commodities transported. The system developed proved that it can be easily deployed as a specialist optimizing system to be added to SCADA systems.

  5. Self tuning fuzzy PID type load and frequency controller

    Yesil, E.; Guezelkaya, M.; Eksin, I.

    2004-01-01

    In this paper, a self tuning fuzzy PID type controller is proposed for solving the load frequency control (LFC) problem. The fuzzy PID type controller is constructed as a set of control rules, and the control signal is directly deduced from the knowledge base and the fuzzy inference. Moreover, there exists a self tuning mechanism that adjusts the input scaling factor corresponding to the derivative coefficient and the output scaling factor corresponding to the integral coefficient of the PID type fuzzy logic controller in an on-line manner. The self tuning mechanism depends on the peak observer idea, and this idea is modified and adapted to the LFC problem. A two area interconnected system is assumed for demonstrations. The proposed self tuning fuzzy PID type controller has been compared with the fuzzy PID type controller without a self tuning mechanism and the conventional integral controller through some performance indices

  6. Sliding Mode Pulsed Averaging IC Drivers for High Brightness Light Emitting Diodes

    Dr. Anatoly Shteynberg, PhD

    2006-08-17

    This project developed new Light Emitting Diode (LED) driver ICs associated with specific (uniquely operated) switching power supplies that optimize performance for High Brightness LEDs (HB-LEDs). The drivers utilize a digital control core with a newly developed nonlinear, hysteretic/sliding mode controller with mixed-signal processing. The drivers are flexible enough to allow both traditional microprocessor interface as well as other options such as “on the fly” adjustment of color and brightness. Some other unique features of the newly developed drivers include • AC Power Factor Correction; • High power efficiency; • Substantially fewer external components should be required, leading to substantial reduction of Bill of Materials (BOM). Thus, the LED drivers developed in this research : optimize LED performance by increasing power efficiency and power factor. Perhaps more remarkably, the LED drivers provide this improved performance at substantially reduced costs compared to the present LED power electronic driver circuits. Since one of the barriers to market penetration for HB-LEDs (in particular “white” light LEDs) is cost/lumen, this research makes important contributions in helping the advancement of SSL consumer acceptance and usage.

  7. Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors.

    Chi, Wen-Chun; Cheng, Ming-Yang

    2014-03-01

    Due to issues such as limited space, it is difficult if it is not impossible to employ a position sensor in the drive control of high-speed micro PMSMs. In order to alleviate this problem, this paper analyzes and implements a simple and robust position sensorless field-oriented control method of high-speed micro PMSMs based on the sliding-mode observer. In particular, the angular position and velocity of the rotor of the high-speed micro PMSM are estimated using the sliding-mode observer. This observer is able to accurately estimate rotor position in the low speed region and guarantee fast convergence of the observer in the high speed region. The proposed position sensorless control method is suitable for electric dental handpiece motor drives where a wide speed range operation is essential. The proposed sensorless FOC method is implemented using a cost-effective 16-bit microcontroller and tested in a prototype electric dental handpiece motor. Several experiments are performed to verify the effectiveness of the proposed method. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Fuzzy Behaviors for Control of Mobile Robots

    Saleh Zein-Sabatto

    2003-02-01

    Full Text Available In this research work, an RWI B-14 robot has been used as the development platform to embody some basic behaviors that can be combined to build more complex robotics behaviors. Emergency, avoid-obstacle, left wall- following, right wall-following, and move-to-point behaviors have been designed and embodied as basic robot behaviors. The basic behaviors developed in this research are designed based on fuzzy control technique and are integrated and coordinated to from complex robotics system. More behaviors can be added into the system as needed. A robot task can be defined by the user and executed by the intelligent robot control system. Testing results showed that fuzzy behaviors made the robot move intelligently and adapt to changes in its environment.

  9. Implementation of Fuzzy Logic Based Temperature-Controlled Heat ...

    This research then compares the control performance of PID (Proportional Integral and Derivative) and Fuzzy logic controllers. Conclusions are made based on these control performances. The results show that the control performance for a Fuzzy controller is quite similar to PID controller but comparatively gives a better ...

  10. Hybrid intelligent control of PMSG wind generation system using pitch angle control with RBFN

    Lin, Whei-Min; Hong, Chih-Ming; Ou, Ting-Chia; Chiu, Tai-Ming

    2011-01-01

    This paper presents the design of a fuzzy sliding mode loss-minimization control for the speed of a permanent magnet synchronous generator (PMSG) and a high-performance on-line training radial basis function network (RBFN) for the turbine pitch angle control. The back-propagation learning algorithm is used to regulate the RBFN controller. The PMSG speed uses maximum power point tracking below the rated speed, which corresponds to low and high wind speed, and the maximum energy can be captured from the wind. A sliding mode controller with an integral-operation switching surface is designed, in which a fuzzy inference mechanism is utilized to estimate the upper bound of uncertainties. Furthermore, the fuzzy inference mechanism with center adaptation is investigated to estimate the optimal bound of uncertainties.

  11. Hybrid intelligent control of PMSG wind generation system using pitch angle control with RBFN

    Lin, Whei-Min; Hong, Chih-Ming [Department of Electrical Engineering, National Sun Yat-Sen University, Kaohsiung 804 (China); Ou, Ting-Chia; Chiu, Tai-Ming [Institute of Nuclear Energy Research, Atomic Energy Council, Taoyuan 325 (China)

    2011-02-15

    This paper presents the design of a fuzzy sliding mode loss-minimization control for the speed of a permanent magnet synchronous generator (PMSG) and a high-performance on-line training radial basis function network (RBFN) for the turbine pitch angle control. The back-propagation learning algorithm is used to regulate the RBFN controller. The PMSG speed uses maximum power point tracking below the rated speed, which corresponds to low and high wind speed, and the maximum energy can be captured from the wind. A sliding mode controller with an integral-operation switching surface is designed, in which a fuzzy inference mechanism is utilized to estimate the upper bound of uncertainties. Furthermore, the fuzzy inference mechanism with center adaptation is investigated to estimate the optimal bound of uncertainties. (author)

  12. Intelligent control-I: review of fuzzy logic and fuzzy set theory

    Nagrial, M.H.

    2004-01-01

    In the past decade or so, fuzzy systems have supplanted conventional technologies in many engineering systems, in particular in control systems and pattern recognition. Fuzzy logic has found applications in a variety of consumer products e.g. washing machines, camcorders, digital cameras, air conditioners, subway trains, cement kilns and many others. The fuzzy technology is also being applied in information technology, where it provides decision-support and expert systems with powerful reasoning capabilities. Fuzzy sets, introduced by Zadeh in 1965 as a mathematical way to represent vagueness in linguistics, can be considered a generalisation of classical set theory. Fuzziness is often confused with probability. This lecture will introduce the principal concepts and mathematical notions of fuzzy set theory. (author)

  13. Integrated circuit implementation of fuzzy controllers

    Huertas Díaz, José Luis; Sánchez Solano, Santiago; Baturone Castillo, María Iluminada; Barriga Barros, Ángel

    1996-01-01

    This paper presents mixed-signal current-mode CMOS circuits to implement programmable fuzzy controllers that perform the singleton or zero-order Sugeno’s method. Design equations to characterize these circuits are provided to explain the precision and speed that they offer. This analysis is illustrated with the experimental results of prototypes integrated in standard CMOS technologies. These tests show that an equivalent precision of 6 bits is achieved. The connection of these...

  14. Control of beam halo-chaos using fuzzy logic controller

    Gao Yuan; Yuan Haiying; Tan Guangxing; Luo Wenguang

    2012-01-01

    Considering the ion beam with initial K-V distribution in the periodic focusing magnetic filed channels (PFCs) as a typical sample, a fuzzy control method for control- ling beam halo-chaos was studied. A fuzzy proportional controller, using output of fuzzy inference as a control factor, was presented for adjusting exterior focusing magnetic field. The stability of controlled system was proved by fuzzy phase plane analysis. The simulation results demonstrate that the chaotic radius of envelope can be controlled to the matched radius via controlling magnetic field. This method was also applied to the multi-particle model. Under the control condition, the beam halos and its regeneration can be eliminated effectively, and that both the compactness and the uniformity of ion beam are improved evidently. Since the exterior magnetic field can be rather easily adjusted by proportional control and the fuzzy logic controller is independent to the mathematical model, this method has adaptive ability and is easily realized in experiment. The research offers a valuable reference for the design of the PFCs in the high- current linear ion accelerators. (authors)

  15. Fuzzy logic control to be conventional method

    Eker, Ilyas [University of Gaziantep, Gaziantep (Turkey). Department of Electrical and Electronic Engineering; Torun, Yunis [University of Gaziantep, Gaziantep (Turkey). Technical Vocational School of Higher Education

    2006-03-01

    Increasing demands for flexibility and fast reactions in modern process operation and production methods result in nonlinear system behaviour of partly unknown systems, and this necessitates application of alternative control methods to meet the demands. Fuzzy logic (FL) control can play an important role because knowledge based design rules can easily be implemented in systems with unknown structure, and it is going to be a conventional control method since the control design strategy is simple and practical and is based on linguistic information. Computational complexity is not a limitation any more because the computing power of computers has been significantly improved even for high speed industrial applications. This makes FL control an important alternative method to the conventional PID control method for use in nonlinear industrial systems. This paper presents a practical implementation of the FL control to an electrical drive system. Such drive systems used in industry are composed of masses moving under the action of position and velocity dependent forces. These forces exhibit nonlinear behaviour. For a multi-mass drive system, the nonlinearities, like Coulomb friction and dead zone, significantly influence the operation of the systems. The proposed FL control configuration is based on speed error and change of speed error. The feasibility and effectiveness of the control method are experimentally demonstrated. The results obtained from conventional FL control, fuzzy PID and adaptive FL control are compared with traditional PID control for the dynamic responses of the closed loop drive system. (author)

  16. Fuzzy logic control to be conventional method

    Eker, Ilyas; Torun, Yunis

    2006-01-01

    Increasing demands for flexibility and fast reactions in modern process operation and production methods result in nonlinear system behaviour of partly unknown systems, and this necessitates application of alternative control methods to meet the demands. Fuzzy logic (FL) control can play an important role because knowledge based design rules can easily be implemented in systems with unknown structure, and it is going to be a conventional control method since the control design strategy is simple and practical and is based on linguistic information. Computational complexity is not a limitation any more because the computing power of computers has been significantly improved even for high speed industrial applications. This makes FL control an important alternative method to the conventional PID control method for use in nonlinear industrial systems. This paper presents a practical implementation of the FL control to an electrical drive system. Such drive systems used in industry are composed of masses moving under the action of position and velocity dependent forces. These forces exhibit nonlinear behaviour. For a multi-mass drive system, the nonlinearities, like Coulomb friction and dead zone, significantly influence the operation of the systems. The proposed FL control configuration is based on speed error and change of speed error. The feasibility and effectiveness of the control method are experimentally demonstrated. The results obtained from conventional FL control, fuzzy PID and adaptive FL control are compared with traditional PID control for the dynamic responses of the closed loop drive system

  17. New fuzzy EWMA control charts for monitoring phase II fuzzy profiles

    Ghazale Moghadam

    2016-01-01

    Full Text Available In many quality control applications, the quality of a process or product is explained by the relationship between response variable and one or more explanatory variables, called a profile. In this paper, a new fuzzy EWMA control chart for phase II fuzzy profile monitoring is proposed. To this end, we extend EWMA control charts to its equivalent Fuzzy type and then implement fuzzy ranking methods to determine whether the process fuzzy profile is under or out of control. The proposed method is capable of identifying small changes in process under condition of process profile explaining parameters vagueness, roughness and uncertainty. Determining the source of changes, this method provides us with the possibility of recognizing the causes of process transition from stable mode, removing these causes and restoring the process stable mode.

  18. Design of a stable fuzzy controller for an articulated vehicle.

    Tanaka, K; Kosaki, T

    1997-01-01

    This paper presents a backward movement control of an articulated vehicle via a model-based fuzzy control technique. A nonlinear dynamic model of the articulated vehicle is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the articulated vehicle. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The stability conditions are characterized in terms of linear matrix inequalities since the stability analysis is reduced to a problem of finding a common Lyapunov function for a set of Lyapunov inequalities. Simulation results and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle.

  19. FUZZY LOGIC CONTROLLER IMPLEMENTATION FOR PHOTOVOLTAIC STATION

    Imad Zein

    2014-01-01

    Full Text Available Solar panels have a nonlinear voltage-current characteristic, with a distinct maximum power point (MPP, which depends on the environmental factors, such as temperature and irradiation. In order to continuously harvest maximum power from the solar panels, they have to operate at their MPP despite the inevitable changes in the environment. This is why the controllers of all solar power electronic converters employ some method for maximum power point tracking (MPPT . Over the past years many MPPT techniques have been published and based on that the main paper’s objective is to analyze one of the most promising MPPT control algorithms: fuzzy logic controller

  20. Design of adaptive switching control for hypersonic aircraft

    Xin Jiao

    2015-10-01

    Full Text Available This article proposes a novel adaptive switching control of hypersonic aircraft based on type-2 Takagi–Sugeno–Kang fuzzy sliding mode control and focuses on the problem of stability and smoothness in the switching process. This method uses full-state feedback to linearize the nonlinear model of hypersonic aircraft. Combining the interval type-2 Takagi–Sugeno–Kang fuzzy approach with sliding mode control keeps the adaptive switching process stable and smooth. For rapid stabilization of the system, the adaptive laws use a direct constructive Lyapunov analysis together with an established type-2 Takagi–Sugeno–Kang fuzzy logic system. Simulation results indicate that the proposed control scheme can maintain the stability and smoothness of switching process for the hypersonic aircraft.