WorldWideScience

Sample records for modern sliding mode

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

    Directory of Open Access Journals (Sweden)

    Rui Bai

    2014-01-01

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

  2. Sliding mode control and observation

    CERN Document Server

    Shtessel, Yuri; Fridman, Leonid; Levant, Arie

    2014-01-01

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

  3. Discrete-time nonlinear sliding mode controller

    African Journals Online (AJOL)

    user

    : Discrete-time delay system, Sliding mode control, nonlinear sliding ... The concept of the sliding mode control in recent years has drawn the ...... His area of interest is dc-dc converters, electrical vehicle and distributed generation application.

  4. Automobile Road Vibration Reproduction using Sliding Modes

    NARCIS (Netherlands)

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

    2001-01-01

    Sliding mode controllers have a reputation for their robustness against parameter variations, modeling errors and disturbances. They have been successfully applied in several practical situations which demonstrated the potential of sliding mode control for other control problems. However research ha

  5. Applications of sliding mode control

    CERN Document Server

    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. .

  6. Fuzzy Sliding Mode Control of Plate Vibrations

    OpenAIRE

    Manu Sharma; Singh, S. P.

    2010-01-01

    In this paper, fuzzy logic is meshed with sliding mode control, in order to control vibrations of a cantilevered plate. Test plate is instrumented with a piezoelectric sensor patch and a piezoelectric actuator patch. Finite element method is used to obtain mathematical model of the test plate. A design approach of a sliding mode controller for linear systems with mismatched time-varying uncertainties is used in this paper. It is found that chattering around the sliding surface in the sliding ...

  7. Sliding mode control for mobile welding robot

    Institute of Scientific and Technical Information of China (English)

    Lü Xueqin; Zhang Ke; Wu Yixiong

    2006-01-01

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

  8. Using Sliding Modes in Control Theory

    Directory of Open Access Journals (Sweden)

    Renata Wagnerová

    2008-03-01

    Full Text Available The paper deals with sliding modes control design. The described control algorithms were applied to position control of the levitating systems in magnetic field. The designed control algorithms were verified by using computer simulations. The results achieved confirm suitable technical means and synthesis by using sliding modes for nonlinear control tasks.

  9. Sliding mode control for synchronous electric drives

    CERN Document Server

    Ryvkin, Sergey E

    2011-01-01

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

  10. Fuzzy Sliding Mode Control of Plate Vibrations

    Directory of Open Access Journals (Sweden)

    Manu Sharma

    2010-01-01

    Full Text Available In this paper, fuzzy logic is meshed with sliding mode control, in order to control vibrations of a cantilevered plate. Test plate is instrumented with a piezoelectric sensor patch and a piezoelectric actuator patch. Finite element method is used to obtain mathematical model of the test plate. A design approach of a sliding mode controller for linear systems with mismatched time-varying uncertainties is used in this paper. It is found that chattering around the sliding surface in the sliding mode control can be checked by the proposed fuzzy sliding mode control approach. With presented fuzzy sliding mode approach the actuator voltage time response has a smooth decay. This is important because an abrupt decay can excite higher modes in the structure. Fuzzy rule base consisting of nine rules, is generated from the sliding mode inequality. Experimental implementation of the control approach verify the theoretical findings. For experimental implementation, size of the problem is reduced using modal truncation technique. Modal displacements as well as velocities of first two modes are observed using real-time kalman observer. Real time implementation of fuzzy logic based control has always been a challenge because a given set of rules has to be executed in every sampling interval. Results in this paper establish feasibility of experimental implementation of presented fuzzy logic based controller for active vibration control.

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

    African Journals Online (AJOL)

    2010-12-31

    Dec 31, 2010 ... motor (DFIM) with a fuzzy sliding mode controller (FSMC). ... becoming a major candidate in high-performance motion control applications, where ..... residual vibrations in high frequencies [17] (chattering phenomenon).

  12. Chaos control using sliding-mode theory

    Energy Technology Data Exchange (ETDEWEB)

    Nazzal, Jamal M. [Faculty of Engineering, Al-Ahliyya Amman University, Post Code 19328 Amman (Jordan)]. E-mail: jnazzal@ammanu.edu.jo; Natsheh, Ammar N. [Faculty of Engineering, Al-Ahliyya Amman University, Post Code 19328 Amman (Jordan)

    2007-07-15

    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.

  13. SLIDING MODE CONTROL FOR ACTIVE AUTOMOBILE SUSPENSIONS

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

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

  14. Backstepping Sliding Mode Control for Induction Motor

    Directory of Open Access Journals (Sweden)

    Othmane Boughazi

    2014-12-01

    Full Text Available This work treats the modeling and simulation of non-linear system behavior of an induction motor using backstepping sliding mode control. First, the direct field oriented control IM is derived. Then, a sliding for direct field oriented control is proposed to compensate the uncertainties, which occur in the control.Finally, the study of Backstepping sliding controls strategy of the induction motor drive. Our non linear system is simulated in MATLAB SIMULINK environment, the results obtained illustrate the efficiency of the proposed control with no overshoot, and the rising time is improved with good disturbances rejections comparing with the classical control law.

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

    Directory of Open Access Journals (Sweden)

    Guofeng Wang

    2013-01-01

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

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

    DEFF Research Database (Denmark)

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

    2007-01-01

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

  17. Optimal second order sliding mode control for nonlinear uncertain systems.

    Science.gov (United States)

    Das, Madhulika; Mahanta, Chitralekha

    2014-07-01

    In this paper, a chattering free optimal second order sliding mode control (OSOSMC) method is proposed to stabilize nonlinear systems affected by uncertainties. The nonlinear optimal control strategy is based on the control Lyapunov function (CLF). For ensuring robustness of the optimal controller in the presence of parametric uncertainty and external disturbances, a sliding mode control scheme is realized by combining an integral and a terminal sliding surface. The resulting second order sliding mode can effectively reduce chattering in the control input. Simulation results confirm the supremacy of the proposed optimal second order sliding mode control over some existing sliding mode controllers in controlling nonlinear systems affected by uncertainty.

  18. Sliding Mode Control of Induction Motor Phase Currents

    DEFF Research Database (Denmark)

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

    1995-01-01

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

  19. Applications of sliding mode control in science and engineering

    CERN Document Server

    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.

  20. Sliding Mode Control of Induction Motor Phase Currents

    DEFF Research Database (Denmark)

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

    1995-01-01

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

  1. Adaptive Sliding Mode Control for Hydraulic Drives

    DEFF Research Database (Denmark)

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

    2013-01-01

    This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback....... The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller...... 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...

  2. Fuzzy Sliding Mode Control for Discrete Nonlinear Systems

    Institute of Scientific and Technical Information of China (English)

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

    2003-01-01

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

  3. Terminal Sliding Modes In Nonlinear Control Systems

    Science.gov (United States)

    Venkataraman, Subramanian T.; Gulati, Sandeep

    1993-01-01

    Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.

  4. Sliding Mode Control of Steerable Needles

    OpenAIRE

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

    2013-01-01

    Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy requires no a priori knowledge of model parameters, has bounded input speeds, and requires little...

  5. Sliding Mode Control Design via Reduced Order Model Approach

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model gives similar performance for the higher order system. The method is illustrated by numerical examples. The paper also introduces a technique for design of a sliding surface such that the system satisfies a cost-optimality condition when on the sliding surface.

  6. Fuzzy fractional order sliding mode controller for nonlinear systems

    Science.gov (United States)

    Delavari, H.; Ghaderi, R.; Ranjbar, A.; Momani, S.

    2010-04-01

    In this paper, an intelligent robust fractional surface sliding mode control for a nonlinear system is studied. At first a sliding PD surface is designed and then, a fractional form of these networks PDα, is proposed. Fast reaching velocity into the switching hyperplane in the hitting phase and little chattering phenomena in the sliding phase is desired. To reduce the chattering phenomenon in sliding mode control (SMC), a fuzzy logic controller is used to replace the discontinuity in the signum function at the reaching phase in the sliding mode control. For the problem of determining and optimizing the parameters of fuzzy sliding mode controller (FSMC), genetic algorithm (GA) is used. Finally, the performance and the significance of the controlled system two case studies (robot manipulator and coupled tanks) are investigated under variation in system parameters and also in presence of an external disturbance. The simulation results signify performance of genetic-based fuzzy fractional sliding mode controller.

  7. Sliding Mode Speed Control for DC Drive Systems

    OpenAIRE

    Guldemir, H.

    2003-01-01

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

  8. On Chattering-Free Dynamic Sliding Mode Controller Design

    OpenAIRE

    Jeang-Lin Chang

    2012-01-01

    For a class of linear MIMO uncertain systems, a dynamic sliding mode control algorithm that avoids the chattering problem is proposed in this paper. Without using any differentiator, we develop a modified asymptotically stable second-order sliding mode control law in which the proposed controller can guarantee the finite time convergence to the sliding mode and can show that the system states asymptotically approach to zero. Finally, a numerical example is explained for demonstrating the appl...

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

    OpenAIRE

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

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Xiuping Su

    2013-09-01

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

  11. Sliding Mode Control of Steerable Needles.

    Science.gov (United States)

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

    2013-10-01

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

  12. Sliding Mode Control of Steerable Needles

    Science.gov (United States)

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

    2014-01-01

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

  13. Sliding mode controller with modified sliding function for DC-DC Buck Converter.

    Science.gov (United States)

    Naik, B B; Mehta, A J

    2017-09-01

    This article presents design of Sliding Mode Controller with proportional integral type sliding function for DC-DC Buck Converter for the controlled power supply. The converter with conventional sliding mode controller results in a steady state error in load voltage. The proposed modified sliding function improves the steady state and dynamic performance of the Convertor and facilitates better choices of controller tuning parameters. The conditions for existence of sliding modes for proposed control scheme are derived. The stability of the closed loop system with proposed sliding mode control is proved and improvement in steady state performance is exemplified. The idea of adaptive tuning for the proposed controller to compensate load variations is outlined. The comparative study of conventional and proposed control strategy is presented. The efficacy of the proposed strategy is endowed by the simulation and experimental results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  14. Optimal second order sliding mode control for linear uncertain systems.

    Science.gov (United States)

    Das, Madhulika; Mahanta, Chitralekha

    2014-11-01

    In this paper an optimal second order sliding mode controller (OSOSMC) is proposed to track a linear uncertain system. The optimal controller based on the linear quadratic regulator method is designed for the nominal system. An integral sliding mode controller is combined with the optimal controller to ensure robustness of the linear system which is affected by parametric uncertainties and external disturbances. To achieve finite time convergence of the sliding mode, a nonsingular terminal sliding surface is added with the integral sliding surface giving rise to a second order sliding mode controller. The main advantage of the proposed OSOSMC is that the control input is substantially reduced and it becomes chattering free. Simulation results confirm superiority of the proposed OSOSMC over some existing.

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

    Directory of Open Access Journals (Sweden)

    Yong-Kun Lu

    2015-02-01

    Full Text Available 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 stability of the controller is analyzed by Lyapunov stability theory. The effectiveness of the proposed speed regulator is demonstrated by the simulation results in comparison with the conventional integral sliding-mode controller based on boundary layer.

  16. Finite time convergent control using terminal sliding mode

    Institute of Scientific and Technical Information of China (English)

    Yiguang HONG; Guowu YANG; Daizhan CHENG; Sarah SPURGEON

    2004-01-01

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

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

    OpenAIRE

    Farzin Piltan; Shahnaz Tayebi Haghighi

    2012-01-01

    In this research, a new approach for gradient descent optimal sliding mode controller for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for nonlinear control of continuum manipulators to be employed in various situations has also been proposed and developed. A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers) and control by nonlinear methodology (sliding mode method) and optimization the sliding surface...

  18. Sliding mode control the delta-sigma modulation approach

    CERN Document Server

    Sira-Ramírez, Hebertt

    2015-01-01

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

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

    CERN Document Server

    Janardhanan, S; Spurgeon, Sarah

    2013-01-01

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

  20. Terminal sliding mode fuzzy control based on multiple sliding surfaces for nonlinear ship autopilot systems

    Science.gov (United States)

    Yuan, Lei; Wu, Han-Song

    2010-12-01

    A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the problem, the controller was designed by employing the universal approximation property of fuzzy logic system, the advantage of Nussbaum function, and using multiple sliding mode control algorithm based on the recursive technique. In the last step of designing, a nonsingular terminal sliding mode was utilized to drive the last state of the system to converge in a finite period of time, and high-order sliding mode control law was designed to eliminate the chattering and make the system robust. The simulation results showed that the controller designed here could track a desired course fast and accurately. It also exhibited strong robustness peculiarly to system, and had better adaptive ability than traditional PID control algorithms.

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

    Indian Academy of Sciences (India)

    G K Singh; K E Holé

    2004-02-01

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

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

    CERN Document Server

    Tan, Siew-Chong; Tse, Chi-Kong

    2011-01-01

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

  3. Active magnetic bearing system based on sliding mode control

    Science.gov (United States)

    Zhang, Yanhong

    2017-07-01

    A new sliding mode variable structure control algorithm suitable for active magnetic bearing is proposed, which is widely used for nonlinear control system. The model and controller is designed, simulation and experimental parts are also made, according to the switching function and the sliding mode control law. The current of electromagnet is adjusted to realize stable levitation of the rotor. The experimental result shows that the sliding mode variable structure controller is an effective way for magnetic bearing control, and the active magnetic bearing system is a highly nonlinear and advanced control method that can reduce the setting time and the cost.

  4. Applications of Fuzzy Sliding Mode Control for a Gyroscope System

    Directory of Open Access Journals (Sweden)

    Shih-Chung Chen

    2013-01-01

    Full Text Available The study proposed the application of the fuzzy sliding mode for a gyroscope system status control. The state response analysis of the gyroscope system revealed highly nonlinear and chaotic subharmonic motions of 2T during state formation. The current study discussed the use of tracking control on the sliding mode control and fuzzy sliding mode control of a gyroscope control system. Consequently, the gyroscope system drives from chaotic motion to periodic motion. The numerical simulation results confirm that the proposed controller provides good system stability and convergence without chattering phenomena.

  5. Effects of induced vibration modes on droplet sliding phenomena

    Science.gov (United States)

    Mejia, Jose Eduardo; Alvarado, Jorge; Yao, Chun-Wei; Dropwise Condensation Collaboration; Engineered Surfaces Collaboration

    2016-11-01

    An analytical and experimental investigation has been undertaken to understand the effects of induced vibration modes on droplet sliding phenomena. A mathematical model has been postulated which is capable of estimating accurately droplet sliding angles when using hydrophobic and hydrophilic surfaces. The model, which takes into account equilibrium contact angle, contact angle hysteresis, and droplet volume, has been validated using experimental data. The model has been modified to be able to estimate droplet sliding angle when different modes of vibrations are imposed on the surfaces. Experimental results to date reveal that when resonance modes of vibrations are imposed, the droplet sliding angles decrease considerably. The results also indicate that the modified model can be used effectively to relate imposed resonance frequencies to the critical sliding angle of droplets. LSAMP sponsored NSF Fellowship.

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

    Science.gov (United States)

    Thenozhi, Suresh; Yu, Wen

    2016-04-01

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

  7. Second-order sliding mode control with experimental application.

    Science.gov (United States)

    Eker, Ilyas

    2010-07-01

    In this article, a second-order sliding mode control (2-SMC) is proposed for second-order uncertain plants using equivalent control approach to improve the performance of control systems. A Proportional + Integral + Derivative (PID) sliding surface is used for the sliding mode. The sliding mode control law is derived using direct Lyapunov stability approach and asymptotic stability is proved theoretically. The performance of the closed-loop system is analysed through an experimental application to an electromechanical plant to show the feasibility and effectiveness of the proposed second-order sliding mode control and factors involved in the design. The second-order plant parameters are experimentally determined using input-output measured data. The results of the experimental application are presented to make a quantitative comparison with the traditional (first-order) sliding mode control (SMC) and PID control. It is demonstrated that the proposed 2-SMC system improves the performance of the closed-loop system with better tracking specifications in the case of external disturbances, better behavior of the output and faster convergence of the sliding surface while maintaining the stability.

  8. Fuzzy Backstepping Sliding Mode Control for Mismatched Uncertain System

    Directory of Open Access Journals (Sweden)

    H. Q. Hou

    2014-06-01

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

  9. Sliding Mode Thermal Control System for Space Station Furnace Facility

    Science.gov (United States)

    Jackson Mark E.; Shtessel, Yuri B.

    1998-01-01

    The decoupled control of the nonlinear, multiinput-multioutput, and highly coupled space station furnace facility (SSFF) thermal control system is addressed. Sliding mode control theory, a subset of variable-structure control theory, is employed to increase the performance, robustness, and reliability of the SSFF's currently designed control system. This paper presents the nonlinear thermal control system description and develops the sliding mode controllers that cause the interconnected subsystems to operate in their local sliding modes, resulting in control system invariance to plant uncertainties and external and interaction disturbances. The desired decoupled flow-rate tracking is achieved by optimization of the local linear sliding mode equations. The controllers are implemented digitally and extensive simulation results are presented to show the flow-rate tracking robustness and invariance to plant uncertainties, nonlinearities, external disturbances, and variations of the system pressure supplied to the controlled subsystems.

  10. Sliding mode observers for automotive alternator

    Science.gov (United States)

    Chen, De-Shiou

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

  11. On homogeneity and its application in sliding mode control

    OpenAIRE

    Bernuau, Emmanuel; Efimov, Denis; Perruquetti, Wilfrid; Polyakov, Andrey

    2014-01-01

    International audience; The paper is reviewing the tools to handle high-order sliding mode design and robustness. The main ingredient is homogeneity which can be checked using an algebraic test and which helps us in obtaining one of the most desired properties in sliding mode control that is finite-time stability. This paper stresses some recently obtained results about homogeneity for differential inclusions and robustness with respect to perturbations in the context of input-to-state stabil...

  12. Sliding Mode Reference Coordination of Constrained Feedback Systems

    OpenAIRE

    Alejandro Vignoni; Fabricio Garelli; Jesús Picó

    2013-01-01

    This paper addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g., linear and nonlinear, different orders, constraints, etc.) to achieve some desired collective behavior under the constraints and capabilities of each system. To this end, we develop a new methodology based on reference conditioning techniques using geometric set invariance and sliding mode control: the sliding mode reference coordination (SMRCoord). The main idea is to coordinate the sys...

  13. An adaptive sliding mode control technology for weld seam tracking

    Science.gov (United States)

    Liu, Jie; Hu, Youmin; Wu, Bo; Zhou, Kaibo; Ge, Mingfeng

    2015-03-01

    A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-03-30

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

  15. Sliding Mode Control Design: a Sum of Squares Approach

    OpenAIRE

    Sanjari, Sina; Ozgoli, Sadjaad

    2016-01-01

    This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop dynamics. The method is proposed to design a control that guarantees both asymptotic and finite time stability given helped by (bilinear) sum of squares programming. The approach introduces an iterative algorithm to search over sliding mode manifold and Lyapunov...

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

    Science.gov (United States)

    Farid, R.; Ibrahim, A.; Zalam, B.

    2015-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2012-08-01

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

  18. Sliding mode control on electro-mechanical systems

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

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

    2014-07-01

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

  20. Fuzzy Sliding Mode Control for Hyper Chaotic Chen System

    Directory of Open Access Journals (Sweden)

    SARAILOO, M.

    2012-02-01

    Full Text Available In this paper, a fuzzy sliding mode control method is proposed for stabilizing hyper chaotic Chen system. The main objective of the control scheme is to stabilize unstable equilibrium point of the system by controlling the states of the system so that they converge to a pre-defined sliding surface and remain on it. A fuzzy control technique is also utilized in order to overcome the main disadvantage of sliding mode control methods, i.e. chattering problem. It is shown that the equilibrium point of the system is stabilized by using the proposed method. A stability analysis is also performed to prove that the states of the system converge to the sliding surface and remain on it. Simulations show that the control method can be effectively applied to Chen system when it performs hyper chaotic behavior.

  1. Piecewise Sliding Mode Decoupling Fault Tolerant Control System

    Directory of Open Access Journals (Sweden)

    Rafi Youssef

    2010-01-01

    Full Text Available Problem statement: Proposed method in the present study could deal with fault tolerant control system by using the so called decentralized control theory with decoupling fashion sliding mode control, dealing with subsystems instead of whole system and to the knowledge of the author there is no known computational algorithm for decentralized case, Approach: In this study we present a decoupling strategy based on the selection of sliding surface, which should be in piecewise sliding surface partition to apply the PwLTool which have as purpose in our case to delimit regions where sliding mode occur, after that as Results: We get a simple linearized model selected in those regions which could depict the complex system, Conclusion: With the 3 water tank level system as example we implement this new design scenario and since we are interested in networked control system we believe that this kind of controller implementation will not be affected by network delays.

  2. Slide Mode Control for Integrated Electric Parking Brake System

    OpenAIRE

    Bin Wang; Xuexun Guo; Chengcai Zhang; Zhe Xiong; Huan Xia; Jie Zhang

    2013-01-01

    The emerging integrated electric parking brake (IEPB) system is introduced and studied. Through analyzing the various working stages, the stages switched IEPB system models are given with the consideration of the friction and system idle inertia. The sliding mode control (SMC) method is adopted to control the clamping force by the widely used motor angle and clamping force relationship method. Based on the characteristics of the state equations, two sliding surfaces are built to control the m...

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

    Directory of Open Access Journals (Sweden)

    Razvan SOLEA

    2009-12-01

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

  4. A generalized regular form for multivariable sliding mode control

    Directory of Open Access Journals (Sweden)

    Perruquetti W.

    2001-01-01

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

  5. A generalized regular form for multivariable sliding mode control

    Directory of Open Access Journals (Sweden)

    W. Perruquetti

    2001-01-01

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

  6. A generalized regular form for multivariable sliding mode control

    OpenAIRE

    Perruquetti, W.; Richard, J. P.; P. Borne

    2001-01-01

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

  7. Hybrid Fuzzy Sliding Mode Controller for Timedelay System

    OpenAIRE

    Yadav, N K; R. K. Singh,

    2013-01-01

    This paper is concerned with the problems of stability analysis and stabilization control design for a class of discrete-time T-S fuzzy systems with state-delay for multi-input and multi-output. The nonlinear fuzzy controller helps to overcome the problems of the ill - defined model of the systems, which are creating the undesirable performance. . Here sliding surface is being designed for error function of nonlinear system and sliding mode control is being designed here. The swit...

  8. Sliding mode controllers for a tempered glass furnace.

    Science.gov (United States)

    Almutairi, Naif B; Zribi, Mohamed

    2016-01-01

    This paper investigates the design of two sliding mode controllers (SMCs) applied to a tempered glass furnace system. The main objective of the proposed controllers is to regulate the glass plate temperature, the upper-wall temperature and the lower-wall temperature in the furnace to a common desired temperature. The first controller is a conventional sliding mode controller. The key step in the design of this controller is the introduction of a nonlinear transformation that maps the dynamic model of the tempered glass furnace into the generalized controller canonical form; this step facilitates the design of the sliding mode controller. The second controller is based on a state-dependent coefficient (SDC) factorization of the tempered glass furnace dynamic model. Using an SDC factorization, a simplified sliding mode controller is designed. The simulation results indicate that the two proposed control schemes work very well. Moreover, the robustness of the control schemes to changes in the system's parameters as well as to disturbances is investigated. In addition, a comparison of the proposed control schemes with a fuzzy PID controller is performed; the results show that the proposed SDC-based sliding mode controller gave better results.

  9. A sliding mode controller for vehicular traffic flow

    Science.gov (United States)

    Li, Yongfu; Kang, Yuhao; Yang, Bin; Peeta, Srinivas; Zhang, Li; Zheng, Taixong; Li, Yinguo

    2016-11-01

    This study proposes a sliding mode controller for vehicular traffic flow based on a car-following model to enhance the smoothness and stability of traffic flow evolution. In particular, the full velocity difference (FVD) model is used to capture the characteristics of vehicular traffic flow. The proposed sliding mode controller is designed in terms of the error between the desired space headway and the actual space headway. The stability of the controller is guaranteed using the Lyapunov technique. Numerical experiments are used to compare the performance of sliding mode control (SMC) with that of feedback control. The results illustrate the effectiveness of the proposed SMC method in terms of the distribution smoothness and stability of the space headway, velocity, and acceleration profiles. They further illustrate that the SMC strategy is superior to that of the feedback control strategy, while enabling computational efficiency that can aid in practical applications.

  10. Sliding mode tracking control for miniature unmanned helicopters

    Directory of Open Access Journals (Sweden)

    Bin Xian

    2015-02-01

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

  11. Composite fuzzy sliding mode control of nonlinear singularly perturbed systems.

    Science.gov (United States)

    Nagarale, Ravindrakumar M; Patre, B M

    2014-05-01

    This paper deals with the robust asymptotic stabilization for a class of nonlinear singularly perturbed systems using the fuzzy sliding mode control technique. In the proposed approach the original system is decomposed into two subsystems as slow and fast models by the singularly perturbed method. The composite fuzzy sliding mode controller is designed for stabilizing the full order system by combining separately designed slow and fast fuzzy sliding mode controllers. The two-time scale design approach minimizes the effect of boundary layer system on the full order system. A stability analysis allows us to provide sufficient conditions for the asymptotic stability of the full order closed-loop system. The simulation results show improved system performance of the proposed controller as compared to existing methods. The experimentation results validate the effectiveness of the proposed controller.

  12. Sliding mode controller for a photovoltaic pumping system

    Science.gov (United States)

    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.

  13. Sliding mode tracking control for miniature unmanned helicopters

    Institute of Scientific and Technical Information of China (English)

    Xian Bin; Guo Jianchuan; Zhang Yao; Zhao Bo

    2015-01-01

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

  14. Tensor product model transformation based decoupled terminal sliding mode control

    Science.gov (United States)

    Zhao, Guoliang; Li, Hongxing; Song, Zhankui

    2016-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Chutiphon Pukdeboon

    2011-01-01

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

  16. Robust observer-based adaptive fuzzy sliding mode controller

    Science.gov (United States)

    Oveisi, Atta; Nestorović, Tamara

    2016-08-01

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

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

    Directory of Open Access Journals (Sweden)

    Taochang Li

    2014-01-01

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

  18. Adaptive fuzzy sliding mode control of Lorenz chaotic system

    Institute of Scientific and Technical Information of China (English)

    WU Ligang; WANG Changhong

    2007-01-01

    By using the exponential reaching law technology,a sliding mode controller was designed for Lorenz chaotic system subject to an unknown external disturbance.On this basis,considering the unknown disturbance,an adaptive law was introduced to adaptively estimate the parameters of the disturbance bounds.Furthermore,to eliminate the chattering resulting from the discontinuous switch controller and to guarantee system transient performance,a new adaptive fuzzy sliding mode controller was designed.The results of the simulation show the effectiveness of the proposed control scheme.

  19. Adaptive robust controller based on integral sliding mode concept

    Science.gov (United States)

    Taleb, M.; Plestan, F.

    2016-09-01

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

  20. Cascade Control of Magnetic Levitation with Sliding Modes

    Directory of Open Access Journals (Sweden)

    Eroğlu Yakup

    2016-01-01

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

  1. Sliding Mode Control of Robot Manipulators via Intelligent Approaches

    OpenAIRE

    Shafiei, S. Ehsan

    2010-01-01

    This chapter addressed sliding mode control (SMC) of n-link robot manipulators by using of intelligent methods including fuzzy logic and neural network strategies. In this regard, three control strategies were investigated. In the first case, design of a sliding mode control with a PID loop for robot manipulator was presented in which the gain of both SMC and PID was tuned on-line by using fuzzy approach. The proposed methodology in fact tries to use the advantages of the SMC, PID and Fuzzy c...

  2. Sliding modes in power electronics and motion control

    OpenAIRE

    Şabanoviç, Asif; Sabanovic, Asif

    2004-01-01

    In the paper the general approach to motion control systems in the sliding mode framework is discussed in details. It has been shown that, due to the fact that a motion control system with n d.o.f may be mathematically formulated in a unique way as a system composed on n 2 d.o.f systems, design of such a system may be formulated in a unique way as a requirement that the generalized coordinates must satisfy certain algebraic constrain. Such a formulation leads naturally to sliding mode methods...

  3. Adaptive sliding mode control and its application in chaos control

    Directory of Open Access Journals (Sweden)

    Liqun Shen

    2014-12-01

    Full Text Available The sliding motion of sliding mode control system is studied in this paper. Using the measure concept, two new quantities about the sliding motion are introduced, and a new relationship about the sliding motion is derived with the new quantities. According to this relationship, an adaptive law of the magnitude of the controller’s switching part is proposed, which can minimize the chattering phenomenon according to the predefined robust margin. To verify the effectiveness of the proposed control scheme, it is applied to Rössler system with uncertain disturbances. Simulation results show that the proposed control method can stabilize Rössler system with the magnitude of the controller’s switching part adjusted adaptively with the disturbances.

  4. Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

    Science.gov (United States)

    Shtessel, Yuri; Hall, Charles; Jackson, Mark

    2000-01-01

    A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

  5. Robust antisynchronization of chaos using sliding mode control strategy

    Indian Academy of Sciences (India)

    Amit Mondal; Mitul Islam; Nurul Islam

    2015-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2000-12-01

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

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

    Institute of Scientific and Technical Information of China (English)

    Zhao Yao; Sheng Yongzhi; Liu Xiangdong

    2014-01-01

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

  8. Sliding-Mode Control of PEM Fuel Cells

    CERN Document Server

    Kunusch, Cristian; Mayosky, Miguel

    2012-01-01

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

  9. Shape control of distributed parameter reflectors using sliding mode control

    Science.gov (United States)

    Andoh, Fukashi; Washington, Gregory N.; Utkin, Vadim

    2001-08-01

    Sliding mode control has become one of the most powerful control methods for variable structure systems, a set of continuous systems with an appropriate switching logic. Its robustness properties and order reduction capability have made sliding mode control one of the most efficient tools for relatively higher order nonlinear plants operating under uncertain conditions. Piezo-electric materials possess the property of creating a charge when subjected to a mechanical strain, and of generating a strain when subjected to an electric field. Piezo-electric actuators are known to have a hysteresis due to the thermal motion and Coulomb interaction of Weiss domains. Because of the thermal effect the hysteresis of piezo-electric actuators is reproducible only with some uncertainty in experiments. The robustness of sliding mode control under uncertain conditions has an advantage in handling the hysteresis of piezo-electric actuators. In this research sliding mode control is used to control the shape of one- and two-dimensionally curved adaptive reflectors with piezo-electric actuators. Four discrete linear actuators for the one-dimensionally curved reflector and eight actuators for the two-dimensionally curved reflector are assumed.

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

    Directory of Open Access Journals (Sweden)

    MITIC, D. B.

    2013-02-01

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

  11. Adaptive Sliding Mode Control Based on Uncertainty and Disturbance Estimator

    Directory of Open Access Journals (Sweden)

    Yue Zhu

    2014-01-01

    Full Text Available This paper presents an original adaptive sliding mode control strategy for a class of nonlinear systems on the basis of uncertainty and disturbance estimator. The nonlinear systems can be with parametric uncertainties as well as unmatched uncertainties and external disturbances. The novel adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, discontinuous sign function does not exist in the proposed adaptive sliding mode controller, and it is not replaced by saturation function or similar approximation functions as well. Therefore, chattering is avoided in essence, and the chattering avoidance is not at the cost of reducing the robustness of the closed-loop systems. Secondly, the uncertainties do not need to satisfy matching condition and the bounds of uncertainties are not required to be unknown. Thirdly, it is proved that the closed-loop systems have robustness to parameter uncertainties as well as unmatched model uncertainties and external disturbances. The robust stability is analyzed from a second-order linear time invariant system to a nonlinear system gradually. Simulation on a pendulum system with motor dynamics verifies the effectiveness of the proposed method.

  12. Robust Neural Sliding Mode Control of Robot Manipulators

    Science.gov (United States)

    Hiep, Nguyen Tran; cat, Pham Thuong

    2009-03-01

    This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method

  13. Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

    OpenAIRE

    Ibone Lizarraga; Arantza Sanz; Victor Etxebarria

    2006-01-01

    This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good close...

  14. Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

    OpenAIRE

    Victor Etxebarria; Arantza Sanz; Ibone Lizarraga

    2006-01-01

    This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with well-established stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good clos...

  15. SLIDING MODE CONTROL OF A CLASS OF IT(O) TYPE DISTRIBUTED PARAMETER SYSTEMS WITH DELAY

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Sliding mode control problem of a class of It(o) type partial differential equations with delay is probed. The variable structure controller is designed. The existence of motion of sliding mode is shown. And the character of invariance of sliding control system about uncertainty on the sliding switching surface and stability are analyzed.

  16. Sliding mode control method having terminal convergence in finite time

    Science.gov (United States)

    Venkataraman, Subramanian T. (Inventor); Gulati, Sandeep (Inventor)

    1994-01-01

    An object of this invention is to provide robust nonlinear controllers for robotic operations in unstructured environments based upon a new class of closed loop sliding control methods, sometimes denoted terminal sliders, where the new class will enforce closed-loop control convergence to equilibrium in finite time. Improved performance results from the elimination of high frequency control switching previously employed for robustness to parametric uncertainties. Improved performance also results from the dependence of terminal slider stability upon the rate of change of uncertainties over the sliding surface rather than the magnitude of the uncertainty itself for robust control. Terminal sliding mode control also yields improved convergence where convergence time is finite and is to be controlled. A further object is to apply terminal sliders to robot manipulator control and benchmark performance with the traditional computed torque control method and provide for design of control parameters.

  17. Anomaly Detection in Test Equipment via Sliding Mode Observers

    Science.gov (United States)

    Solano, Wanda M.; Drakunov, Sergey V.

    2012-01-01

    Nonlinear observers were originally developed based on the ideas of variable structure control, and for the purpose of detecting disturbances in complex systems. In this anomaly detection application, these observers were designed for estimating the distributed state of fluid flow in a pipe described by a class of advection equations. The observer algorithm uses collected data in a piping system to estimate the distributed system state (pressure and velocity along a pipe containing liquid gas propellant flow) using only boundary measurements. These estimates are then used to further estimate and localize possible anomalies such as leaks or foreign objects, and instrumentation metering problems such as incorrect flow meter orifice plate size. The observer algorithm has the following parts: a mathematical model of the fluid flow, observer control algorithm, and an anomaly identification algorithm. The main functional operation of the algorithm is in creating the sliding mode in the observer system implemented as software. Once the sliding mode starts in the system, the equivalent value of the discontinuous function in sliding mode can be obtained by filtering out the high-frequency chattering component. In control theory, "observers" are dynamic algorithms for the online estimation of the current state of a dynamic system by measurements of an output of the system. Classical linear observers can provide optimal estimates of a system state in case of uncertainty modeled by white noise. For nonlinear cases, the theory of nonlinear observers has been developed and its success is mainly due to the sliding mode approach. Using the mathematical theory of variable structure systems with sliding modes, the observer algorithm is designed in such a way that it steers the output of the model to the output of the system obtained via a variety of sensors, in spite of possible mismatches between the assumed model and actual system. The unique properties of sliding mode control

  18. Experimental sliding mode control of a flexible single link manipulator

    Science.gov (United States)

    Qian, Timothy Wei Tie

    1993-09-01

    A study was conducted to explore and develop practical controller designs for a flexible manipulator based on the variable structure (VS) system and sliding mode (SM) theory. A new control design method is first proposed based on the continuous time VSSM theory, which can significantly simplify the VS system design process. Moreover, the variables concerned can be assigned separate gains. Direct application of the VSSM control system to the flexible arm, however, has limitations due to the inherent properties of the system. To solve this problem, facilitate digital implementation, and eliminate undesirable chattering in conventional VS system control, the discrete time quasi sliding mode control (DQSMC) is developed. Two control algorithms are derived satisfying the conditions for existence of discrete time sliding hypersurfaces. It is proven that the DQSMC design is equivalent to a full state feedback with its steady state motion constrained to the sliding hypersurfaces, and that DQSMC provides a general structure unifying the three different kinds of discrete time SM control. Experimental testing of the DQSMC controller showed good results, which compared favorably to the linear quadratic Gaussian controller under the same load variations. A novel approach was then devised to realize the proposed new controller designs.

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

    Directory of Open Access Journals (Sweden)

    W. L. Chiang

    2008-11-01

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

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

    Directory of Open Access Journals (Sweden)

    Rudi Uswarman

    2014-07-01

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

  1. Sliding mode control of a simulated MEMS gyroscope.

    Science.gov (United States)

    Batur, C; Sreeramreddy, T; Khasawneh, Q

    2006-01-01

    The microelectromechanical systems (MEMS) are penetrating more and more into measurement and control problems because of their small size, low cost, and low power consumption. The vibrating gyroscope is one of those MEMS devices that will have a significant impact on the stability control systems in transportation industry. This paper studies the design and control of a vibrating gyroscope. The device has been constructed in a Pro-E environment and its model has been simulated in the finite-element domain in order to approximate its dynamic characteristics with a lumped model. A model reference adaptive feedback controller and the sliding mode controller have been considered to guarantee the stability of the device. It is shown that the sliding mode controller of the vibrating proof mass results in a better estimate of the unknown angular velocity than that of the model reference adaptive feedback controller.

  2. Robust output LQ optimal control via integral sliding modes

    CERN Document Server

    Fridman, Leonid; Bejarano, Francisco Javier

    2014-01-01

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

  3. Chattering-Free Sliding Mode Control with Unmodeled Dynamics

    Science.gov (United States)

    Krupp, Don; Shtessel, Yuri B.

    1999-01-01

    Sliding mode control systems are valued for their robust accommodation of uncertainties and their ability to reject disturbances. In this paper, a design methodology is proposed to eliminate the chattering phenomenon affecting sliding mode controlled plants with input unmodeled actuator dynamics of second order or greater. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. The controller utilizes the pass filter characteristics of the physical actuating device to provide a smoothing effect on the discontinuous control signal rather than introducing any artificial dynamics into the controller design thus eliminating chattering in the system's output response.

  4. Advances and applications in sliding mode control systems

    CERN Document Server

    Zhu, Quanmin

    2015-01-01

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

  5. Terminal Sliding Mode Control Using Adaptive Fuzzy-Neural Observer

    Directory of Open Access Journals (Sweden)

    Dezhi Xu

    2013-01-01

    Full Text Available We propose a terminal sliding mode control (SMC law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables. Moreover, based on the information of the adaptive observer, the terminal SMC law is designed. The Lyapunov synthesis approach is used to guarantee a global uniform ultimate boundedness property of the state estimation error and the asymptotic output tracking of the closed-loop control systems in spite of unknown uncertainties/disturbances, as well as all the other signals in the closed-loop system. Finally, using the designed terminal sliding mode controller, the simulation results on the dynamic model demonstrate the effectiveness of the proposed new control techniques.

  6. Hybrid sliding mode control of semi-active suspension systems

    Science.gov (United States)

    Assadsangabi, Babak; Eghtesad, Mohammad; Daneshmand, Farhang; Vahdati, Nader

    2009-12-01

    In order to design a controller which can take both ride comfort and road holding into consideration, a hybrid model reference sliding mode controller (HMRSMC) is proposed. The controller includes two separate model reference sliding mode controllers (MRSMC). One of the controllers is designed so as to force the plant to follow the ideal Sky-hook model and the other is to force the plant to follow the ideal Ground-hook model; then the outputs of these two controllers are linearly combined and applied to the plant as the input. Also, since the designed controller requires a knowledge of the terrain input, this input is approximated by the unsprung mass displacement. Finally, in the simulation section of this study, the effect of the relative ratio between the two MRSMCs and the knowledge of the terrain on the performance of the controller is numerically investigated for both steady-state and transient cases.

  7. Backstepping and sliding mode control hybridized for a prosthetic hand.

    Science.gov (United States)

    Engeberg, Erik D; Meek, Sanford G

    2009-02-01

    Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodied subjects. Results obtained with a myoelectrically controlled prosthesis indicate that all three robust controllers offer a statistically significant improvement over linear hand prosthesis control schemes. The robust controllers enable the human operators to more easily manipulate a delicate object. Bench top experiments combined with quantitative and qualitative evaluations from ten test subjects reveal the HSMBS controller to be the best choice to improve control of powered prosthetic hands.

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

    Directory of Open Access Journals (Sweden)

    Mansour Bazregar

    2013-12-01

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

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

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2013-06-01

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

  10. Robustness and robust stability of the active sliding mode synchronization

    Energy Technology Data Exchange (ETDEWEB)

    Naseh, Majid Reza [Electrical Engineering Department, Islamic Azad University, Birjand Branch (Iran, Islamic Republic of)], E-mail: naseh@ee.src.aiu.ir; Haeri, Mohammad [Advanced Control System Lab., Electrical Engineering Department, Sharif University Technology, Tehran (Iran, Islamic Republic of)], E-mail: haeri@sina.sharif.edu

    2009-01-15

    We have developed relations between uncertainties and signals bounds in one side and the control parameters on the other side in the case of the active sliding mode synchronization. Using Lyapunov stability theorem, we have determined uncertainties levels for which synchronization is achieved for a given set of the control parameters. We have run a nonlinear programming algorithm to determine the control parameters for specific range of the uncertainties. Finally, numerical simulations are presented to verify the derived relations.

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

    CERN Document Server

    Efe, Mehmet

    2015-01-01

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

  12. Sliding mode control of a magnetic levitation system

    Directory of Open Access Journals (Sweden)

    N. F. Al-Muthairi

    2004-01-01

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

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

    OpenAIRE

    Junhai Luo; Heng Liu

    2014-01-01

    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 th...

  14. Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

    OpenAIRE

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

    2008-01-01

    International audience; This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables for...

  15. Sliding mode control of a magnetic levitation system

    OpenAIRE

    Al-Muthairi N. F.; Zribi M.

    2004-01-01

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

  16. Glucose level regulation via integral high-order sliding modes.

    Science.gov (United States)

    Dorel, Lela

    2011-04-01

    Diabetes is a condition in which the body either does not produce enough insulin, or does not properly respond to it. This causes the glucose level in blood to increase. An algorithm based on Integral High-Order Sliding Mode technique is proposed, which keeps the normal blood glucose level automatically releasing insulin into the blood. The system is highly insensitive to inevitable parametric and model uncertainties, measurement noises and small delays.

  17. Sliding Mode Control Applied to Reconfigurable Flight Control Design

    Science.gov (United States)

    Hess, R. A.; Wells, S. R.; Bacon, Barton (Technical Monitor)

    2002-01-01

    Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.

  18. Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

    Science.gov (United States)

    Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

    2017-09-19

    This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

  19. Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

    Directory of Open Access Journals (Sweden)

    Ibone Lizarraga

    2008-11-01

    Full Text Available This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid and fast (flexible modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good closed loop tracking properties both for the rigid and the flexible dynamics.

  20. A novel guidance law using fast terminal sliding mode control with impact angle constraints.

    Science.gov (United States)

    Sun, Lianghua; Wang, Weihong; Yi, Ran; Xiong, Shaofeng

    2016-09-01

    This paper is concerned with the question of, for a missile interception with impact angle constraints, how to design a guidance law. Firstly, missile interception with impact angle constraints is modeled; secondly, a novel guidance law using fast terminal sliding mode control based on extended state observer is proposed to optimize the trajectory and time of interception; finally, for stationary targets, constant velocity targets and maneuvering targets, the guidance law and the stability of the closed loop system is analyzed and the stability of the closed loop system is analyzed, respectively. Simulation results show that when missile and target are on a collision course, the novel guidance law using fast terminal sliding mode control with extended state observer has more optimized trajectory and effectively reduces the time of interception which has a great significance in modern warfare.

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

    Directory of Open Access Journals (Sweden)

    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.

  2. Synchronization of Fractional-order Chaotic Systems with Gaussian fluctuation by Sliding Mode Control

    OpenAIRE

    Yong Xu; Hua Wang

    2013-01-01

    This paper is devoted to the problem of synchronization between fractional-order chaotic systems with Gaussian fluctuation by the method of fractional-order sliding mode control. A fractional integral (FI) sliding surface is proposed for synchronizing the uncertain fractional-order system, and then the sliding mode control technique is carried out to realize the synchronization of the given systems. One theorem about sliding mode controller is presented to prove the proposed controller can ma...

  3. Maximum Power Point Tracking Based on Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Nimrod Vázquez

    2015-01-01

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

  4. Slide Mode Control for Integrated Electric Parking Brake System

    Directory of Open Access Journals (Sweden)

    Bin Wang

    2013-01-01

    Full Text Available The emerging integrated electric parking brake (IEPB system is introduced and studied. Through analyzing the various working stages, the stages switched IEPB system models are given with the consideration of the friction and system idle inertia. The sliding mode control (SMC method is adopted to control the clamping force by the widely used motor angle and clamping force relationship method. Based on the characteristics of the state equations, two sliding surfaces are built to control the motor angle and current, respectively. And in every working stage, the control stability is guaranteed by choosing the control parameters based on Lyapunov theory and SMC reachability. The effectiveness of the proposed control system has been validated in Matlab/Simulink.

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

    Science.gov (United States)

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

    2016-02-01

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

  6. Sliding Mode Control of the X-33 Vehicle in Launch Mode

    Science.gov (United States)

    Shtessel, Yuri; Jackson, Mark; Hall, Charles; Krupp, Don; Hendrix, N. Douglas

    1998-01-01

    The "nested" structure of the control system for the X33 vehicle in launch mode is developed. Employing backstopping concepts, the outer loop (guidance) and the Inner loop (rates) continuous sliding mode controllers are designed. Simulations of the 3-DOF model of the X33 launch vehicle showed an accurate, robust, de-coupled tracking performance.

  7. Adaptive Control of MEMS Gyroscope Based on Global Terminal Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Weifeng Yan

    2013-01-01

    Full Text Available An adaptive global fast terminal sliding mode control (GFTSM is proposed for tracking control of Micro-Electro-Mechanical Systems (MEMS vibratory gyroscopes under unknown model uncertainties and external disturbances. To improve the convergence rate of reaching the sliding surface, a global fast terminal sliding surface is employed which can integrate the advantages of traditional sliding mode control and terminal sliding mode control. It can be guaranteed that sliding surface and equilibrium point can be reached in a shorter finite time from any initial state. In the presence of unknown upper bound of system nonlinearities, an adaptive global fast terminal sliding mode controller is derived to estimate this unknown upper bound. Simulation results demonstrate that the tracking error can be attenuated efficiently and robustness of the control system can be improved with the proposed adaptive global fast terminal sliding mode control.

  8. Passivity-based sliding mode control for a polytopic stochastic differential inclusion system.

    Science.gov (United States)

    Liu, Leipo; Fu, Zhumu; Song, Xiaona

    2013-11-01

    Passivity-based sliding mode control for a polytopic stochastic differential inclusion (PSDI) system is considered. A control law is designed such that the reachability of sliding motion is guaranteed. Moreover, sufficient conditions for mean square asymptotic stability and passivity of sliding mode dynamics are obtained by linear matrix inequalities (LMIs). Finally, two examples are given to illustrate the effectiveness of the proposed method.

  9. Synchronization of uncertain chaotic systems using active sliding mode control

    Energy Technology Data Exchange (ETDEWEB)

    Haeri, Mohammad [Advanced Control System Lab, Electrical Engineering Department, Sharif University of Technology, Azadi Avenue, 11365-9363 Tehran (Iran, Islamic Republic of)]. E-mail: haeri@sina.sharif.edu; Tavazoei, Mohammad Saleh [Advanced Control System Lab, Electrical Engineering Department, Sharif University of Technology, Azadi Avenue, 11365-9363 Tehran (Iran, Islamic Republic of); Naseh, Majid Reza [Electrical Engineering Department, Islamic Azad University of Birjand, Birjand (Iran, Islamic Republic of)

    2007-08-15

    We apply the active sliding mode controller to synchronize two uncertain chaotic systems. Uncertainties are considered both in linear and nonlinear parts of the system dynamics. We have also studied the case that the signals are contaminated by measuring channel noise. It is shown that having some conditions on the uncertainties and noise magnitude, the closed loop stability can be guaranteed. The synchronization errors are shown to be confined into some bounded value. Numerical simulations are presented to evaluate the analysis and effectiveness of the controller.

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

    Directory of Open Access Journals (Sweden)

    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.

  11. Control of nonlinear systems using terminal sliding modes

    Science.gov (United States)

    Venkataraman, S. T.; Gulati, S.

    1992-01-01

    The development of an approach to control synthesis for robust robot operations in unstructured environments is discussed. To enhance control performance with full model information, the authors introduce the notion of terminal convergence and develop control laws based on a class of sliding modes, denoted as terminal sliders. They demonstrate that terminal sliders provide robustness to parametric uncertainty without having to resort to high-frequency control switching, as in the case of conventional sliders. It is shown that the proposed method leads to greater guaranteed precision in all control cases discussed.

  12. Sliding Mode Control of a Slewing Flexible Beam

    Science.gov (United States)

    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.

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

    KAUST Repository

    Zayane, Chadia

    2014-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Junhai Luo

    2014-01-01

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

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

    Science.gov (United States)

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

    2016-09-01

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

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

    Directory of Open Access Journals (Sweden)

    U. Jørgensen

    2011-07-01

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

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

    Science.gov (United States)

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

    2016-09-01

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

  18. Sliding Mode Attitude Control for Magnetic Actuated Satellite

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    1998-01-01

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

  19. Traction Control of Electric Vehicles Using Sliding-Mode Controller with Tractive Force Observer

    Directory of Open Access Journals (Sweden)

    Suwat Kuntanapreeda

    2014-01-01

    Full Text Available Traction control is an important element in modern vehicles to enhance drive efficiency, safety, and stability. Traction is produced by friction between tire and road, which is a nonlinear function of wheel slip. In this paper, a sliding-mode control approach is used to design a robust traction controller. The control objective is to operate vehicles such that a desired wheel slip ratio is achieved. A nonlinearity observer is employed to estimate tire tractive forces, which are used in the control law. Simulation and experimental results have illustrated the success of the proposed observer-based controller.

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

    OpenAIRE

    Amir Hossein Abolmasoumi; Somayeh Khosravinejad

    2014-01-01

    In this paper, Intelligent Sliding Mode Control of chaos in a memristor- based Chua’s oscillator is investigated. In order to gain stabilization and tracking of a sinusoidal input, an appropriate sliding surface is proposed and sliding gain is tuned. Also, to avoid the chattering phenomenon in traditional sliding mode controller, and to reduce the hitting time of the controlled system, an especial genetic algorithm optimization method is suggested. By defining a new objective func...

  1. Singular Value Decomposition-Based Method for Sliding Mode Control and Optimization of Nonlinear Neutral Systems

    OpenAIRE

    Heli Hu; Dan Zhao; Qingling Zhang

    2013-01-01

    The sliding mode control and optimization are investigated for a class of nonlinear neutral systems with the unmatched nonlinear term. In the framework of Lyapunov stability theory, the existence conditions for the designed sliding surface and the stability bound ${\\alpha }^{\\ast }$ are derived via twice transformations. The further results are to develop an efficient sliding mode control law with tuned parameters to attract the state trajectories onto the sliding surface in finit...

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

    Science.gov (United States)

    Ren, Haipeng; Fan, Juntao

    2016-06-01

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

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

    Science.gov (United States)

    Ren, Haipeng; Fan, Juntao

    2016-09-01

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

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

    Science.gov (United States)

    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.

  5. Sliding mode control of electromagnetic tethered satellite formation

    Science.gov (United States)

    Hallaj, Mohammad Amin Alandi; Assadian, Nima

    2016-08-01

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

  6. Enhanced adaptive fuzzy sliding mode control for uncertain nonlinear systems

    Science.gov (United States)

    Roopaei, Mehdi; Zolghadri, Mansoor; Meshksar, Sina

    2009-09-01

    In this article, a novel Adaptive Fuzzy Sliding Mode Control (AFSMC) methodology is proposed based on the integration of Sliding Mode Control (SMC) and Adaptive Fuzzy Control (AFC). Making use of the SMC design framework, we propose two fuzzy systems to be used as reaching and equivalent parts of the SMC. In this way, we make use of the fuzzy logic to handle uncertainty/disturbance in the design of the equivalent part and provide a chattering free control for the design of the reaching part. To construct the equivalent control law, an adaptive fuzzy inference engine is used to approximate the unknown parts of the system. To get rid of the chattering, a fuzzy logic model is assigned for reaching control law, which acting like the saturation function technique. The main advantage of our proposed methodology is that the structure of the system is unknown and no knowledge of the bounds of parameters, uncertainties and external disturbance are required in advance. Using Lyapunov stability theory and Barbalat's lemma, the closed-loop system is proved to be stable and convergence properties of the system is assured. Simulation examples are presented to verify the effectiveness of the method. Results are compared with some other methods proposed in the past research.

  7. Adaptive sliding mode formation control of multiple underwater robots

    Directory of Open Access Journals (Sweden)

    Das Bikramaditya

    2014-12-01

    Full Text Available This paper proposes a new adaptive sliding mode control scheme for achieving coordinated motion control of a group of autonomous underwater vehicles with variable added mass. The control law considers the communication constraints in the acoustic medium. A common reference frame for velocity is assigned to a virtual leader dynamically. The performances of the proposed adaptive SMC were compared with that of a passivity based controller. To save the time and traveling distance for reaching the FRP by the follower AUVs, a sliding mode controller is proposed in this paper that drives the state trajectory of the AUV into a switching surface in the state space. It is observed from the obtained results that the proposed SMC provides improved performance in terms of accurately tracking the desired trajectory within less time compared to the passivity based controller. A communication consensus is designed ensuring the transfer of information among the AUVs so that they move collectively as a group. The stability of the overall closed-loop systems are analysed using Lyapunov theory and simulation results confirmed the robustness and efficiency of proposed controller.

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

    Directory of Open Access Journals (Sweden)

    Yiguang Wang

    2015-03-01

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

  9. Simulation research of discrete sliding mode control for active powerfilter

    Institute of Scientific and Technical Information of China (English)

    WANG Yu-feng; SUN Bao; YANG Zhen; LI Jian

    2011-01-01

    Because of the widely-used nonlinear loads,the problems of harmonics and low power factor in power systems are becoming more and more serious.In view of the above problems,a shunt three-phase active power filter(SAPF)based on discrete sliding mode control to suppress the harmonics was designed and the power factor improved.First,built the mathematical model of SAPF.Then,controlled the switch through analyzing the harmonic current that was controlled signal using discrete sliding mode control.Through simulation using MATLAB,verified the validity of the algorithm.By the simulation waveforms,it can be found that after the load current containing a large number of harmonics passes the active power filter,the waveform of the power current approximately becomes a sine wave and the harmonics is significantly reduced.As a result,it plays a good role in purifying power systems.Moreover,from the waveforms of harmonic current and power current,it can be found that the algorithm has a faster tracking speed.The waveform can be stably tracked in the half cycle and real-time if the algorithm is perfect.

  10. Sliding Mode Control Strategy for Wind Turbine Power Maximization

    Directory of Open Access Journals (Sweden)

    Oscar Barambones

    2012-07-01

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

  11. Hybrid neural network fraction integral terminal sliding mode control of an Inchworm robot manipulator

    Science.gov (United States)

    Rahmani, Mehran; Ghanbari, Ahmad; Ettefagh, Mir Mohammad

    2016-12-01

    This paper proposes a control scheme based on the fraction integral terminal sliding mode control and adaptive neural network. It deals with the system model uncertainties and the disturbances to improve the control performance of the Inchworm robot manipulator. A fraction integral terminal sliding mode control applies to the Inchworm robot manipulator to obtain the initial stability. Also, an adaptive neural network is designed to approximate the system uncertainties and unknown disturbances to reduce chattering phenomena. The weight matrix of the proposed adaptive neural network can be updated online, according to the current state error information. The stability of the proposed control method is proved by Lyapunov theory. The performance of the adaptive neural network fraction integral terminal sliding mode control is compared with three other conventional controllers such as sliding mode control, integral terminal sliding mode control and fraction integral terminal sliding mode control. Simulation results show the effectiveness of the proposed control method.

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

    Directory of Open Access Journals (Sweden)

    Yundi Chu

    2015-01-01

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

  13. Flexible Modes Control Using Sliding Mode Observers: Application to Ares I

    Science.gov (United States)

    Shtessel, Yuri B.; Hall, Charles E.; Baev, Simon; Orr, Jeb S.

    2010-01-01

    The launch vehicle dynamics affected by bending and sloshing modes are considered. Attitude measurement data that are corrupted by flexible modes could yield instability of the vehicle dynamics. Flexible body and sloshing modes are reconstructed by sliding mode observers. The resultant estimates are used to remove the undesirable dynamics from the measurements, and the direct effects of sloshing and bending modes on the launch vehicle are compensated by means of a controller that is designed without taking the bending and sloshing modes into account. A linearized mathematical model of Ares I launch vehicle was derived based on FRACTAL, a linear model developed by NASA/MSFC. The compensated vehicle dynamics with a simple PID controller were studied for the launch vehicle model that included two bending modes, two slosh modes and actuator dynamics. A simulation study demonstrated stable and accurate performance of the flight control system with the augmented simple PID controller without the use of traditional linear bending filters.

  14. A novel adaptive sliding mode control with application to MEMS gyroscope.

    Science.gov (United States)

    Fei, Juntao; Batur, Celal

    2009-01-01

    This paper presents a new adaptive sliding mode controller for MEMS gyroscope; an adaptive tracking controller with a proportional and integral sliding surface is proposed. The adaptive sliding mode control algorithm can estimate the angular velocity and the damping and stiffness coefficients in real time. A proportional and integral sliding surface, instead of a conventional sliding surface is adopted. An adaptive sliding mode controller that incorporates both matched and unmatched uncertainties and disturbances is derived and the stability of the closed-loop system is established. The numerical simulation is presented to verify the effectiveness of the proposed control scheme. It is shown that the proposed adaptive sliding mode control scheme offers several advantages such as the consistent estimation of gyroscope parameters including angular velocity and large robustness to parameter variations and external disturbances.

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

    Institute of Scientific and Technical Information of China (English)

    Ahcene Boubakir; Fares Boudjema; Salim Labiod

    2009-01-01

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

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

    CERN Document Server

    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.

  17. Analysis and Sliding Mode Control of Four-Wire Three-Leg Shunt Active Power Filter

    OpenAIRE

    Farid Hamoudi; Hocine Amimeur

    2015-01-01

    In this paper, the analysis and the sliding mode control application for a shunt active filter is presented. The active filter is based on a three-leg split-capacitor voltage source inverter which is used to compensate harmonics and unbalance in the phase currents, and therefore to cancel neutral current. The proposed sliding mode control is formulated from the multivariable state model established in dq0 frames. The selection of the sliding mode functions takes in account simultaneously, the...

  18. Dynamic Sliding Mode Control based on Fractional calculus subject to uncertain delay based chaotic pneumatic robot

    OpenAIRE

    P., Sara Gholipour; Sh, Heydar Toosian

    2013-01-01

    This paper considers the chattering problem of sliding mode control while delay in robot manipulator caused chaos in such electromechanical systems. Fractional calculus as a powerful theorem to produce a novel sliding mode; which has a dynamic essence is used for chattering elimination. To realize the control of a class of chaotic systems in master-slave configuration this novel fractional dynamic sliding mode control scheme is presented and examined on delay based chaotic robot in joint and ...

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

    Science.gov (United States)

    Chiu, Chian-Song; Shen, Chih-Teng

    2012-05-01

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

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

    Institute of Scientific and Technical Information of China (English)

    Qu Shaocheng; Wang Yongji

    2006-01-01

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

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

    DEFF Research Database (Denmark)

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

    2005-01-01

    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...... towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model...... is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed....

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

    Institute of Scientific and Technical Information of China (English)

    WU Yuxiang; FENG Ying; HU Yueming

    2007-01-01

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

  3. Fault tolerant control schemes using integral sliding modes

    CERN Document Server

    Hamayun, Mirza Tariq; Alwi, Halim

    2016-01-01

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

  4. Sliding Mode Control of a Thermal Mixing Process

    Science.gov (United States)

    Richter, Hanz; Figueroa, Fernando

    2004-01-01

    In this paper we consider the robust control of a thermal mixer using multivariable Sliding Mode Control (SMC). The mixer consists of a mixing chamber, hot and cold fluid valves, and an exit valve. The commanded positions of the three valves are the available control inputs, while the controlled variables are total mass flow rate, chamber pressure and the density of the mixture inside the chamber. Unsteady thermodynamics and linear valve models are used in deriving a 5th order nonlinear system with three inputs and three outputs, An SMC controller is designed to achieve robust output tracking in the presence of unknown energy losses between the chamber and the environment. The usefulness of the technique is illustrated with a simulation.

  5. Longitudinal tire force estimation based on sliding mode observer

    Energy Technology Data Exchange (ETDEWEB)

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

    2001-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Hachemi Glaoui

    2013-02-01

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

  7. A new optimal sliding mode controller design using scalar sign function.

    Science.gov (United States)

    Singla, Mithun; Shieh, Leang-San; Song, Gangbing; Xie, Linbo; Zhang, Yongpeng

    2014-03-01

    This paper presents a new optimal sliding mode controller using the scalar sign function method. A smooth, continuous-time scalar sign function is used to replace the discontinuous switching function in the design of a sliding mode controller. The proposed sliding mode controller is designed using an optimal Linear Quadratic Regulator (LQR) approach. The sliding surface of the system is designed using stable eigenvectors and the scalar sign function. Controller simulations are compared with another existing optimal sliding mode controller. To test the effectiveness of the proposed controller, the controller is implemented on an aluminum beam with piezoceramic sensor and actuator for vibration control. This paper includes the control design and stability analysis of the new optimal sliding mode controller, followed by simulation and experimental results. The simulation and experimental results show that the proposed approach is very effective.

  8. Nonsingular terminal sliding mode approach applied to synchronize chaotic systems with unknown parameters and nonlinear inputs

    Institute of Scientific and Technical Information of China (English)

    Mohammad Pourmahmood Aghababa; Hassan Feizi

    2012-01-01

    This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchronization of two different chaotic systems with fully unknown parameters and nonlinear inputs.We propose a novel nonsingular terminal sliding surface and prove its finite-time convergence to zero.We assume that both the master's and the slave's system parameters are unknown in advance.Proper adaptation laws are derived to tackle the unknown parameters.An adaptive sliding mode control law is designed to ensure the existence of the sliding mode in finite time.We prove that both reaching and sliding mode phases are stable in finite time.An estimation of convergence time is given.Two illustrative examples show the effectiveness and usefulness of the proposed technique.It is worthwhile noticing that the introduced nonsingular terminal sliding mode can be applied to a wide variety of nonlinear control problems.

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

    Science.gov (United States)

    Chen, Bei; Jia, Tinggang; Niu, Yugang

    2016-07-01

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

  10. Improved robustness and performance of discrete time sliding mode control systems.

    Science.gov (United States)

    Chakrabarty, Sohom; Bartoszewicz, Andrzej

    2016-11-01

    This paper presents a theoretical analysis along with simulations to show that increased robustness can be achieved for discrete time sliding mode control systems by choosing the sliding variable, or the output, to be of relative degree two instead of relative degree one. In other words it successfully reduces the ultimate bound of the sliding variable compared to the ultimate bound for standard discrete time sliding mode control systems. It is also found out that for such a selection of relative degree two output of the discrete time system, the reduced order system during sliding becomes finite time stable in absence of disturbance. With disturbance, it becomes finite time ultimately bounded.

  11. Analysis and Synthesis of Memory-Based Fuzzy Sliding Mode Controllers.

    Science.gov (United States)

    Zhang, Jinhui; Lin, Yujuan; Feng, Gang

    2015-12-01

    This paper addresses the sliding mode control problem for a class of Takagi-Sugeno fuzzy systems with matched uncertainties. Different from the conventional memoryless sliding surface, a memory-based sliding surface is proposed which consists of not only the current state but also the delayed state. Both robust and adaptive fuzzy sliding mode controllers are designed based on the proposed memory-based sliding surface. It is shown that the sliding surface can be reached and the closed-loop control system is asymptotically stable. Furthermore, to reduce the chattering, some continuous sliding mode controllers are also presented. Finally, the ball and beam system is used to illustrate the advantages and effectiveness of the proposed approaches. It can be seen that, with the proposed control approaches, not only can the stability be guaranteed, but also its transient performance can be improved significantly.

  12. Sliding Mode Control for Fractional Differential Systems with State-delay

    Institute of Scientific and Technical Information of China (English)

    SI Jia-fang; JIANG Wei

    2012-01-01

    The problem of sliding mode control for fractional differential systems with statedelay is considered.A novel sliding surface is proposed and a controller is designed correspondingly,such that the state starting from any initial value will move toward the switching surface and reach the sliding surface in finite time and the state variables on the sliding surface will converge to equilibrium point.And the stability of the proposed control design is discussed.

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

    Directory of Open Access Journals (Sweden)

    Peng Zhang

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Mohammad Mahdi Ebrahimi

    2013-11-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    DEFF Research Database (Denmark)

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

    2005-01-01

    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 towa...

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

    NARCIS (Netherlands)

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

    1999-01-01

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

  18. Adaptive switching gain for a discrete-time sliding mode controller

    NARCIS (Netherlands)

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

    2002-01-01

    Sliding mode control is a well-known technique capable of making the closed loop system robust with respect to certain kinds of parameter variations and unmodelled dynamics. The sliding mode control law consists of a continuous component which is based on the model knowledge and discontinuous compon

  19. Synchronization of noise-perturbed generalized Lorenz system by sliding mode control*

    Institute of Scientific and Technical Information of China (English)

    Kong Cui-Cui; Chen Shi-Hua

    2009-01-01

    Synchronization of a noise-perturbed generalized Lorenz system by using sliding mode control method is investigated in this paper. Two sliding mode control methods are proposed to synchronize the noise-perturbed generalized Lorenz system. Numerical simulations are also provided for the illustration and verification of the methods.

  20. Adaptive Switching Gain for a Discrete-Time Sliding Mode Controller

    NARCIS (Netherlands)

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

    2000-01-01

    Sliding Mode Control is a well-known technique capable of making the closed loop system robust with respect to certain kinds of parameter variations and unmodeled dynamics. The sliding mode control law consists of the linear control part which is based on the model knowledge and the discontinuous co

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

    NARCIS (Netherlands)

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

    1999-01-01

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

  2. Sliding mode control of magnetic suspensions for precision pointing and tracking applications

    Science.gov (United States)

    Misovec, Kathleen M.; Flynn, Frederick J.; Johnson, Bruce G.; Hedrick, J. Karl

    1991-01-01

    A recently developed nonlinear control method, sliding mode control, is examined as a means of advancing the achievable performance of space-based precision pointing and tracking systems that use nonlinear magnetic actuators. Analytic results indicate that sliding mode control improves performance compared to linear control approaches. In order to realize these performance improvements, precise knowledge of the plant is required. Additionally, the interaction of an estimating scheme and the sliding mode controller has not been fully examined in the literature. Estimation schemes were designed for use with this sliding mode controller that do not seriously degrade system performance. The authors designed and built a laboratory testbed to determine the feasibility of utilizing sliding mode control in these types of applications. Using this testbed, experimental verification of the authors' analyses is ongoing.

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

    DEFF Research Database (Denmark)

    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...... implementation of sliding mode control, achieving continuous control inputs, while maintaining the main properties of sliding modes. Under certain model assumptions, some of these controllers may even be applied as output feedback controllers. However, intrinsic nonlinear dynamic effects of hydraulic valves...... sliding algorithm known as the super twisting controller is considered for output feedback control and compared with conventional first order sliding mode control. The controllers under consideration are applied for position tracking control of a hydraulic valve-cylinder drive exhibiting strong variations...

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

    Directory of Open Access Journals (Sweden)

    Minh-Duc Tran

    2015-01-01

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

  5. Longitudinal Motion Control of AUV Based on Fuzzy Sliding Mode Method

    Directory of Open Access Journals (Sweden)

    Duo Qi

    2016-01-01

    Full Text Available According to the characteristics of AUV movement, a fuzzy sliding mode controller was designed, in which fuzzy rules were adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV was simplified and longitudinal motion equations were established on the basis of previous research. The influences of first-order wave force and torque were taken into consideration. The REMUS was selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller.

  6. Projective synchronization of nonidentical fractional-order neural networks based on sliding mode controller.

    Science.gov (United States)

    Ding, Zhixia; Shen, Yi

    2016-04-01

    This paper investigates global projective synchronization of nonidentical fractional-order neural networks (FNNs) based on sliding mode control technique. We firstly construct a fractional-order integral sliding surface. Then, according to the sliding mode control theory, we design a sliding mode controller to guarantee the occurrence of the sliding motion. Based on fractional Lyapunov direct methods, system trajectories are driven to the proposed sliding surface and remain on it evermore, and some novel criteria are obtained to realize global projective synchronization of nonidentical FNNs. As the special cases, some sufficient conditions are given to ensure projective synchronization of identical FNNs, complete synchronization of nonidentical FNNs and anti-synchronization of nonidentical FNNs. Finally, one numerical example is given to demonstrate the effectiveness of the obtained results.

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

    Directory of Open Access Journals (Sweden)

    Ismail Ben Abdallah

    2016-01-01

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

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

    Science.gov (United States)

    Kapoor, Neha; Ohri, Jyoti

    2017-02-01

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

  9. Certifiable higher order sliding mode control: Practical stability margins approach

    Science.gov (United States)

    Panathula, Chandrasekhara Bharath

    The Higher Order Sliding Mode (HOSM) controllers are well known for their robustness/insensitivity to bounded perturbations and for handling any given arbitrary relative degree system. The HOSM controller is to be certified for robustness to unmodeled dynamics, before deploying the controller for practical applications. Phase Margin (PM) and Gain Margin ( GM) are the classical characteristics used in linear systems to quantify the linear controller robustness to unmodeled dynamics, and certain values of these margins are required to certify the controller. These conventional margins (PM and GM) are extended to Practical Stability Phase Margin (PSPM) and Practical Stability Gain Margin (PSGM) in this dissertation, and are used to quantify the HOSM control robustness to unmodeled dynamics, presiding the tool to close the gap for HOSM control certification. The proposed robustness metrics ( PSPM and PSGM) are identified by developing tools/algorithms based on Describing Function-Harmonic Balance method. In order for the HOSM controller to achieve the prescribed values on robustness metrics ( PSPM and PSGM), the HOSM controller is cascaded with a linear compensator. A case study of the application of the proposed metrics (PSPM and PSGM) for the certification of F-16 aircraft HOSM attitude control robustness to cascade unmodeled dynamics is presented. In addition, several simulation examples are presented to verify and to validate the proposed methodology.

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

    Science.gov (United States)

    Kapoor, Neha; Ohri, Jyoti

    2016-06-01

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

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

    Institute of Scientific and Technical Information of China (English)

    Lou Xu-Yang; Cui Bao-Tong

    2008-01-01

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

  12. Designing for Damage: Robust Flight Control Design using Sliding Mode Techniques

    Science.gov (United States)

    Vetter, T. K.; Wells, S. R.; Hess, Ronald A.; Bacon, Barton (Technical Monitor); Davidson, John (Technical Monitor)

    2002-01-01

    A brief review of sliding model control is undertaken, with particular emphasis upon the effects of neglected parasitic dynamics. Sliding model control design is interpreted in the frequency domain. The inclusion of asymptotic observers and control 'hedging' is shown to reduce the effects of neglected parasitic dynamics. An investigation into the application of observer-based sliding mode control to the robust longitudinal control of a highly unstable is described. The sliding mode controller is shown to exhibit stability and performance robustness superior to that of a classical loop-shaped design when significant changes in vehicle and actuator dynamics are employed to model airframe damage.

  13. Passivity-Sliding Mode Control of Uncertain Chaotic Systems with Stochastic Disturbances

    Directory of Open Access Journals (Sweden)

    Zhumu Fu

    2014-01-01

    Full Text Available This paper is concerned with the stabilization problem of uncertain chaotic systems with stochastic disturbances. A novel sliding function is designed, and then a sliding mode controller is established such that the trajectory of the system converges to the sliding surface in a finite time. Using a virtual state feedback control technique, sufficient condition for the mean square asymptotic stability and passivity of sliding mode dynamics is derived via linear matrix inequality (LMI. Finally, a simulation example is presented to show the validity and advantage of the proposed method.

  14. Fractional-Order Fast Terminal Sliding Mode Control for a Class of Dynamical Systems

    Directory of Open Access Journals (Sweden)

    Guoliang Zhao

    2013-01-01

    Full Text Available This paper introduces a novel fractional fast terminal sliding mode control strategy for a class of dynamical systems with uncertainty. In this strategy, a fractional-order sliding surface is proposed, the corresponding control law is derived based on Lyapunov stability theory to guarantee the sliding condition, and the finite time stability of the closeloop system is also ensured. Further, to achieve the equivalence between convergence rate and singularity avoidance, a fractional-order nonsingular fast terminal sliding mode controller is studied and the stability is presented. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed method.

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

    Institute of Scientific and Technical Information of China (English)

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

    2008-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

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

    2012-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Van Van Huynh

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

  19. Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology

    Directory of Open Access Journals (Sweden)

    Hossein Rezaie

    2012-10-01

    Full Text Available Design a nonlinear controller for second order nonlinear uncertain dynamical systems is the main challenge in this paper. This paper focuses on the design and analysis of a chattering free Mamdani’s fuzzy-based tuning gradient descent optimal error-based fuzzy sliding mode controller for highly nonlinear dynamic six degrees of freedom robot manipulator, in presence of uncertainties. 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. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performance/error-based fuzzy logic methodology with two inputs and one output and 49 rules is applied to pure sliding mode controller. Pure sliding mode controller and error-based fuzzy sliding mode controller have difficulty in handling unstructured model uncertainties. To solve this problem applied fuzzy-based tuning method to error-based fuzzy sliding mode controller for adjusting the sliding surface gain. Since the sliding surface gain is adjusted by gradient descent optimization method. Fuzzy-based tuning gradient descent optimal error-based fuzzy sliding mode controller is stable model-free controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in fuzzy-based tuning gradient descent optimal fuzzy sliding mode controller based on switching (sign function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0%, rise time=0.8 second, steady state error = 1e-9 and RMS error=1.8e-12.

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

    Directory of Open Access Journals (Sweden)

    Abdelfatah Nasri

    2008-01-01

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

  1. Second-Order Consensus in Multiagent Systems via Distributed Sliding Mode Control.

    Science.gov (United States)

    Yu, Wenwu; Wang, He; Cheng, Fei; Yu, Xinghuo; Wen, Guanghui

    2016-11-22

    In this paper, the new decoupled distributed sliding-mode control (DSMC) is first proposed for second-order consensus in multiagent systems, which finally solves the fundamental unknown problem for sliding-mode control (SMC) design of coupled networked systems. A distributed full-order sliding-mode surface is designed based on the homogeneity with dilation for reaching second-order consensus in multiagent systems, under which the sliding-mode states are decoupled. Then, the SMC is applied to the decoupled sliding-mode states to reach their origin in finite time, which is the sliding-mode surface. The states of agents can first reach the designed sliding-mode surface in finite time and then move to the second-order consensus state along the surface in finite time as well. The DSMC designed in this paper can eliminate the influence of singularity problems and weaken the influence of chattering, which is still very difficult in the SMC systems. In addition, DSMC proposes a general decoupling framework for designing SMC in networked multiagent systems. Simulations are presented to verify the theoretical results in this paper.

  2. Sliding Mode Control of Dynamic Voltage Restorer by Using a New Adaptive Reaching Law

    Science.gov (United States)

    Pandey, Achala; Agrawal, Rekha; Mandloi, Ravindra S.; Sarkar, Biswaroop

    2017-08-01

    This paper presents a new kind of adaptive reaching law for sliding mode control of Dynamic Voltage Restorer (DVR). Such an adaptive reaching law follows under-damped sinusoidal nature that causes the initial state to reach the sliding regime in extremely less time with negligible chattering. Moreover, it is robust in the sense the trajectory does not deviate from the sliding surface. This new approach is developed and successfully applied to DVR. The simulation results are presented that show its robustness.

  3. Adaptive Fuzzy Sliding Mode Control of MEMS Gyroscope with Finite Time Convergence

    Directory of Open Access Journals (Sweden)

    Jianxin Ren

    2016-01-01

    Full Text Available This paper presents adaptive fuzzy finite time sliding mode control of microelectromechanical system gyroscope with uncertainty and external disturbance. Firstly, fuzzy system is employed to approximate the uncertainty nonlinear dynamics. Secondly, nonlinear sliding mode hypersurface and double exponential reaching law are selected to design the finite time convergent sliding mode controller. Thirdly, based on Lyapunov methods, adaptive laws are presented to adjust the fuzzy weights and the system can be guaranteed to be stable. Finally, the effectiveness of the proposed method is verified with simulation.

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

    Institute of Scientific and Technical Information of China (English)

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

    2001-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Minxiu Yan

    2013-05-01

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

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

    Institute of Scientific and Technical Information of China (English)

    张克勤; 庄开宇; 苏宏业; 褚健; 高红

    2002-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

    程东升; 张建武; 叶晓峰; 黄维纲

    2003-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Tat-Bao-Thien Nguyen

    2014-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

    张克勤; 庄开宇; 苏宏业; 褚健; 高红

    2002-01-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

  11. Design of fuzzy sliding mode controller for SISO discrete-time systems

    Institute of Scientific and Technical Information of China (English)

    Yang MI; Yuanwei JING

    2004-01-01

    According to a class of nonlinear SISO discrete systems,the fuzzy sliding mode control problem is considered.Based on Takagi-Sugeno fuzzy model method,a fuzzy model is designed to describe the local dynamic performance of the given nonlinear systems.By using the sliding mode control approach,the global controller is constructed by integrating all the local state controllers and the global supervisory sliding mode controller.The tracking problem can be easily dealt with by taking advantage of the combined controller,and the robustness performance is improved finally.A simulation example is given to show the effectiveness and feasibility of the method proposed.

  12. Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control.

    Science.gov (United States)

    Wang, Jia-Jun

    2012-11-01

    X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the vertical and horizontal forces. Through a new transformation, the X-Z inverted pendulum is decomposed into three simple models. Based on the simple models, sliding-mode control is applied to stabilization and tracking control of the inverted pendulum. The performance of the sliding mode control is compared with that of the PID control. Simulation results show that the design scheme of sliding-mode control is effective for the stabilization and tracking control of the X-Z inverted pendulum.

  13. Tensor product model transformation based adaptive integral-sliding mode controller: equivalent control method.

    Science.gov (United States)

    Zhao, Guoliang; Sun, Kaibiao; Li, Hongxing

    2013-01-01

    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.

  14. Sliding-mode adaptive control of Pioneer 3-DX wheeled mobile robot

    Directory of Open Access Journals (Sweden)

    Adrian FILIPESCU

    2007-12-01

    Full Text Available Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR are presented in this paper. The dynamical model for mobile robot with one pair of active wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been used in order to achieve robustness against parameter uncertainties (robot mass and moment of inertia. Two sliding-mode adaptive controllers corresponding to angular and position motion have been designed. Closed-loop circular trajectory tracking Pioneer 3-DX real-time control is presented.

  15. Neural Feedback Passivity of Unknown Nonlinear Systems via Sliding Mode Technique.

    Science.gov (United States)

    Yu, Wen

    2015-07-01

    Passivity method is very effective to analyze large-scale nonlinear systems with strong nonlinearities. However, when most parts of the nonlinear system are unknown, the published neural passivity methods are not suitable for feedback stability. In this brief, we propose a novel sliding mode learning algorithm and sliding mode feedback passivity control. We prove that for a wide class of unknown nonlinear systems, this neural sliding mode control can passify and stabilize them. This passivity method is validated with a simulation and real experiment tests.

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

    Science.gov (United States)

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

    2010-05-01

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

  17. A radial basis function sliding mode controller for chaotic Lorenz system

    Energy Technology Data Exchange (ETDEWEB)

    Guo Huijun [School of Electrical Engineering, Xi' an Jiaotong University, Xi' an 710049 (China)]. E-mail: realghj@yahoo.com.cn; Lin Suifang [Department of Automation, Xi' an University of Technology, Xi' an 710048 (China); Liu Junhua [School of Electrical Engineering, Xi' an Jiaotong University, Xi' an 710049 (China)

    2006-03-06

    This Letter presents a novel method to controlling Lorenz chaos via an adaptive radial basis function sliding mode controller. The proposed scheme combines the advantages of the adaptive control, neural network and sliding mode control strategies without precise system model information. It has on-line learning ability to deal with the parametric uncertainty and disturbance by adjusting the control parameters. A sliding mode controller is designed via the Lyapunov stability theory in order to guarantee the high quality of the controlled system. The simulation results show that this method is feasible and effective for chaos control, and the robustness to parametric changes and extern disturbance is provided.

  18. Stability Analysis of a Class of Second Order Sliding Mode Control Including Delay in Input

    Directory of Open Access Journals (Sweden)

    Pedro R. Acosta

    2013-01-01

    Full Text Available This paper deals with a class of second order sliding mode systems. Based on the derivative of the sliding surface, sufficient conditions are given for stability. However, the discontinuous control signal depend neither on the derivative of sliding surface nor on its estimate. Time delay in control input is also an important issue in sliding mode control for engineering applications. Therefore, also sufficient conditions are given for the time delay size on the discontinuous input signal, so that this class of second order sliding mode systems might have amplitude bounded oscillations. Moreover, amplitude of such oscillations may be estimated. Some numerical examples are given to validate the results. At the end, some conclusions are given on the possibilities of the results as well as their limitations.

  19. Sliding mode output feedback control based on tracking error observer with disturbance estimator.

    Science.gov (United States)

    Xiao, Lingfei; Zhu, Yue

    2014-07-01

    For a class of systems who suffers from disturbances, an original output feedback sliding mode control method is presented based on a novel tracking error observer with disturbance estimator. The mathematical models of the systems are not required to be with high accuracy, and the disturbances can be vanishing or nonvanishing, while the bounds of disturbances are unknown. By constructing a differential sliding surface and employing reaching law approach, a sliding mode controller is obtained. On the basis of an extended disturbance estimator, a creative tracking error observer is produced. By using the observation of tracking error and the estimation of disturbance, the sliding mode controller is implementable. It is proved that the disturbance estimation error and tracking observation error are bounded, the sliding surface is reachable and the closed-loop system is robustly stable. The simulations on a servomotor positioning system and a five-degree-of-freedom active magnetic bearings system verify the effect of the proposed method.

  20. Sliding Mode Control for Discrete-Time Systems With Markovian Packet Dropouts.

    Science.gov (United States)

    Song, Heran; Chen, Shih-Chi; Yam, Yeung

    2016-07-09

    This paper presents the design of a sliding mode controller for networked control systems subject to successive Markovian packet dropouts. This paper adopts the Gilbert-Elliott channel model to describe the temporal correlation among packet losses, and proposes an update scheme to select the assumed available states for use in a sliding mode control law. A technique used in the theory of discrete-time Markov jump linear systems is applied to tackle the effect of the packet losses. This involves introducing a couple of Lyapunov functions dependent on the indicator functions of the instantaneous packet loss, and proving that the sliding mode controller is able to drive the system state trajectories into the neighborhood of the designed integral sliding surface in mean-square sense given that the corresponding Lyapunov inequalities are satisfied. The system is guaranteed thereafter to remain inside the neighborhood of the sliding surface. Simulated case studies are presented to illustrate the effectiveness of the control law.

  1. On the synthesis of sliding mode controller for the autopilot design of free flight system

    Science.gov (United States)

    Devika K., B.; Thomas, Susy

    2017-01-01

    Today's rapid growth in air transportation demand leads to the problem of congestion in air traffic routes. In recent years, free flight concept is widely discussed as the solution to this problem. Free flight is a decentralized method of air traffic management, in which each aircraft has the freedom to self optimize its own route. Conflict detection and its subsequent resolution are the major challenges in the realization of this concept. Today's modern navigation and surveillance equipment can ensure accurate conflict predictions. Once a conflict is detected, it should be avoided through suitable conflict avoidance maneuvers. An autopilot capable of initiating these conflict free maneuvers should be a necessary part of any aircraft in free flight to ensure conflict avoided flight. Controller design based on Sliding Mode Control (SMC) strategy is presented in this paper for the purpose of free flight autopilot implementation. Since SMC has the inherent property of robustness in sliding mode, it can ensure a highly efficient autopilot design. Conventional and reaching law approaches of SMC design are considered here for controller design. Conventional SMC technique usually exhibits an unacceptable phenomenon, viz., chattering. Reaching law approaches for SMC design are being investigated here so as to identify an appropriate strategy that can ensure near chattering free operation. Considering typical free flight conflict avoidance modes of operation, the performance of all the considered SMC strategies are compared through simulation studies. The comparison is based on their ability to reduce chattering and the effectiveness in ensuring quick conflict resolution maneuvers, so that an efficient controller for free flight autopilot system can be recommended.

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

    Directory of Open Access Journals (Sweden)

    Juntao Fei

    2012-05-01

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

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

    Science.gov (United States)

    Liu, Xiangjie; Han, Yaozhen

    2014-11-01

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

  4. Discrete sliding mode control for robust tracking of higher order delay time systems with experimental application.

    Science.gov (United States)

    Khandekar, A A; Malwatkar, G M; Patre, B M

    2013-01-01

    In this paper, a discrete time sliding mode controller (DSMC) is proposed for higher order plus delay time (HOPDT) processes. A sliding mode surface is selected as a function of system states and error and the tuning parameters of sliding mode controller are determined using dominant pole placement strategy. The condition for the existence of stable sliding mode is obtained by using Lyapunov function. The proposed method is applicable to HOPDT processes with oscillatory and integrating behavior, open loop instability or non-minimum phase characteristics and works satisfactory under the effect of parametric uncertainty. The method does not require reduced order model and provides simple way to design the controllers. The simulation and experimentation results show that the proposed method ensures desired tracking dynamics.

  5. A Compound Fuzzy Disturbance Observer Based on Sliding Modes and Its Application on Flight Simulator

    Directory of Open Access Journals (Sweden)

    Yunjie Wu

    2013-01-01

    Full Text Available A compound fuzzy disturbance observer based on sliding modes is developed, and its application on flight simulator is presented. Fuzzy disturbance observer (FDO is an effective method in nonlinear control. However, traditional FDO is confined to monitor dynamic disturbance, and the frequency bandwidth of the system is restricted. Sliding mode control (SMC compensates the high-frequency component of disturbance while it is limited by the chattering phenomenon. The proposed method uses the sliding mode technique to deal with the uncompensated dynamic equivalent disturbance. The switching gain of sliding mode control designed according to the error of disturbance estimation is a small value. Therefore, the proposal also helps to decrease the chattering. The validity of the proposal method is confirmed by experiments on flight simulator.

  6. Adaptive-Gain Second-Order Sliding Mode Control of Attitude Tracking of Flexible Spacecraft

    Directory of Open Access Journals (Sweden)

    Chutiphon Pukdeboon

    2014-01-01

    finite-time second-order sliding mode control algorithms are presented to solve this problem. For the first controller, a novel second-order sliding mode control scheme is developed to achieve high-precision tracking performance. For the second control law, an adaptive-gain second-order sliding mode control algorithm combing an adaptive law with second-order sliding mode control strategy is designed to relax the requirement of prior knowledge of the bound of the system uncertainties. The rigorous proofs show that the proposed controllers provide finite-time convergence of the attitude and angular velocity tracking errors. Numerical simulations on attitude tracking control are presented to demonstrate the performance of the developed controllers.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    Jueping Bu

    2015-03-01

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

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

    National Research Council Canada - National Science Library

    Abdel-Razzak Merheb; Hassan Noura; François Bateman

    2015-01-01

    .... 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...

  10. Discrete Sliding Mode Control for Hypersonic Cruise Missile

    Directory of Open Access Journals (Sweden)

    Yong Hua Fan

    2016-01-01

    Full Text Available A discrete variable structure control (DVSC with sliding vector is presented to track the velocity and acceleration command for a hypersonic cruise missile. In the design an integrator is augmented to ensure the tracking with zero steady-state errors. Furthermore the sliding surface of acceleration is designed using the error of acceleration and acceleration rate to avoid the singularity of control matrix. A proper power rate reaching law is utilized in this proposal; therefore the state trajectory from any initial point can be driven into the sliding surface. Besides, in order to validate the robustness of controller, the unmolded dynamic and parameter disturbance of the missile are considered. Through simulation the proposed controller demonstrates good performance in tracking velocity and acceleration command.

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

    Institute of Scientific and Technical Information of China (English)

    黎振兹; 李慧剑; 黎晓峰; 周洪彬; 郝圣旺

    2002-01-01

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

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

    OpenAIRE

    Bin Zi; Huihui Sun; Zhencai Zhu; Sen Qian

    2012-01-01

    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 design...

  13. Second Order Sliding Mode-Based Output Feedback Tracking Control for Uncertain Robot Manipulators

    OpenAIRE

    Van, Mien; Hee-Jun Kang; Young-Soo Suh

    2013-01-01

    In this paper, a robust output feedback tracking control scheme for motion control of uncertain robot manipulators without joint velocity measurement based on a second-order sliding mode (SOSM) observer is presented. Two second‐order sliding mode observers with finite time convergence are developed for velocity estimation and uncertainty identification, respectively. The first SOSM observer is used to estimate the state vector in finite time without filtration. However, for uncertainty identi...

  14. Discrete-Time Sliding Mode Control for Uncertain Networked System Subject to Time Delay

    Directory of Open Access Journals (Sweden)

    Saulo C. Garcia

    2015-01-01

    Full Text Available We deal with uncertain systems with networked sliding mode control, subject to time delay. To minimize the degenerative effects of the time delay, a simpler format of state predictor is proposed in the control law. Some ultimate bounded stability analyses and stabilization conditions are provided for the uncertain time delay system with proposed discrete-time sliding mode control strategy. A numerical example is presented to corroborate the analyses.

  15. Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology

    OpenAIRE

    Hossein Rezaie; Arman Jahed; Bamdad Boroomand; Farzin Piltan

    2012-01-01

    Design a nonlinear controller for second order nonlinear uncertain dynamical systems is the main challenge in this paper. This paper focuses on the design and analysis of a chattering free Mamdani’s fuzzy-based tuning gradient descent optimal error-based fuzzy sliding mode controller for highly nonlinear dynamic six degrees of freedom robot manipulator, in presence of uncertainties. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; c...

  16. A Novel Fuzzy Logic Based Adaptive Supertwisting Sliding Mode Control Algorithm for Dynamic Uncertain Systems

    OpenAIRE

    Abdul Kareem; Mohammad Fazle Azeem

    2012-01-01

    This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic Control and Adaptive Control. The reaching conditions, stability and robustness of the system with the proposed controller are guaranteed. In addition, the proposed controller is well suited for simple design and implementation. The effectiveness ...

  17. Analysis and Control of the Pan System via Sliding Mode Control

    OpenAIRE

    Sundarapandian Vaidyanathan

    2012-01-01

    In this paper, we obtain new results for the analysis and control of the Pan system (2010) using sliding mode control (SMC). The stability results derived in this paper for the control of the Pan system to stabilize about its unstable equilibrium at the origin have been derived using sliding mode control and Lyapunov stability theory. Numerical simulations are depicted to demonstrate the control results derived in this paper.

  18. Adaptive High Order Sliding Mode Controller Design for Hypersonic Vehicle with Flexible Body Dynamics

    OpenAIRE

    Bailing Tian; Wenru Fan; Qun Zong; Jie Wang; Fang Wang

    2013-01-01

    This paper describes the design of a nonlinear robust adaptive controller for a flexible hypersonic vehicle model which is nonlinear, multivariable, and unstable, and includes uncertain parameters. Firstly, a control-oriented model is derived for controller design. Then, the model analysis is conducted for this model via input-output (I/O) linearized technique. Secondly, the sliding mode manifold is designed based on the homogeneity theory. Then, the adaptive high order sliding mode controlle...

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

    OpenAIRE

    DJOUDI, ABDELHAK; CHEKIREB, Hachemi; BERKOUK, EL MADJID; Bacha, Seddik

    2015-01-01

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

  20. Consistent approximations and variational description of some classes of sliding mode control processes

    OpenAIRE

    Azhmyakov, Vadim; Polyakov, Andrey; Poznyak, Alexander

    2013-01-01

    International audience; This paper is devoted to constructive approximations and an alternative theoretic characterization of some classes of sliding mode control processes. We construct the consistent approximations of the differential inclusions associated with the 1rst order variable structures dynamics and also propose a variational description of the sliding mode control in the framework of an auxiliary Hamiltonian based formalism. A trajectory of the closed-loop systems can be then cons...

  1. Sliding Mode Control of the Fractional-Order Unified Chaotic System

    OpenAIRE

    Jian Yuan; Bao Shi; Xiaoyun Zeng; Wenqiang Ji; Tetie Pan

    2013-01-01

    This paper deals with robust synchronization of the fractional-order unified chaotic systems. Firstly, control design for synchronization of nominal systems is proposed via fractional sliding mode technique. Then, systematic uncertainties and external disturbances are considered in the fractional-order unified chaotic systems, and adaptive sliding mode control is designed for the synchronization issue. Finally, numerical simulations are carried out to verify the effectiveness of the two propo...

  2. Sensorless Control of a Stepper Motor Based on Higher Order Sliding Modes

    OpenAIRE

    Fiter, Christophe; Floquet, Thierry; Rudolph, Joachim

    2010-01-01

    International audience; A robust control for a stepper motor with no position nor velocity sensors and only needing current and voltage measurements is designed. Second order sliding mode based observers are realized to estimate both rotor angular position and velocity. Moreover, a robust control law, which is also based on second order sliding modes and which uses the estimates of the observer, is designed. The stability of the observer based control loop is discussed. The results obtained i...

  3. A Compound Fuzzy Disturbance Observer Based on Sliding Modes and Its Application on Flight Simulator

    OpenAIRE

    Yunjie Wu; Youmin Liu; Dapeng Tian

    2013-01-01

    A compound fuzzy disturbance observer based on sliding modes is developed, and its application on flight simulator is presented. Fuzzy disturbance observer (FDO) is an effective method in nonlinear control. However, traditional FDO is confined to monitor dynamic disturbance, and the frequency bandwidth of the system is restricted. Sliding mode control (SMC) compensates the high-frequency component of disturbance while it is limited by the chattering phenomenon. The proposed method uses the sl...

  4. Sliding Modes for Anomaly Observation in TCP Networks: From Theory to Practice

    OpenAIRE

    Rahme, Sandy; Labit, Yann; Gouaisbaut, Frédéric; Floquet, Thierry

    2013-01-01

    International audience; Anomaly detection has been an active open problem in the networks community for several years. In this brief, we aim at detecting such abnormal signals by control theory techniques. Several classes of sliding mode observers are proposed for a fluid flow model of the transmission control protocol (TCP)/internet protocol network. Comparative simulations via network simulator NS-2 show the enhancement brought by a higher order sliding mode observer. The efficiency of this...

  5. Discrete Sliding Mode control of small UAS in tight formation flight under information constraints

    OpenAIRE

    Bolting , Jan; Fergani, Soheib; Biannic, Jean-Marc; Defay, François; Stolle, Martin

    2016-01-01

    This paper is concerned with a new control strategy based on discrete sliding mode control of small Unmanned Aerial Systems (UAS) in tight formation flight under information constraints. Tight formation flight enables, among other advantages, significant performance benefits due to wake vortex interactions. A discrete robust control strategy based on the sliding mode approach and a leader-follower scheme is proposed to achieve the desired flight performances while assuming realistic informati...

  6. Integral Terminal Sliding Mode Control for a Class of Nonaffine Nonlinear Systems with Uncertainty

    OpenAIRE

    Qiang Zhang; Hongliang Yu; Xiaohong Wang

    2013-01-01

    This paper is concerned with an integral terminal sliding mode tracking control for a class of uncertain nonaffine nonlinear systems. Firstly, the nonaffine nonlinear systems is approximated to facilitate the desired control design via a novel dynamic modeling technique. Next, for the unmeasured disturbance of nonlinear systems, integral terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to ...

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

    OpenAIRE

    Yong Tao; Jiaqi Zheng; Yuanchang Lin

    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...

  8. The simplex method for nonlinear sliding mode control

    Directory of Open Access Journals (Sweden)

    Bartolini G.

    1998-01-01

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

  9. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.

    Science.gov (United States)

    Chen, Mou; Wu, Qing-Xian; Cui, Rong-Xin

    2013-03-01

    In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control.

  10. Fuzzy robust sliding mode control of a class of uncertain systems

    Institute of Scientific and Technical Information of China (English)

    任立通; 谢寿生; 苗卓广; 田虎森; 彭靖波

    2016-01-01

    Aiming at a class of systems under parameter perturbations and unknown external disturbances, a method of fuzzy robust sliding mode control was proposed. Firstly, an integral sliding mode surface containing state feedback item was designed based on robustH∞control theory. The robust state feedback control was utilized to substitute for the equivalent control of the traditional sliding mode control. Thus the robustness of systems sliding mode motion was improved even the initial states were unknown. Furthermore, when the upper bound of disturbance was unknown, the switching control logic was difficult to design, and the drawbacks of chattering in sliding mode control should also be considered simultaneously. To solve the above-mentioned problems, the fuzzy nonlinear method was applied to approximate the switching control term. Based on the Lyapunov stability theory, the parameter adaptive law which could guarantee the system stability was devised. The proposed control strategy could reduce the system chattering effectively. And the control input would not switch sharply, which improved the practicality of the sliding mode controller. Finally, simulation was conducted on system with parameter perturbations and unknown external disturbances. The result shows that the proposed method could enhance the approaching motion performance effectively. The chattering phenomenon is weakened, and the system possesses stronger robustness against parameter perturbations and external disturbances.

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

    Directory of Open Access Journals (Sweden)

    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.

  12. Comparison between two different sliding mode controllers for a fractional-order unified chaotic system

    Institute of Scientific and Technical Information of China (English)

    Qi Dong-Lian; Wang Qiao; Yang Jie

    2011-01-01

    Two different sliding mode controllers for a fractional order unified chaotic system are presented.The controller for an integer-order unified chaotic system is substituted directly into the fractional-order counterpart system,and the fractional-order system can be made asymptotically stable by this controller.By proving the existence of a sliding manifold containing fractional integral,the controller for a fractional-order system is obtained,which can stabilize it.A comparison between these different methods shows that the performance of a sliding mode controller with a fractional integral is more robust than the other for controlling a fractional order unified chaotic system.

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

    Directory of Open Access Journals (Sweden)

    Wenru Fan

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Kening Li

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hongwei Xia

    2013-01-01

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

  16. Synchronization of different chaotic systems via active radial basis functions sliding mode controller

    Institute of Scientific and Technical Information of China (English)

    Guo Hui-Jun; Yin You-Wei; Wang Hua-Min

    2008-01-01

    This paper presents a new method to synchronize different chaotic systems with disturbances via an active radial basis function (RBF) sliding controller.This method incorporates the advantages of active control,neural network and sliding mode control.The main part of the controller is given based on the output of the RBF neural networks and the weights of these single layer networks are tuned on-line based on the sliding mode reaching law.Only several radial basis functions are required for this controller which takes the sliding mode variable as the only input.The proposed controller can make the synchronization error converge to zero quickly and can overcome external disturbances.Analysis of the stability for the controller is carried out based on the Lyapunov stability theorem.Finally,five examples are given to illustrate the robustness and effectiveness of the proposed synchronization control strategy.

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

    DEFF Research Database (Denmark)

    Lascu, Cristian; Blaabjerg, Frede

    2014-01-01

    This paper presents a new super-twisting sliding modes direct torque and flux controller (STSM-DTC) for induction motor (IM) drives. The STSM is a second-order (type two) variable-structure control which operates without high-frequency chattering. The proposed STSM scheme is a torque and stator......-gain sliding-mode-like behavior. The experimental tests show that the STSM-DTC controller displays very robust behavior, similar to a conventional sliding controller, and it works without notable steady-state chattering, like the PI controller. The paper presents theoretical aspects for the new STSM......-DTC 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....

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

    DEFF Research Database (Denmark)

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

    2013-01-01

    Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator dynamics...... accuracy to be reached. In this paper a novel control approach based on second order sliding modes utilizing the idea of the power rate reaching law is introduced. Dependent on parameters the proposed controller may preserve the main features of sliding controls, while at the same time avoiding control....... This may be avoided by application of smoothing functions imposing boundary layers on the control constraint, or by carrying out the design in relation to the control derivative. However, such boundary layers introduces additional design parameters and actuator dynamics may not allow the desired control...

  19. Integral Sliding Mode Fault-Tolerant Control for Uncertain Linear Systems Over Networks With Signals Quantization.

    Science.gov (United States)

    Hao, Li-Ying; Park, Ju H; Ye, Dan

    2016-06-13

    In this paper, a new robust fault-tolerant compensation control method for uncertain linear systems over networks is proposed, where only quantized signals are assumed to be available. This approach is based on the integral sliding mode (ISM) method where two kinds of integral sliding surfaces are constructed. One is the continuous-state-dependent surface with the aim of sliding mode stability analysis and the other is the quantization-state-dependent surface, which is used for ISM controller design. A scheme that combines the adaptive ISM controller and quantization parameter adjustment strategy is then proposed. Through utilizing H∞ control analytical technique, once the system is in the sliding mode, the nature of performing disturbance attenuation and fault tolerance from the initial time can be found without requiring any fault information. Finally, the effectiveness of our proposed ISM control fault-tolerant schemes against quantization errors is demonstrated in the simulation.

  20. A Sliding Mode Control for Four-Wire Shunt Active Filter

    Science.gov (United States)

    Hamoudi, Farid; Chaghi, Aziz; Adli, Mouloud; Amimeur, Hocine

    2011-09-01

    The present paper deals with the sliding mode control of a three-phase four-wire shunt active filter SAF, to improve phase-current waveform, neutral current mitigation and reactive power compensation in electric power distribution system. The sliding mode is formulated using elementary differential geometry, then the control vector is deduced from the sliding surface accessibility using the Lyapunov stability. The algorithm used to establish the current references for the sliding mode controller is based on the instantaneous real and imaginary power theory for four-wire system. It will be seen that this method permits to synthesis the control vector with simple manner, and finally, the obtained simulation results confirm that the above objectives are satisfied.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2005-02-01

    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.

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

    CERN Document Server

    Mehta, Axaykumar

    2015-01-01

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

  3. Sliding mode H∞ control for a class of uncertain nonlinear state-delayed systems

    Institute of Scientific and Technical Information of China (English)

    Wu Ligang; Wang Changhong; Gao Huijun; Zhang Lixian

    2006-01-01

    A new proportional-integral (PI) sliding surface is designed for a class of uncertain nonlinear state-delayed systems. Based on this, an adaptive sliding mode controller (ASMC) is synthesized, which guarantees the occurrence of sliding mode even when the system is undergoing parameter uncertainties and external disturbance. The resulting sliding mode has the same order as the original system, so that it becomes easy to solve the H∞ control problem by designing a memoryless H∞ state feedback controller. A delay-dependent sufficient condition is proposed in terms of linear matrix inequalities (LMIs), which guarantees the sliding mode robust asymptotically stable and has a noise attenuation level γ in an H∞ sense. The admissible state feedback controller can be found by solving a sequential minimization problem subject to LMI constraints by applying the cone complementary linearization method. This design scheme combines the strong robustness of the sliding mode control with the H∞ norm performance. A numerical example is given to illustrate the effectiveness of the proposed scheme.

  4. Sliding mode control of outbreaks of emerging infectious diseases.

    Science.gov (United States)

    Xiao, Yanni; Xu, Xiaxia; Tang, Sanyi

    2012-10-01

    This paper proposes and analyzes a mathematical model of an infectious disease system with a piecewise control function concerning threshold policy for disease management strategy. The proposed models extend the classic models by including a piecewise incidence rate to represent control or precautionary measures being triggered once the number of infected individuals exceeds a threshold level. The long-term behaviour of the proposed non-smooth system under this strategy consists of the so-called sliding motion-a very rapid switching between application and interruption of the control action. Model solutions ultimately approach either one of two endemic states for two structures or the sliding equilibrium on the switching surface, depending on the threshold level. Our findings suggest that proper combinations of threshold densities and control intensities based on threshold policy can either preclude outbreaks or lead the number of infected to a previously chosen level.

  5. Model reference, sliding mode adaptive control for flexible structures

    Science.gov (United States)

    Yurkovich, S.; Ozguner, U.; Al-Abbass, F.

    1988-01-01

    A decentralized model reference adaptive approach using a variable-structure sliding model control has been developed for the vibration suppression of large flexible structures. Local models are derived based upon the desired damping and response time in a model-following scheme, and variable structure controllers are then designed which employ colocated angular rate and position feedback. Numerical simulations have been performed using NASA's flexible grid experimental apparatus.

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

    Directory of Open Access Journals (Sweden)

    Shahnaz Tayebi Haghighi

    2013-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Amin Jalali

    2013-05-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

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

    2014-12-01

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

  10. Neuro-Sliding-Mode Control of Flexible-Link Manipulators Based on Singularly Perturbed Model

    Institute of Scientific and Technical Information of China (English)

    ZHANG Yu; YANG Tangwen; SUN Zengqi

    2009-01-01

    A neuro-sliding-mode control (NSMC) strategy was developed to handle the complex nonlinear dynamics and model uncertainties of flexible-link manipulators. A composite controller was designed based on a singularly perturbed model of flexible-link manipulators when the rigid motion and flexible motion are decoupled. The NSMC is employed to control the slow subsystem to track a desired trajectory with a traditional sliding mode controller to stabilize the fast subsystem which represents the link vibrations. A stability analysis of the flexible modes is also given. Simulations confirm that the NSMC performs better than the tra-ditional sliding-mode control for controlling flexible-link manipulators. The control strategy not only gives good tracking performance for the joint angle, but also effectively suppresses endpoint vibrations. The simulations also show that the control strategy has a strong self-adaptive ability for controlling manipulators with different parameters.

  11. A Sliding Mode Control Using Brain Limbic System Control Strategy for a Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Hak Yi

    2015-11-01

    Full Text Available This paper presents a robust bio-inspired sliding mode control approach, designed to achieve a favourable tracking performance in a class of robotic manipulators with uncertainties. To this end, brain emotional learning-based intelligent control (BELBIC is applied, to adaptively adjust the control input law in the sliding mode control. The combined form provides an adjustment of the control input law that effectively alleviates the chattering effects of the sliding mode control. Specifically, the online parameters computed from the parameter uncertainties and external disturbances help to improve the system robustness. The simulation results demonstrate that the proposed bio-inspired control strategy is very successful at tracking the given trajectories with less chattering, as compared to both the conventional and fuzzy sling mode control schemes.

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

    DEFF Research Database (Denmark)

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

    2009-01-01

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

  13. Nonlinear Integral Sliding Mode Control for a Second Order Nonlinear System

    Directory of Open Access Journals (Sweden)

    Xie Zheng

    2015-01-01

    Full Text Available A nonlinear integral sliding-mode control (NISMC scheme is proposed for second order nonlinear systems. The new control scheme is characterized by a nonlinear integral sliding manifold which inherits the desired properties of the integral sliding manifold, such as robustness to system external disturbance. In particular, compared with four kinds of sliding mode control (SMC, the proposed control scheme is able to provide better transient performances. Furthermore, the proposed scheme ensures the zero steady-state error in the presence of a constant disturbance or an asymptotically constant disturbance is proved by Lyapunov stability theory and LaSalle invariance principle. Finally, both the theoretical analysis and simulation examples demonstrate the validity of the proposed scheme.

  14. Finite-time control for nonlinear spacecraft attitude based on terminal sliding mode technique.

    Science.gov (United States)

    Song, Zhankui; Li, Hongxing; Sun, Kaibiao

    2014-01-01

    In this paper, a fast terminal sliding mode control (FTSMC) scheme with double closed loops is proposed for the spacecraft attitude control. The FTSMC laws are included both in an inner control loop and an outer control loop. Firstly, a fast terminal sliding surface (FTSS) is constructed, which can drive the inner loop tracking-error and the outer loop tracking-error on the FTSS to converge to zero in finite time. Secondly, FTSMC strategy is designed by using Lyaponov's method for ensuring the occurrence of the sliding motion in finite time, which can hold the character of fast transient response and improve the tracking accuracy. It is proved that FTSMC can guarantee the convergence of tracking-error in both approaching and sliding mode surface. Finally, simulation results demonstrate the effectiveness of the proposed control scheme.

  15. Time-varying Sliding Mode Controls in Rigid Spacecraft Attitude Tracking

    Institute of Scientific and Technical Information of China (English)

    Jin Yongqiang; Liu Xiangdong; Qiu Wei; Hou Chaozhen

    2008-01-01

    To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of control input constraints. The sliding surfaces of the three types initially pass arbitrary initial values of the system, and then shift or rotate to reach predetermined ones. This way, the system trajectories are always on the sliding surfaces, and the system work is guaranteed to have robustness against paramour uncertainty and external disturbances all the time. The controller parameters are optimized by means of genetic algorithm to minimize the index consisting of the weighted index of squared error (ISE) of the system and the weighted penalty term of violation of control input constraint. The stability is verified with Lyapunov method. Compared with the conventional sliding mode control, simulation results show the proposed algorithm having better robustness against inertia matrix uncertainty and external disturbance torques.

  16. Fractional order nonsingular terminal sliding mode control for flexible spacecraft attitude tracking

    Institute of Scientific and Technical Information of China (English)

    GAO; Junshan; DENG; Liwei; SONG; Shenmin

    2016-01-01

    This paper investigates a fractional terminal sliding mode control for flexible spacecraft attitude tracking in the presence of inertia uncertainties and external disturbances. The controller is based on the fractional calculus and nonsingular terminal sliding mode control technique,and it guarantees the convergence of attitude tracking error in finite time rather than in the asymptotic sense. With respect to the controller,a fractional order sliding surface is given,the corresponding control scheme is proposed based on Lyapunov stability theory to guarantee the sliding condition,and the finite time stability of the whole close loop system is also proven. Finally,numerical simulations are presented to illustrate the performance of the proposed scheme.

  17. Robust passive control for a class of uncertain neutral systems based on sliding mode observer.

    Science.gov (United States)

    Liu, Zhen; Zhao, Lin; Kao, Yonggui; Gao, Cunchen

    2017-01-01

    The passivity-based sliding mode control (SMC) problem for a class of uncertain neutral systems with unmeasured states is investigated. Firstly, a particular non-fragile state observer is designed to generate the estimations of the system states, based upon which a novel integral-type sliding surface function is established for the control process. Secondly, a new sufficient condition for robust asymptotic stability and passivity of the resultant sliding mode dynamics (SMDs) is obtained in terms of linear matrix inequalities (LMIs). Thirdly, the finite-time reachability of the predesigned sliding surface is ensured by resorting to a novel adaptive SMC law. Finally, the validity and superiority of the scheme are justified via several examples.

  18. Microgravity Isolation Control System Design Via High-Order Sliding Mode Control

    Science.gov (United States)

    Shkolnikov, Ilya; Shtessel, Yuri; Whorton, Mark S.; Jackson, Mark

    2000-01-01

    Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of second order. The primary DSM is designed for the closed-loop system in sliding mode to be a filter with given characteristics with respect to the input external disturbances.

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

    Directory of Open Access Journals (Sweden)

    Amir Hossein Abolmasoumi

    2014-10-01

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

  20. Control to Three-phase Inverter by Sliding Mode

    Directory of Open Access Journals (Sweden)

    Mouhamadou Thiam

    2014-03-01

    Full Text Available In this study, it is treated the modeling and the ordering of a three-phase inverter. The studied system is a load supplied with a three-phase inverter by means of a transformer. The ordering of the inverter is with PWM (pulse-width modulation/pulse-width Modulation and its regulation is made by the sliding method. This method is presented in this document with its various laws. The simulation of the unit is made and the results presented.

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

    Directory of Open Access Journals (Sweden)

    Ayman A. Aly

    2013-07-01

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

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

    Institute of Scientific and Technical Information of China (English)

    ZHANG Li; QIU Shui-sheng

    2005-01-01

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

  3. New synthesis algorithm of static output feedback sliding mode control for a class of uncertain systems

    Institute of Scientific and Technical Information of China (English)

    Ji XIANG; Hongye SU; Jian CHU; Xiaoyu ZHANG

    2004-01-01

    Based on a kind of regular form,a Lyapunov matrix with special structure is presented to design the sliding surface matrix conveniently and then an effective algorithm is developed on it.A simple static output feedback sliding mode control law without extra dynamic equation is given,such that the predefined sliding surface is reached in finite time for the general matching uncertainties.In the reported result,this extra dynamic equation is used for evaluating the norm bound of the unmeasured state vector.Finally,some examples are studied to illustrate the proposed approach.

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

    OpenAIRE

    Wenru Fan; Bailing Tian

    2016-01-01

    A multivariable super-twisting sliding mode controller and disturbance observer with gain adaptation, chattering reduction, and finite time convergence are proposed for a generic hypersonic vehicle where the boundary of aerodynamic uncertainties exists but is unknown. Firstly, an input-output linearization model is constructed for the purpose of controller design. Then, the sliding manifold is designed based on the homogeneity theory. Furthermore, an integrated adaptive multivariable super-tw...

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

    OpenAIRE

    John Cortés-Romero; Harvey Rojas-Cubides; Horacio Coral-Enriquez; Hebertt Sira-Ramírez; Alberto Luviano-Juárez

    2013-01-01

    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 obs...

  6. Dynamic Sliding Mode Control Design Based on an Integral Manifold for Nonlinear Uncertain Systems

    OpenAIRE

    Qudrat Khan; Aamer Iqbal Bhatti; Antonella Ferrara

    2014-01-01

    An output feedback sliding mode control law design relying on an integral manifold is proposed in this work. The considered class of nonlinear systems is assumed to be affected by both matched and unmatched uncertainties. The use of the integral sliding manifold allows one to subdivide the control design procedure into two steps. First a linear control component is designed by pole placement and then a discontinuous control component is added so as to cope with the uncertainty presence. In c...

  7. Global Sliding Mode Control for the Bank-to-Turn of Hypersonic Glide Vehicle

    Science.gov (United States)

    Zhang, J.; Yu, Y. F.; Yan, P. P.; Fan, Y. H.; Guo, X. W.

    2017-03-01

    The technology of Bank-to-Turn has been recognized as an attractive direction due to their significance for the control of hypersonic glide vehicle. Strong coupling existing among pitch, yaw and roll channel was a great challenge for banking to turn, and thus a novel global sliding mode controller was designed for hypersonic glider in this paper. Considering the coupling among channels as interference, we can use invariance principle of sliding mode motion to realize the decoupling control. The global sliding mode control system could eliminate the stage of reaching, which can lead to the realization of whole systematic process decoupling control. When the global sliding mode factor was designed, a minimum norm pole assignment method of the sliding mode matrix was introduced to improve the robustness of the system. The method of continuity of symbolic function was adopted to overcome the chatter, which furtherly modify the transient performance of the system. The simulation results show that this method has good performance of three channel decoupling control and guidance command tracking. And it can meet the requirements of the dynamic performance of the system.

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

    DEFF Research Database (Denmark)

    Schmidt, Lasse

    performance, simple parameter design and robustness in the presence of uncertain parameters- and disturbances, the field of sliding mode control has been investigated. Especially high order sliding mode control methods have been studied, due the intriguing possibility of maintaining the main properties...... of sliding mode control but with continuous control inputs. The applicability of second order modes has been investigated, and modifications of such controls have been developed based on homogeneity principles in order to provide more suitable controllers for hydraulic systems, than conventional second order...... sliding mode types. Also, an extension of the second order sliding algorithm known as the twisting algorithm has been developed, with compensation of local equilibria, and even an arbitrary order sliding mode design has been considered in a future perspective. Experimental results reveal that the model...

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

    Science.gov (United States)

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

    2014-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Yigeng Huangfu

    2012-01-01

    Full Text Available This paper mainly discussed a method of high-frequency second-order sliding mode control for Buck converter in wind power systems. Because the wind energy of nature is always unpredictable and intermittent, the robust control such as sliding mode control is adopted in past literatures. In order to remove the high frequency chattering problem when the traditional sliding mode achieves convergence, the second order sliding mode algorithm is reviewed firstly. Meanwhile, the Buck converter taken as a step-down converter is usually adopted in wind power system, because of its simple structure and good linearity. Under those conditions, the second order sliding mode controller is designed based on Buck converter, especially in high-power wind generation system. The experimental results illustrate that the theory of second order sliding mode can be used in high-power Buck converter. It provides one novel avoidance high frequency chattering method for the technology development of new energy generation system.

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

    OpenAIRE

    Xuzhong Wu; Shengjing Tang; Jie Guo; Yao Zhang

    2015-01-01

    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 ...

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

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

    2016-07-01

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

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

    Science.gov (United States)

    Ma, Zhiqiang; Sun, Guanghui

    2016-10-01

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

  15. Sliding-mode control design for nonlinear systems using probability density function shaping.

    Science.gov (United States)

    Liu, Yu; Wang, Hong; Hou, Chaohuan

    2014-02-01

    In this paper, we propose a sliding-mode-based stochastic distribution control algorithm for nonlinear systems, where the sliding-mode controller is designed to stabilize the stochastic system and stochastic distribution control tries to shape the sliding surface as close as possible to the desired probability density function. Kullback-Leibler divergence is introduced to the stochastic distribution control, and the parameter of the stochastic distribution controller is updated at each sample interval rather than using a batch mode. It is shown that the estimated weight vector will converge to its ideal value and the system will be asymptotically stable under the rank-condition, which is much weaker than the persistent excitation condition. The effectiveness of the proposed algorithm is illustrated by simulation.

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

    Institute of Scientific and Technical Information of China (English)

    Wei Jianhua; Guan Cheng

    2005-01-01

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

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

    Science.gov (United States)

    Hwang, Ji-Hwan; Kang, Young-Chang; Park, Jong-Wook; Kim, Dong W

    2017-01-01

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

    Jie LUO; Chengyu CAO

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Ronghui Li

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Zhi-ping Shen

    2016-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-10-15

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

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

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

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

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

    Science.gov (United States)

    Hwang, Ji-Hwan; Kang, Young-Chang

    2017-01-01

    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.

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

    Institute of Scientific and Technical Information of China (English)

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

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Zinelaabidine Boudjema

    2015-06-01

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

  8. Self-Tuning Sliding Mode Controller—Program Control for Process and Mechanical System—

    Science.gov (United States)

    Sakamoto, Noriaki; Komiyama, Daigo; Kubota, Masakazu

    Sliding mode control is a well-known technique to guarantee robustness in the presence of uncertainties of modeling, parameter variations, and external disturbances. The sliding mode control law is based on the knowledge of controlled system and the norm (or maximum value, etc.) of uncertainties. However, the modeling work is difficult, and the cost of it is expensive. So, this paper proposes the self-tuning sliding mode controller that calculates the control input (manipulated variable) only by using the desired value and the state variable without requiring the system parameter, the input parameter and the size of the disturbance. Various experiments, which are the temperature control of aluminum and wood-ceramics, the level control of the water tank, and the position control of the shape memory alloy in the program control (time-scheduled control), show the validity and utility of the proposed controller.

  9. Multisensor Fault Identification Scheme Based on Decentralized Sliding Mode Observers Applied to Reconfigurable Manipulators

    Directory of Open Access Journals (Sweden)

    Bo Zhao

    2013-01-01

    Full Text Available This paper concerns with a fault identification scheme in a class of nonlinear interconnected systems. The decentralized sliding mode observer is recruited for the investigation of position sensor fault or velocity sensor fault. First, a decentralized neural network controller is proposed for the system under fault-free state. The diffeomorphism theory is utilized to construct a nonlinear transformation for subsystem structure. A simple filter is implemented to convert the sensor fault into pseudo-actuator fault scenario. The decentralized sliding mode observer is then presented for multisensor fault identification of reconfigurable manipulators based on Lyapunov stable theory. Finally, two 2-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in numerical simulation. The results demonstrate that one joint’s fault does not affect other joints and the sensor fault can be identified precisely by the proposed decentralized sliding mode observer.

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

    Institute of Scientific and Technical Information of China (English)

    Ran Maopeng; Wang Qing; Hou Delong; Dong Chaoyang

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    Yau, H.-T. [Department of Electrical Engineering, Far-East College, Tainan 744, Taiwan (China)]. E-mail: pan1012@ms52.hinet.net; Chen, C.-L. [Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan (China)

    2006-11-15

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

  14. Maximum Power Point Tracking of DC To DC Boost Converter Using Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Anusuyadevi R

    2013-07-01

    Full Text Available A sliding mode controller is used to estimate the maximum power point as a reference for it to track that point and force the PV system to operate in this point. In sliding mode control, the trajectories of the system are forced to reach a sliding manifold of surface, where it exhibit desirable features, in finite time and to stay on the manifold for all future time. The load is composed of a battery bank. It is obtained by controlling the duty cycle of a DC-DC converter using sliding mode control. This method has the advantage that it will guarantee the maximum output power possible by the array configuration while considering the dynamic parameters solar irradiance and delivering more power to charge the battery. The proposed system with sliding mode control is tested using MATLAB / SIMULINK platform in which a maximum power is tracked under constant and varying solar irradiance and delivered to the battery which increasing the current that is charging the battery and reduces the charging time.

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

    Directory of Open Access Journals (Sweden)

    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.

  16. Robust Sliding Mode Control of Cucumber Picking Robot Based on the Upper Bound Estimation

    Directory of Open Access Journals (Sweden)

    Wei Liu

    2015-02-01

    Full Text Available In this study, a robust sliding mode control based on upper bound estimation was applied in position trajectory control of the fruit harvesting robot. It decomposes the manipulator dynamics equation into a constant unknown vector parameter and a known dynamic nonlinear (called the regression vector. This study based on regression design new sliding mode control law. The algorithm ensures the stability of the closed-loop system upper based on unknown upper bound estimation parameters. It shows from robustness analysis that when the system has the time-varying uncertainty, the closed loop system can still be stabilized.

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

    Institute of Scientific and Technical Information of China (English)

    Lingfei XIAO; Hongye SU; Xiaoyu ZHANG; Jian CHU

    2006-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

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

    2008-01-01

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

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

    DEFF Research Database (Denmark)

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

    2013-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

    Wallace Moreira Bessa

    2009-01-01

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

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

    Science.gov (United States)

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

    2016-09-01

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

  2. New adaptive quasi-sliding mode control for nonlinear discrete-time systems

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    A new adaptive quasi-sliding mode control algorithm is developed for a class of nonlinear diecrete-time systems,which is especially useful for nonlinear systems with vaguely known dynamics.This design is model-free,and is based directly on pseudo-partial-derivatives derived on-line from the input and output information of the system using an improved recursive projection type of identification algorithm.The theoretical analysis and simulation results show that the adaptive quasi-sliding mode control system is stable and convergent.

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

    DEFF Research Database (Denmark)

    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...... great performance in complicated nonlinear systems control such as WECS. The proposed control strategy modifies Reaching Law (RL) of sliding mode technique to reduce chattering issue and to improve THD property compared to conventional reaching law SMC. The effectiveness of the proposed control strategy...

  4. Synchronization for unified chaotic systems with noise-disturbed parameters by sliding mode control

    Institute of Scientific and Technical Information of China (English)

    HEN Yuan; ZHANG Qun-jiao

    2008-01-01

    In this paper,the active sliding mode control method is utilized to study the synchronization for unified chaotic systems with noise-disturbed parameters.Some novet results about the suitable sliding mode surface and the synchronizing control law are derived,which avoid the mistake inequality sC△Ae≤‖△A‖∞ sCe in Ref.[Chaos,Solitons & Fractals 21(2004) 1249].Finally,numerical sireulations are included to show the correctness of our results and the effectiveness of the developed approach.

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

    DEFF Research Database (Denmark)

    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......) control. In order to improve control performance of the overall system, electromagnetic power and active power oscillations elimination strategies are proposed respectively. Lastly, the effective of the proposed control strategy is verified by the simulation results of a 2 MW DFIG system....

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

    Directory of Open Access Journals (Sweden)

    Meng-Hui Wang

    2015-08-01

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

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

    DEFF Research Database (Denmark)

    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...

  8. Sliding mode control for efficiency optimization of wind energy systems with double output induction generator

    Energy Technology Data Exchange (ETDEWEB)

    Puleston, P.F.; Mantz, R.J.; Battaiotto, P.E.; Valenciaga, F. [La Plata Univ., Electrical Engineering Dept., La Plata (Argentina)

    2000-07-01

    This paper deals with generation efficiency maximization of wind energy conversion system (WECS) with double output induction generator (DOIG). In the first place, to design a sliding mode controller, an apropos model of the DOIG with electronic drive in the rotor is developed. Then, conditions of maximum power generation are obtained. Finally, a sliding mode control strategy for this type of WECS is presented. The proposed strategy varies the firing angle of the electronic drive in order to set the extreme control values equal to the maximum and minimum available control action of the system. Consequently, robustness to parametric uncertainties and external disturbances is maximised. (Author)

  9. Adaptive Terminal Sliding Mode Control of Electromagnetic Spacecraft Formation Flying in Near-Earth Orbits

    Directory of Open Access Journals (Sweden)

    Jingrui Zhang

    2014-02-01

    Full Text Available An adaptive terminal sliding mode control for six-degree-of-freedom electromagnetic spacecraft formation flying (EMFF in near-Earth orbits is presented. By using terminal sliding mode (TSM technique, the output tracking error can converge to zero in finite time, and strong robustness with respect to disturbance forces can be guaranteed. Based on a rotated frame Fr and the adaptive TSM controller, the special magnetic moment of the steerable magnetic dipole is computed. The angular momentum management strategy (AMM is implemented in a periodically switching fashion, by which the angular momentum buildup was limited. Illustrative simulations of EMFF are conducted to verify the effectiveness of the proposed controller.

  10. Integral backstepping sliding mode control for underactuated systems: swing-up and stabilization of the Cart-Pendulum System.

    Science.gov (United States)

    Adhikary, Nabanita; Mahanta, Chitralekha

    2013-11-01

    In this paper an integral backstepping sliding mode controller is proposed for controlling underactuated systems. A feedback control law is designed based on backstepping algorithm and a sliding surface is introduced in the final stage of the algorithm. The backstepping algorithm makes the controller immune to matched and mismatched uncertainties and the sliding mode control provides robustness. The proposed controller ensures asymptotic stability. The effectiveness of the proposed controller is compared against a coupled sliding mode controller for swing-up and stabilization of the Cart-Pendulum System. Simulation results show that the proposed integral backstepping sliding mode controller is able to reject both matched and mismatched uncertainties with a chattering free control law, while utilizing less control effort than the sliding mode controller.

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

    Directory of Open Access Journals (Sweden)

    Sendren Sheng-Dong Xu

    2014-01-01

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

  12. Application of Sliding Mode Methods to the Design of Reconfigurable Flight Control Systems

    Science.gov (United States)

    Wells, Scott R.

    2002-01-01

    Observer-based sliding mode control is investigated for application to aircraft reconfigurable flight control. A comprehensive overview of reconfigurable flight control is given, including, a review of the current state-of-the-art within the subdisciplines of fault detection, parameter identification, adaptive control schemes, and dynamic control allocation. Of the adaptive control methods reviewed, sliding mode control (SMC) appears very promising due its property of invariance to matched uncertainty. An overview of sliding mode control is given and its remarkable properties are demonstrated by example. Sliding mode methods, however, are difficult to implement because unmodeled parasitic dynamics cause immediate and severe instability. This presents a challenge for all practical applications with limited bandwidth actuators. One method to deal with parasitic dynamics is the use of an asymptotic observer in the feedback path. Observer-based SMC is investigated, and a method for selecting observer gains is offered. An additional method for shaping the feedback loop using a filter is also developed. It is shown that this SMC prefilter is equivalent to a form of model reference hedging. A complete design procedure is given which takes advantage of the sliding mode boundary layer to recast the SMC as a linear control law. Frequency domain loop shaping is then used to design the sliding manifold. Finally, three aircraft applications are demonstrated. An F-18/HARV is used to demonstrate a SISO pitch rate tracking controller. It is also used to demonstrate a MIMO lateral-directional roll rate tracking controller. The last application is a full linear six degree-of-freedom advanced tailless fighter model. The observer-based SMC is seen to provide excellent tracking with superior robustness to parameter changes and actuator failures.

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

    Directory of Open Access Journals (Sweden)

    Xuzhong Wu

    2015-01-01

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

  14. Sliding Mode Control of the X-33 with an Engine Failure

    Science.gov (United States)

    Shtessel, Yuri B.; Hall, Charles E.

    2000-01-01

    Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles

  15. Fractional order sliding mode control for tethered satellite deployment with disturbances

    Science.gov (United States)

    Kang, Junjie; Zhu, Zheng H.; Wang, Wei; Li, Aijun; Wang, Changqing

    2017-01-01

    This paper proposes a fractional order sliding mode control for the deployment of tethered space systems with the consideration of uncertainty of external disturbances and unmodeled system dynamics. The proposed fractional order sliding mode control consists of two sub-sliding manifolds that are defined separately for the actuated and unactuated states. This, in turn, generates a control scheme to make all states move toward to the desired states. The stability analysis of the proposed control law indicates not only all states converge to the desired states at equilibrium but also disturbances caused by the uncertainty can be suppressed satisfactorily. Parametric studies are conducted to investigate the influences of fractional order and sub-sliding manifold of unactuated states on the performance of the proposed control law. The performance is compared with the sliding mode, PD and fractional order PD control laws for a baseline scenario of tether deployment. The proposed control law performs better than others in the settling time and the maximum pitch angle control in the presence of unwanted disturbances. Effectiveness and robustness of the proposed control law are demonstrated by computer simulations.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-05-15

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

  17. Vibration suppression in flexible structures via the sliding-mode control approach

    Science.gov (United States)

    Drakunov, S.; Oezguener, Uemit

    1994-01-01

    Sliding mode control became very popular recently because it makes the closed loop system highly insensitive to external disturbances and parameter variations. Sliding algorithms for flexible structures have been used previously, but these were based on finite-dimensional models. An extension of this approach for differential-difference systems is obtained. That makes if possible to apply sliding-mode control algorithms to the variety of nondispersive flexible structures which can be described as differential-difference systems. The main idea of using this technique for dispersive structures is to reduce the order of the controlled part of the system by applying an integral transformation. We can say that transformation 'absorbs' the dispersive properties of the flexible structure as the controlled part becomes dispersive.

  18. Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach.

    Science.gov (United States)

    Khan, Qudrat; Akmeliawati, Rini; Bhatti, Aamer Iqbal; Khan, Mahmood Ashraf

    2017-01-01

    This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenon are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique.

  19. Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system.

    Science.gov (United States)

    Song, Zhankui; Sun, Kaibiao

    2014-01-01

    A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking-control of a kind of nonlinear mechanical system. The proposed ABSMC scheme combining the sliding mode control and backstepping technique ensure that the occurrence of the sliding motion in finite-time and the trajectory of tracking-error converge to equilibrium point. To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation. Furthermore, we introduce fuzzy monitoring strategy to improve adaptive capacity and soften the control signal. The convergence and stability of the proposed control scheme are proved by using Lyaponov's method. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme.

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

    Directory of Open Access Journals (Sweden)

    Li-lian Huang

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Faten Baklouti

    2016-01-01

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

  2. A novel adaptive switching function on fault tolerable sliding mode control for uncertain stochastic systems.

    Science.gov (United States)

    Zahiripour, Seyed Ali; Jalali, Ali Akbar

    2014-09-01

    A novel switching function based on an optimization strategy for the sliding mode control (SMC) method has been provided for uncertain stochastic systems subject to actuator degradation such that the closed-loop system is globally asymptotically stable with probability one. In the previous researches the focus on sliding surface has been on proportional or proportional-integral function of states. In this research, from a degree of freedom that depends on designer choice is used to meet certain objectives. In the design of the switching function, there is a parameter which the designer can regulate for specified objectives. A sliding-mode controller is synthesized to ensure the reachability of the specified switching surface, despite actuator degradation and uncertainties. Finally, the simulation results demonstrate the effectiveness of the proposed method.

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

    Institute of Scientific and Technical Information of China (English)

    ZHOU Jun; WANG Zhi; ZHOU Feng-qi

    2007-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

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

    2005-01-01

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

  5. A novel dynamic terminal sliding mode control of uncertain nonlinear systems

    Institute of Scientific and Technical Information of China (English)

    Jinkun LIU; Fuchun SUN

    2007-01-01

    A new dynamic terminal sliding mode control (DTSMC) technique is proposed for a class of single-input and single-output (SISO) uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized.Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method.

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

    Directory of Open Access Journals (Sweden)

    Mohammad Jannati

    2014-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Qiang Gao

    2013-09-01

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

  8. Design of Second-Order Sliding Mode Guidance Law Based on the Nonhomogeneous Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Huibo Zhou

    2014-01-01

    Full Text Available Considering the guidance problem of relative motion of missile target without the dynamic characteristics of missile autopilot in the interception planar, non-homogeneous disturbance observer is applied for finite-time estimation with respect to the target maneuvering affecting the guidance performance. Two guidance laws with finite-time convergence are designed by using a fast power rate reaching law and the prescribed sliding variable dynamics. The nonsingular terminal sliding mode surface is selected to improve dynamic characteristics of missile autopilot. Furthermore, the finite-time guidance law with dynamic delay characteristics is designed for the target maneuvering through adopting variable structure dynamic compensation. The simulation results demonstrate that, for different target maneuvering, the proposed guidance laws can restrain the sliding mode chattering problem effectively and make the missile hit the maneuvering target quickly and accurately with condition of corresponding assumptions.

  9. FUZZY SLIDING MODE CONTROLLER FOR DOUBLY FED INDUCTION MOTOR SPEED CONTROL

    Directory of Open Access Journals (Sweden)

    Y. Bekakra

    2015-08-01

    Full Text Available This paper, presents a Direct Field-Oriented Control (DFOC of doubly fed induction motor (DFIM with a fuzzy sliding mode controller (FSMC. Our aim is to make the speed control robust to parameter variations. The variation of motor parameters during operation degrades the performance of the controllers. 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. The fuzzy sliding mode controller is designed in order to improve the control performances and to reduce the chattering phenomenon. In this technique the saturation function is replaced by a fuzzy inference system to smooth the control action. The proposed scheme gives fast dynamic response with no overshoot and zero static error. To show the validity and the effectiveness of the control method, simulation results are performed for the speed control of a doubly fed induction motor. Simulation results showed that improvement made by our approach compared to conventional sliding mode control (SMC with the presence of variations of the parameters of the motor, in particular the face of variation of moment of inertia and disturbances of load torque. The results show that the FSMC and SMC are robust against internal and external perturbations, but the FSMC is superior to SMC in eliminating chattering phenomena and response time.

  10. Stabilizing Unstable Equilibrium Point of Unified Chaotic Systems with Unknown Parameter Using Sliding Mode Control

    Institute of Scientific and Technical Information of China (English)

    GUAN Xin-Ping; HE Yan-Hui

    2004-01-01

    @@ The control problem of a unified chaos is considered. Stabilizing unstable equilibrium point is achieved by a sliding mode controller based on parameter identification. The observer is applied to identify the unknown parameter of a unified chaotic system. Simulations are made and the results verify the validity of the proposed method.

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

    DEFF Research Database (Denmark)

    Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede

    2004-01-01

    A family of speed-sensorless sliding-mode observers for induction motors has been developed. Three topologies have been investigated in order to determine their feasibility, parameter sensitivity and practical applicability. The salient feature of all schemes is that they do not require the rotor...

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

    Directory of Open Access Journals (Sweden)

    Stoyan Tzonkov

    2005-04-01

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

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

    Directory of Open Access Journals (Sweden)

    Congyan Chen

    2014-01-01

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

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

    NARCIS (Netherlands)

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

    1998-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Kazraji Saeed Masoumi

    2014-05-01

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

  16. Stochastic differential equations with variable structure driven by multiplicative Gaussian noise and sliding mode dynamic

    OpenAIRE

    Barbu, Viorel; Bonaccorsi, Stefano; Tubaro, Luciano

    2015-01-01

    This work is concerned with existence of weak solutions to discon- tinuous stochastic differential equations driven by multiplicative Gaus- sian noise and sliding mode control dynamics generated by stochastic differential equations with variable structure, that is with jump nonlin- earity. The treatment covers the finite dimensional stochastic systems and the stochastic diffusion equation with multiplicative noise.

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

    Directory of Open Access Journals (Sweden)

    Merheb Abdel-Razzak

    2015-09-01

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

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

    CERN Document Server

    Moreno, Jaime; Iriarte, Rafael

    2012-01-01

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

  19. A Simple and Robust Sliding Mode Velocity Observer for Moving Coil Actuators in Digital Hydraulic Valves

    DEFF Research Database (Denmark)

    Nørgård, Christian; Schmidt, Lasse; Bech, Michael Møller

    2016-01-01

    This paper focuses on estimating the velocity and position of fast switching digital hydraulic valves actuated by electromagnetic moving coil actuators, based on measurements of the coil current and voltage. The velocity is estimated by a simple first-order sliding mode observer architecture and ...

  20. Sliding mode control of spatial mechanical systems decoupling translation and rotation

    NARCIS (Netherlands)

    Goeree, Barry B.; Fasse, Ernest D.; Tiernego, Martin J.L.; Broenink, Jan F.

    1997-01-01

    This paper looks at the robust trajectory control of spatial mechanical systems using sliding mode techniques. Two distinctions of the proposed method from reported methods are: (1) The measure of attitudinal error used is intrinsically defined, Euclidean-geometric, and intuitive. From Euler's theor

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

    OpenAIRE

    Wang Congqing; Wu Pengfei; Zhou Xin; Pei Xiwu

    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...

  2. Adaptive fuzzy sliding mode control for gantry crane as varying rope length

    Directory of Open Access Journals (Sweden)

    TRINH LUONG MIEN

    2016-08-01

    Full Text Available Gantry crane is used quite commonly in hazardous areas, which increasingly requires strict conrol of the gantry crane operation process to improve efficiency and ensure safe gantry crane opeartion. Automated the gantry crane operating process is being applied pupular currently. Gantry crane is often affected by large noise, having the varying- model parameters, so that proposed a apdaptive fuzzy combining sliding mode controller for the gantry crane in this article. This control method derived from combining the sliding surfaces of three subsystem of the gantry crane (trolley position, rope length, anti-swing to draw out two system sliding surfaces: the trolley positon with the anti-swing and the rope length and the anti-swing. On the based of the sliding mode control principle,drawn out the equivalent controller and the switching controller for gantry crane. But due to the uncertain parameters - nonlinear model of gantry crane with the bound disturbances, combining the fuzzy approximate method, defined the fuzzy controller (used to minic the equivalent controller and the compensation controller for the difference between the equivalent controller and the fuzzy controller (used as the switching controller for two system control inputs: trolley position and rope length The adaptive control laws for these controllers were deduced from Lyapunov’s stable criteria to asymptotically stabilize the sliding surfaces. Simulation results demonstrated the feasibility of the suggested method through grantry crane in the hazard areas.

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

    Directory of Open Access Journals (Sweden)

    Farzin Matin

    2014-04-01

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

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

    Directory of Open Access Journals (Sweden)

    Muhammad Rafiq

    2011-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Belabbas Belkacem

    2013-12-01

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

  6. Uncertainty Quantification for Robust Control of Wind Turbines using Sliding Mode Observer

    Science.gov (United States)

    Schulte, Horst

    2016-09-01

    A new quantification method of uncertain models for robust wind turbine control using sliding-mode techniques is presented with the objective to improve active load mitigation. This approach is based on the so-called equivalent output injection signal, which corresponds to the average behavior of the discontinuous switching term, establishing and maintaining a motion on a so-called sliding surface. The injection signal is directly evaluated to obtain estimates of the uncertainty bounds of external disturbances and parameter uncertainties. The applicability of the proposed method is illustrated by the quantification of a four degree-of-freedom model of the NREL 5MW reference turbine containing uncertainties.

  7. Sliding mode control for a three phase multicellular inverter dedicated to renewable energy systems

    Science.gov (United States)

    Hemici, K.; Zegaoui, A.; Djahbar, A.; Bokhtache, A. Aissa; Kessaissia, F. Z.; Allouache, H.; Mahmoudi, M. O.; Aillerie, M.

    2017-02-01

    In this paper, Sliding Mode controller has been sized to control multi-cell converters configured as a three-phase multicellular inverter. Unlike traditional inverters, multicellular inverters have the following advantages: lower switching frequency, high number of output levels, and less voltage constraints on the power switch. Significant performances are provided with this structure, which is constituted with flying capacitors. The main purpose of this paper is to present the model and generate commutation sliding-surfaces based on a Lyapunov function. The performed simulations point the efficiency of the proposed strategy with a three-phase multicellular inverters and allow to assess the performances and the robustness of the synthesized controller.

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

    Science.gov (United States)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    Lü Ling; Yu Miao; Wei Lin-Ling; Zhang Meng; Li Yu-Shan

    2012-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

    庄开宇; 苏宏业; 张克勤; 褚健

    2003-01-01

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

  11. Sliding-Mode Control Applied for Robust Control of a Highly Unstable Aircraft

    Science.gov (United States)

    Vetter, Travis Kenneth

    2002-01-01

    An investigation into the application of an observer based sliding mode controller for robust control of a highly unstable aircraft and methods of compensating for actuator dynamics is performed. After a brief overview of some reconfigurable controllers, sliding mode control (SMC) is selected because of its invariance properties and lack of need for parameter identification. SMC is reviewed and issues with parasitic dynamics, which cause system instability, are addressed. Utilizing sliding manifold boundary layers, the nonlinear control is converted to a linear control and sliding manifold design is performed in the frequency domain. An additional feedback form of model reference hedging is employed which is similar to a prefilter and has large benefits to system performance. The effects of inclusion of actuator dynamics into the designed plant is heavily investigated. Multiple Simulink models of the full longitudinal dynamics and wing deflection modes of the forward swept aero elastic vehicle (FSAV) are constructed. Additionally a linear state space models to analyze effects from various system parameters. The FSAV has a pole at +7 rad/sec and is non-minimum phase. The use of 'model actuators' in the feedback path, and varying there design, is heavily investigated for the resulting effects on plant robustness and tolerance to actuator failure. The use of redundant actuators is also explored and improved robustness is shown. All models are simulated with severe failure and excellent tracking, and task dependent handling qualities, and low pilot induced oscillation tendency is shown.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2003-06-01

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

  13. Multi-input sliding mode control of nonlinear uncertain affine systems

    Science.gov (United States)

    Bartolini, Giorgio; Punta, Elisabetta; Zolezzi, Tullio

    2011-05-01

    In the extension to multi-input nonlinear uncertain systems of the sliding mode methodology, a crucial role is played by the matrix pre-multiplying the control in the dynamic equation of the sliding output. If this matrix is perfectly known and invertible, it is possible to transform a multi-input sliding mode control problem in an almost decoupled set of single-input problems. If this matrix is uncertain then nothing can be done in general, and the investigation is oriented to find conditions ensuring the feasibility of control strategies in a progressively more general set of uncertain matrices. In the case of uncertain and constant matrices, it is possible, in principle, to manage the case in which the matrix in question is invertible. The corresponding adaptive or switching strategy suffers from the curse of dimensionality of the so-called unmixing set. In this article the case of time- and state-varying uncertain matrix is dealt with. A more general class of such a matrices for which there is, at least locally, a solution of the problem is found. The introduction of artificial integrators in the output channel (the integral sliding mode control methodology) allows the practical implementation of the control law without requiring the a priori knowledge of parameters featured by the solution of a relevant nonlinear Lyapunov equation.

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

    Directory of Open Access Journals (Sweden)

    Yan Ren

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    A. Meroufel

    2013-12-01

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

  16. Time-varying sliding-coefficient-based decoupled terminal sliding-mode control for a class of fourth-order systems.

    Science.gov (United States)

    Bayramoglu, Husnu; Komurcugil, Hasan

    2014-07-01

    A time-varying sliding-coefficient-based decoupled terminal sliding mode control strategy is presented for a class of fourth-order systems. First, the fourth-order system is decoupled into two second-order subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients. Then, the control target of one subsystem to another subsystem was embedded. Thereafter, a terminal sliding mode control method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system demonstrate that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods.

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

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 侯恕萍

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Xiuchun Li

    2013-01-01

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

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

    Science.gov (United States)

    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%.

  20. Event-triggered sliding mode control for a class of nonlinear systems

    Science.gov (United States)

    Behera, Abhisek K.; Bandyopadhyay, Bijnan

    2016-09-01

    Event-triggering strategy is one of the real-time control implementation techniques which aims at achieving minimum resource utilisation while ensuring the satisfactory performance of the closed-loop system. In this paper, we address the problem of robust stabilisation for a class of nonlinear systems subject to external disturbances using sliding mode control (SMC) by event-triggering scheme. An event-triggering scheme is developed for SMC to ensure the sliding trajectory remains confined in the vicinity of sliding manifold. The event-triggered SMC brings the sliding mode in the system and thus the steady-state trajectories of the system also remain bounded within a predesigned region in the presence of disturbances. The design of event parameters is also given considering the practical constraints on control execution. We show that the next triggering instant is larger than its immediate past triggering instant by a given positive constant. The analysis is also presented with taking delay into account in the control updates. An upper bound for delay is calculated to ensure stability of the system. It is shown that with delay steady-state bound of the system is increased than that of the case without delay. However, the system trajectories remain bounded in the case of delay, so stability is ensured. The performance of this event-triggered SMC is demonstrated through a numerical simulation.

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

    Science.gov (United States)

    Komurcugil, Hasan

    2012-11-01

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

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

    Institute of Scientific and Technical Information of China (English)

    郭亚军; 马大为; 王晓峰; 乐贵高

    2011-01-01

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

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

    Science.gov (United States)

    Fan, Quan-Yong; Yang, Guang-Hong

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Xiao Liang

    2016-06-01

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

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

    Institute of Scientific and Technical Information of China (English)

    史元浩; 王景成; 章云锋

    2012-01-01

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

  6. Design of Combined Sliding Mode Controller Back Stepping Using Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Atefeh Marvi Moghadam

    2013-01-01

    Full Text Available This research has tried to achieve a new robust controller with back stepping control and sliding mode control method. Also as we know, in all analytical controllers there are constant coefficients like the back stepping and sliding mode controllers, redesigning the Lyapunov and the feedback linearization, - and so forth. There are two major problems in their set: firstly, the adjustment is cumbersome and time-consuming. Secondly, assuming that these parameters can be adjusted to workability, a designer can never tell exactly what are the parameters chosen to be optimal. To resolve this problem, the numerical algorithm which is a genetic algorithm is used here and we have the optimal parameters of the proposed controller. That genetic algorithm (GA has been used to solve difficult engineering problems that are complex and difficult to solve by conventional optimization methods, and at the end of this section, we apply a new robust controller on ball and beam system. Simulation results are expressed.

  7. Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control

    Energy Technology Data Exchange (ETDEWEB)

    Zhou, Xu; Liu, Rui; Zhang, Jiucai; Zhang, Xiaoli

    2016-08-21

    The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the quadrotor's stability in this situation, we investigate the impacts of the uncertain load mass on the quadrotor. By comparing the simulation results of two controllers -- the proportional-derivative (PD) controller and the sliding mode controller (SMC) driven by a sliding mode disturbance of observer (SMDO), the quadrotor's performance is verified to be worse as the uncertainty increases. The simulation results also show a controller with stronger robustness against disturbances is better for practical applications.

  8. Terminal Sliding Mode-Based Consensus Tracking Control for Networked Uncertain Mechanical Systems on Digraphs.

    Science.gov (United States)

    Chen, Gang; Song, Yongduan; Guan, Yanfeng

    2016-12-29

    This brief investigates the finite-time consensus tracking control problem for networked uncertain mechanical systems on digraphs. A new terminal sliding-mode-based cooperative control scheme is developed to guarantee that the tracking errors converge to an arbitrarily small bound around zero in finite time. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network is used at each node to approximate the local unknown dynamics. The control schemes are implemented in a fully distributed manner. The proposed control method eliminates some limitations in the existing terminal sliding-mode-based consensus control methods and extends the existing analysis methods to the case of directed graphs. Simulation results on networked robot manipulators are provided to show the effectiveness of the proposed control algorithms.

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

    Directory of Open Access Journals (Sweden)

    He Zhang

    2014-01-01

    Full Text Available Aiming at the problems of modeling errors, parameter variations, and load moment disturbances in DC motor control system, one global sliding mode disturbance observer (GSMDO is proposed based on the global sliding mode (GSM control theory. The output of GSMDO is used as the disturbance compensation in control system, which can improve the robust performance of DC motor control system. Based on the designed GSMDO in inner loop, one compound controller, composed of a feedback controller and a feedforward controller, is proposed in order to realize the position tracking of DC motor system. The gains of feedback controller are obtained by means of linear quadratic regulator (LQR optimal control theory. Simulation results present that the proposed control scheme possesses better tracking properties and stronger robustness against modeling errors, parameter variations, and friction moment disturbances. Moreover, its structure is simple; therefore it is easy to be implemented in engineering.

  10. Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

    Directory of Open Access Journals (Sweden)

    Dongqi Ma

    2017-01-01

    Full Text Available Considering the backlash nonlinearity and parameter time-varying characteristics in electromechanical actuators, a chattering-free sliding-mode control strategy is proposed in this paper to regulate the rudder angle and suppress unknown external disturbances. Different from most existing backlash compensation methods, a special continuous function is addressed to approximate the backlash nonlinear dead-zone model. Regarding the approximation error, unmodeled dynamics, and unknown external disturbances as a disturbance-like term, a strict feedback nonlinear model is established. Based on this nonlinear model, a chattering-free nonsingular terminal sliding-mode controller is proposed to achieve the rudder angle tracking with a chattering elimination and tracking dynamic performance improvement. A Lyapunov-based proof ensures the asymptotic stability and finite-time convergence of the closed-loop system. Experimental results have verified the effectiveness of the proposed method.

  11. Discrete sliding mode controller with reaching phase elimination for TITO systems.

    Science.gov (United States)

    Hajare, V D; Khandekar, A A; Patre, B M

    2017-01-01

    Sliding mode control (SMC) is emerged as a powerful robust controller for the process control application. However, it does not posses robustness properties during reaching phase and suffers from chattering, which is undesirable. In this paper, a chatter free discrete sliding mode controller (DSMC) with reaching phase elimination is proposed. The issue of existence of reaching phase due to physical constraints such as saturation of actuating devices is also addressed. The two-input-two-output (TITO) system is decoupled into two single-input-single-output (SISO) systems using ideal decoupler. The DSMCs are separately designed for two decoupled SISO systems. The stability is ensured via Lyapunov approach. Simulation study and experimentation on real life interacting two tank liquid level system are included to demonstrate effectiveness and applicability of the proposed controller.

  12. Smooth integral sliding mode controller for the position control of Stewart platform.

    Science.gov (United States)

    Kumar P, Ramesh; Chalanga, Asif; Bandyopadhyay, B

    2015-09-01

    This paper proposes the application of a new algorithm for the position control of a Stewart platform. The conventional integral sliding mode controller is a combination of nominal control and discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in the feedback control is undesirable for practical applications due to chattering which causes the wear and tear of the mechanical actuators. In this paper the existing integral sliding mode control law for systems with matched disturbances is modified by replacing the discontinuous part by a continuous modified twisting control. This proposed controller is continuous in nature due to the combinations of two continuous controls. The desired position of the platform has been achieved using the proposed controller even in the presence of matched disturbances. The effectiveness of the proposed controller has been proved with the simulation results.

  13. Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

    Institute of Scientific and Technical Information of China (English)

    李元春; 丁贵彬; 赵博

    2016-01-01

    A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

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

    Science.gov (United States)

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

    2016-09-01

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

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

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

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

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

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

    DEFF Research Database (Denmark)

    Lascu, Christian; Boldea, Ion; Blaabjerg, Frede

    2013-01-01

    This paper investigates a permanent magnet synchronous motor drive controlled by a second-order variable structure control technique, known as the super-twisting sliding modes (STSM) control. The STSM controller is designed as a direct torque and flux controller and it works in the stator flux...... reference frame, rather than the rotor frame, as a regular vector control scheme. Another second-order sliding mode controller (SMC) was developed and compared with the STSM controller. Also for comparison, a similar direct torque control scheme based on linear PI controllers was developed and tested....... The tests show that the STSM controller displays very robust behavior, like any SMC, and it works without notable chattering, like the linear PI-based controller. The paper presents theoretical aspects for the STSM control, several design and implementation details, and comparative experimental results...

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

    KAUST Repository

    Siddiqui, Bilal A.

    2016-07-26

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

  20. Simulation and design of fuzzy sliding-mode controller for ship heading-tracking

    Science.gov (United States)

    Yuan, Lei; Wu, Hansong

    2011-03-01

    In considering the characteristic of a rudder, the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties. In order to solve the uncertainties in the ship heading control, specifically the controller singular and paramount re-estimation problem, a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology, the approximation property of fuzzy logic systems, and a multiple sliding-mode control algorithm. Based on the Lyapunov function, it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded, with tracking errors converging to zero. Simulation results show that the demonstrated controller design can track a desired course fast and accurately. It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.

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

    Directory of Open Access Journals (Sweden)

    Xiao Liang

    2016-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Daxiong Ji

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2013-07-01

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

  4. Feedback Linearization and Sliding Mode Control for VIENNA Rectifier Based on Differential Geometry Theory

    Directory of Open Access Journals (Sweden)

    Xiang Lu

    2015-01-01

    Full Text Available Aiming at the nonlinear characteristics of VIENNA rectifier and using differential geometry theory, a dual closed-loop control strategy is proposed, that is, outer voltage loop using sliding mode control strategy and inner current loop using feedback linearization control strategy. On the basis of establishing the nonlinear mathematical model of VIENNA rectifier in d-q synchronous rotating coordinate system, an affine nonlinear model of VIENNA rectifier is established. The theory of feedback linearization is utilized to linearize the inner current loop so as to realize the d-q axis variable decoupling. The control law of outer voltage loop is deduced by utilizing sliding mode control and index reaching law. In order to verify the feasibility of the proposed control strategy, simulation model is built in simulation platform of Matlab/Simulink. Simulation results verify the validity of the proposed control strategy, and the controller has a strong robustness in the case of parameter variations or load disturbances.

  5. Analysis and design of sliding mode controller gains for boost power factor corrector.

    Science.gov (United States)

    Kessal, Abdelhalim; Rahmani, Lazhar

    2013-09-01

    This paper presents a systematic procedure to compute the gains of sliding mode controller based on an optimization scheme. This controller is oriented to drive an AC-DC converter operating in continuous mode with power factor near unity, and in order to improve static and dynamic performances with large variations of reference voltage and load. This study shows the great influence of the controller gains on the global performances of the system. Hence, a methodology for choosing the gains is detailed. The sliding surface used in this study contains two state variables, input current and output voltage; the advantage of this surface is getting reactions against various disturbances-at the power source, the reference of the output, or the value of the load. The controller is experimentally confirmed for steady-state performance and transient response.

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

    Directory of Open Access Journals (Sweden)

    Wei Chen

    2016-01-01

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

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

    DEFF Research Database (Denmark)

    Lascu, Cristian; Blaabjerg, Frede

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  10. Chattering analysis for discrete sliding mode control of distributed control systems

    Institute of Scientific and Technical Information of China (English)

    Litong Ren; Shousheng Xie; Yu Zhang; Jingbo Peng; Ledi Zhang

    2016-01-01

    The chattering characteristic of sliding mode control is analyzed when it is applied in distributed control systems (DCSs). For a DCS with random time delay and packet dropout, a dis-crete switching system model with time varying sampling period is constructed based on the time delay system method. The reach-ing law based sliding mode control er is applied in the proposed system. The exponential stability condition in the form of linear matrix inequality is figured out based on the multi-Lyaponov func-tion method. Then, the chattering characteristic is analyzed for the switching system, and a chattering region related with time varying sampling period and external disturbance is proposed. Final y, nu-merical examples are given to il ustrate the validity of the analysis result.

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

    Directory of Open Access Journals (Sweden)

    Xuxi Zhang

    2014-01-01

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

  12. Neural adaptive sliding mode speed tracking control of a DC motor

    Institute of Scientific and Technical Information of China (English)

    刘子龙; 刘国忠; 刘洁

    2004-01-01

    We propose a BPNN based adaptive sliding mode control scheme for speed tracking of a DC motor with unknown system nonlinearities. The input-output linearization technique is used to cancel the nonlinearities, and output of the BPNN is incorporated into the controller in the proposed scheme. It is shown that the rotor speed of a DC motor can follow any arbitrarily selected trajectories under variable load torque. Then the application of the approach is tested via some simulations.

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

    Institute of Scientific and Technical Information of China (English)

    WU Zhong-qiang

    2002-01-01

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

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

    KAUST Repository

    Khelouat, Samir

    2013-10-01

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

  15. Nonlinear Control Strategies for Bioprocesses: Sliding Mode Control versus Vibrational Control

    OpenAIRE

    Selisteanu, Dan; Petre, Emil; Popescu, Dorin; Bobasu, Eugen

    2008-01-01

    In this work, two nonlinear high-frequency control strategies for bioprocesses are proposed: a feedback sliding mode control law and a vibrational control strategy. In order to implement these strategies, a prototype bioprocess that is carried out in a Continuous Stirred Tank Bioreactor was considered. First, a discontinuous feedback law was designed using the exact linearization and by imposing a SMC that stabilizes the output of the bioprocess. When some state variables used in the control ...

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

    OpenAIRE

    Daxiong Ji; Jian Liu; Hongyu Zhao; Yiqun Wang

    2014-01-01

    A solution to the path following problem for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty is proposed. For a general class of vehicles moving in 2D space, we demonstrated a path following control law based on multiple variable sliding mode that yields global boundedness and convergence of the position tracking error to a small neighborhood and robustness to parametric modeling uncertainty. An error integration element is added into the “t...

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

    OpenAIRE

    Yi Long; Zhi-jiang Du; Wei-dong Wang; Wei Dong

    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) neura...

  18. Sliding mode control of boost converter: Application to energy storage system via supercapacitors

    OpenAIRE

    Hijazi, Alaa; Di Loreto, Michaël; BIDEAUX, Eric; Venet, Pascal; Clerc, Guy; Rojat, Gérard

    2009-01-01

    INSPEC Accession Number: 10939325; International audience; Sliding mode control of boost converter is studied. In order to improve dynamical performances with static and dynamic specifications, we propose a systematic procedure to compute the gains of the controller based on an optimization scheme. This method is applied to the control of an energy storage system based on supercapacitors technology in order to regulate the output voltage. Given a system with large variations of input voltage ...

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

    Directory of Open Access Journals (Sweden)

    Phuc Thinh Doan

    2013-06-01

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

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

    KAUST Repository

    Benzineb, Omar

    2013-01-01

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

  1. Heavy vehicle state estimation and rollover risk evaluation using Kalman Filter and Sliding Mode Observer

    OpenAIRE

    DAKHLALLAH, Jamil; Imine, Hocine; Sellami, Yamine; BELLOT, D

    2007-01-01

    Safety driving is due to the prevention of risks situation, one of the important risk is the rollover of a heavy vehicle. Preventing this accident requires the knowledge of the rollover coefficient which depends on the vehicle dynamic state and other vehicle parameters. Thus, we estimate the vehicle dynamic state using the Extended and Unscented Kalman Filter and the Sliding Mode Observer. Thereafter, we calculate the probability to have a rollover risk using the previous result and Monte-Car...

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

    Directory of Open Access Journals (Sweden)

    Boumediène Allaoua

    2013-01-01

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

  3. Singularity-free integral-augmented sliding mode control for combined energy and attitude control system

    Science.gov (United States)

    Eshghi, Samira; Varatharajoo, Renuganth

    2017-01-01

    A combined energy and attitude control system (CEACS) is a synergized system in which flywheels are used as attitude control actuators and simultaneously as a power storage system. This paper, a subsequent to previous research on CEACS, addresses the attitude-tracking problem. Integral Augmented Sliding Mode Control with Boundary-Layer (IASMC-BL), a locally asymptotically stable controller, is developed to provide a robust and accurate solution for the CEACS's attitude-tracking problem. The controller alleviates the chattering phenomenon associated with the sliding mode using a boundary-layer technique. Simultaneously, it reduces the steady-state error using an integral action. This paper highlights the uncertainty of inertia matrix as a contributing factor to singularity problem. The inversion of the uncertain inertia matrix in simulation of a spacecraft dynamics is also identified as a leading factor to a singular situation. Therefore, an avoidance strategy is proposed in this paper to guarantee a singular-free dynamics behavior in faces of the uncertainties. This maiden work attempts to employ the singularity-free Integral Augmented Sliding Mode Control with Boundary-Layer (IASMC-BL) to provide a robust, accurate and nonsingular attitude-tracking solution for CEACS.

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

    Institute of Scientific and Technical Information of China (English)

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

    2016-01-01

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

  5. Adaptive backstepping finite-time sliding mode control of spacecraft attitude tracking

    Institute of Scientific and Technical Information of China (English)

    Chutiphon Pukdeboon

    2015-01-01

    This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid-ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con-trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se-cond control law is also designed by combining the second or-der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya-punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed control ers.

  6. Sliding mode disturbance observer-based adaptive integral backstepping control of a piezoelectric nano-manipulator

    Science.gov (United States)

    Zhang, Yangming; Yan, Peng

    2016-12-01

    This paper investigates a systematic modeling and control methodology for a multi-axis PZT (piezoelectric transducer) actuated servo stage supporting nano-manipulations. A sliding mode disturbance observer-based adaptive integral backstepping control method with an estimated inverse model compensation scheme is proposed to achieve ultra high precision tracking in the presence of the hysteresis nonlinearities, model uncertainties, and external disturbances. By introducing a time rate of the input signal, an enhanced rate-dependent Prandtl-Ishlinskii model is developed to describe the hysteresis behaviors, and its inverse is also constructed to mitigate their adverse effects. In particular, the corresponding inverse compensation error is analyzed and its boundedness is proven. Subsequently, the sliding mode disturbance observer-based adaptive integral backstepping controller is designed to guarantee the convergence of the tracking error, where the sliding mode disturbance observer can track the total disturbances in a finite time, while the integral action is incorporated into the adaptive backstepping design to improve the steady-state control accuracy. Finally, real time implementations of the proposed algorithm are applied on the PZT actuated servo system, where excellent tracking performance with tracking precision error around 6‰ for circular contour tracking is achieved in the experimental results.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  9. Robust dynamic sliding-mode control using adaptive RENN for magnetic levitation system.

    Science.gov (United States)

    Lin, Faa-Jeng; Chen, Syuan-Yi; Shyu, Kuo-Kai

    2009-06-01

    In this paper, a robust dynamic sliding mode control system (RDSMC) using a recurrent Elman neural network (RENN) is proposed to control the position of a levitated object of a magnetic levitation system considering the uncertainties. First, a dynamic model of the magnetic levitation system is derived. Then, a proportional-integral-derivative (PID)-type sliding-mode control system (SMC) is adopted for tracking of the reference trajectories. Moreover, a new PID-type dynamic sliding-mode control system (DSMC) is proposed to reduce the chattering phenomenon. However, due to the hardware being limited and the uncertainty bound being unknown of the switching function for the DSMC, an RDSMC is proposed to improve the control performance and further increase the robustness of the magnetic levitation system. In the RDSMC, an RENN estimator is used to estimate an unknown nonlinear function of lumped uncertainty online and replace the switching function in the hitting control of the DSMC directly. The adaptive learning algorithms that trained the parameters of the RENN online are derived using Lyapunov stability theorem. Furthermore, a robust compensator is proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher order terms in Taylor series. Finally, some experimental results of tracking the various periodic trajectories demonstrate the validity of the proposed RDSMC for practical applications.

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

    Science.gov (United States)

    Huang, Gang; Luo, Yi-Ping; Zhang, Chang-Fan; Huang, Yi-Shan; Zhao, Kai-Hui

    2015-05-11

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

  11. Health Parameter Estimation with Second-Order Sliding Mode Observer for a Turbofan Engine

    Directory of Open Access Journals (Sweden)

    Xiaodong Chang

    2017-07-01

    Full Text Available In this paper the problem of health parameter estimation in an aero-engine is investigated by using an unknown input observer-based methodology, implemented by a second-order sliding mode observer (SOSMO. Unlike the conventional state estimator-based schemes, such as Kalman filters (KF and sliding mode observers (SMO, the proposed scheme uses a “reconstruction signal” to estimate health parameters modeled as artificial inputs, and is not only applicable to long-time health degradation, but reacts much quicker in handling abrupt fault cases. In view of the inevitable uncertainties in engine dynamics and modeling, a weighting matrix is created to minimize such effect on estimation by using the linear matrix inequalities (LMI. A big step toward uncertainty modeling is taken compared with our previous SMO-based work, in that uncertainties are considered in a more practical form. Moreover, to avoid chattering in sliding modes, the super-twisting algorithm (STA is employed in observer design. Various simulations are carried out, based on the comparisons between the KF-based scheme, the SMO-based scheme in our earlier research, and the proposed method. The results consistently demonstrate the capabilities and advantages of the proposed approach in health parameter estimation.

  12. Flight Control Design for an Autonomous Rotorcraft Using Pseudo-Sliding Mode Control and Waypoint Navigation

    Science.gov (United States)

    Mallory, Nicolas Joseph

    The design of robust automated flight control systems for aircraft of varying size and complexity is a topic of continuing interest for both military and civilian industries. By merging the benefits of robustness from sliding mode control (SMC) with the familiarity and transparency of design tradeoff offered by frequency domain approaches, this thesis presents pseudo-sliding mode control as a viable option for designing automated flight control systems for complex six degree-of-freedom aircraft. The infinite frequency control switching of SMC is replaced, by necessity, with control inputs that are continuous in nature. An introduction to SMC theory is presented, followed by a detailed design of a pseudo-sliding mode control and automated flight control system for a six degree-of-freedom model of a Hughes OH6 helicopter. This model is then controlled through three different waypoint missions that demonstrate the stability of the system and the aircraft's ability to follow certain maneuvers despite time delays, large changes in model parameters and vehicle dynamics, actuator dynamics, sensor noise, and atmospheric disturbances.

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

    Directory of Open Access Journals (Sweden)

    Gang Huang

    2015-05-01

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

  14. Nonlinear adaptive control based on fuzzy sliding mode technique and fuzzy-based compensator.

    Science.gov (United States)

    Nguyen, Sy Dzung; Vo, Hoang Duy; Seo, Tae-Il

    2017-09-01

    It is difficult to efficiently control nonlinear systems in the presence of uncertainty and disturbance (UAD). One of the main reasons derives from the negative impact of the unknown features of UAD as well as the response delay of the control system on the accuracy rate in the real time of the control signal. In order to deal with this, we propose a new controller named CO-FSMC for a class of nonlinear control systems subjected to UAD, which is constituted of a fuzzy sliding mode controller (FSMC) and a fuzzy-based compensator (CO). Firstly, the FSMC and CO are designed independently, and then an adaptive fuzzy structure is discovered to combine them. Solutions for avoiding the singular cases of the fuzzy-based function approximation and reducing the calculating cost are proposed. Based on the solutions, fuzzy sliding mode technique, lumped disturbance observer and Lyapunov stability analysis, a closed-loop adaptive control law is formulated. Simulations along with a real application based on a semi-active train-car suspension are performed to fully evaluate the method. The obtained results reflected that vibration of the chassis mass is insensitive to UAD. Compared with the other fuzzy sliding mode control strategies, the CO-FSMC can provide the best control ability to reduce unwanted vibrations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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

    Institute of Scientific and Technical Information of China (English)

    Song Junhong; Song Shenmin

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    Zahra Mohammadi

    2011-07-01

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

  18. Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

    Institute of Scientific and Technical Information of China (English)

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

    2016-01-01

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

  19. Observer-based robust finite time H∞ sliding mode control for Markovian switching systems with mode-dependent time-varying delay and incomplete transition rate.

    Science.gov (United States)

    Gao, Lijun; Jiang, Xiaoxiao; Wang, Dandan

    2016-03-01

    This paper investigates the problem of robust finite time H∞ sliding mode control for a class of Markovian switching systems. The system is subjected to the mode-dependent time-varying delay, partly unknown transition rate and unmeasurable state. The main difficulty is that, a sliding mode surface cannot be designed based on the unknown transition rate and unmeasurable state directly. To overcome this obstacle, the set of modes is firstly divided into two subsets standing for known transition rate subset and unknown one, based on which a state observer is established. A component robust finite-time sliding mode controller is also designed to cope with the effect of partially unknown transition rate. It is illustrated that the reachability, finite-time stability, finite-time boundedness, finite-time H∞ state feedback stabilization of sliding mode dynamics can be ensured despite the unknown transition rate. Finally, the simulation results verify the effectiveness of robust finite time control problem.

  20. Finite-time synchronization for second-order nonlinear multi-agent system via pinning exponent sliding mode control.

    Science.gov (United States)

    Hou, Huazhou; Zhang, Qingling

    2016-11-01

    In this paper we investigate the finite-time synchronization for second-order multi-agent system via pinning exponent sliding mode control. Firstly, for the nonlinear multi-agent system, differential mean value theorem is employed to transfer the nonlinear system into linear system, then, by pinning only one node in the system with novel exponent sliding mode control, we can achieve synchronization in finite time. Secondly, considering the 3-DOF helicopter system with nonlinear dynamics and disturbances, the novel exponent sliding mode control protocol is applied to only one node to achieve the synchronization. Finally, the simulation results show the effectiveness and the advantages of the proposed method.

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

    Science.gov (United States)

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

    2014-09-01

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

  2. Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance

    Institute of Scientific and Technical Information of China (English)

    GUO Yi-shen; CHEN Li

    2008-01-01

    The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base's attitude and the end-effect or of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.

  3. Time-scaling based sliding mode control for Neuromuscular Electrical Stimulation under uncertain relative degrees.

    Science.gov (United States)

    Oliveira, Tiago Roux; Costa, Luiz Rennó; Catunda, João Marcos Yamasaki; Pino, Alexandre Visintainer; Barbosa, William; Souza, Márcio Nogueira de

    2017-03-28

    This paper addresses the application of the sliding mode approach to control the arm movements by artificial recruitment of muscles using Neuromuscular Electrical Stimulation (NMES). Such a technique allows the activation of motor nerves using surface electrodes. The goal of the proposed control system is to move the upper limbs of subjects through electrical stimulation to achieve a desired elbow angular displacement. Since the human neuro-motor system has individual characteristics, being time-varying, nonlinear and subject to uncertainties, the use of advanced robust control schemes may represent a better solution than classical Proportional-Integral (PI) controllers and model-based approaches, being simpler than more sophisticated strategies using fuzzy logic or neural networks usually applied in this control problem. The objective is the introduction of a new time-scaling base sliding mode control (SMC) strategy for NMES and its experimental evaluation. The main qualitative advantages of the proposed controller via time-scaling procedure are its independence of the knowledge of the plant relative degree and the design/tuning simplicity. The developed sliding mode strategy allows for chattering alleviation due to the impact of the integrator in smoothing the control signal. In addition, no differentiator is applied to construct the sliding surface. The stability analysis of the closed-loop system is also carried out by using singular perturbation methods. Experimental results are conducted with healthy volunteers as well as stroke patients. Quantitative results show a reduction of 45% in terms of root mean square (RMS) error (from 5.9° to [Formula: see text] ) in comparison with PI control scheme, which is similar to that obtained in the literature.

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

    Science.gov (United States)

    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.

  5. Robust fault tolerant control based on sliding mode method for uncertain linear systems with quantization.

    Science.gov (United States)

    Hao, Li-Ying; Yang, Guang-Hong

    2013-09-01

    This paper is concerned with the problem of robust fault-tolerant compensation control problem for uncertain linear systems subject to both state and input signal quantization. By incorporating novel matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under a special actuator redundancy assumption. In order to compensate for quantization errors, an adjustment range of quantization sensitivity for a dynamic uniform quantizer is given through the flexible choices of design parameters. Comparing with the existing results, the derived inequality condition leads to the fault tolerance ability stronger and much wider scope of applicability. With a static adjustment policy of quantization sensitivity, an adaptive sliding mode controller is then designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate for the effects of actuator faults, quantization errors, exogenous disturbances and parameter uncertainties without the need for a fault detection and isolation (FDI) mechanism. Finally, the effectiveness of the proposed design method is illustrated via a model of a rocket fairing structural-acoustic.

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

    Science.gov (United States)

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

    2015-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Feng Zhao

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Jin Li

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Bendaas Ismail

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    SKENDER Mohamed Redha

    2015-05-01

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

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

    OpenAIRE

    Yi-You Hou; Zhang-Lin Wan

    2014-01-01

    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 accura...

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

    OpenAIRE

    Abdul Kareem; Mohammad Fazle Azeem

    2012-01-01

    This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic Control and Adaptive Control. The reaching conditions, stability and robustness of the system with the proposed controller are guaranteed. In addition, the proposed controller is well suited for simple design and implementation. The effectiveness ...

  13. Second-order integral sliding-mode control with experimental application.

    Science.gov (United States)

    Furat, Murat; Eker, İlyas

    2014-09-01

    In the present study, a second-order sliding-mode controller is proposed for single-input single-output (SISO) uncertain real systems. The proposed controller successively overcomes the variations caused by the uncertainties and external load disturbances although an approximate model of the system is used in the design procedure. An integral type sliding surface is used and the stability and robustness properties of the proposed controller are proved by means of Lyapunov stability theorem. The chattering phenomenon is significantly reduced adopting the switching gain with the known parameters of the system. Thus, the proposed controller is suitable for long-term application to the real systems. The performance of the proposed control scheme is validated by a real system experiments and the results are compared with the similar controllers presented in the literature.

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

    Science.gov (United States)

    Torchani, Borhen; Sellami, Anis; Garcia, Germain

    2016-05-01

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

  15. MIMO Sliding Mode Control for a Tailless Fighter Aircraft, An Alternative to Reconfigurable Architectures

    Science.gov (United States)

    Wells, S. R.; Hess, R. A.

    2002-01-01

    A frequency-domain procedure for the design of sliding mode controllers for multi-input, multi-output (MIMO) systems is presented. The methodology accommodates the effects of parasitic dynamics such as those introduced by unmodeled actuators through the introduction of multiple asymptotic observers and model reference hedging. The design procedure includes a frequency domain approach to specify the sliding manifold, the observer eigenvalues, and the hedge model. The procedure is applied to the development of a flight control system for a linear model of the Innovative Control Effector (ICE) fighter aircraft. The stability and performance robustness of the resulting design is demonstrated through the introduction of significant degradation in the control effector actuators and variation in vehicle dynamics.

  16. Adaptive sliding mode controller based on super-twist observer for tethered satellite system

    Science.gov (United States)

    Keshtkar, Sajjad; Poznyak, Alexander

    2016-09-01

    In this work, the sliding mode control based on the super-twist observer is presented. The parameters of the controller as well as the observer are admitted to be time-varying and depending on available current measurements. In view of that, the considered controller is referred to as an adaptive one. It is shown that the deviations of the generated state estimates from real state values together with a distance of the closed-loop system trajectories to a desired sliding surface reach a μ-zone around the origin in finite time. The application of the suggested controller is illustrated for the orientation of a tethered satellite system in a required position.

  17. Sliding mode control of solid state transformer using a three-level hysteresis function

    Institute of Scientific and Technical Information of China (English)

    刘宝龙; 査亚兵; 张涛

    2016-01-01

    The solid state transformer (SST) can be viewed as an energy router in energy internet. This work presents sliding mode control (SMC) to improve dynamic state and steady state performance of a three-stage (rectifier stage, isolated stage and inverter stage) SST for energy internet. SMC with three-level hysteresis sliding functions is presented to control the input current of rectifier stage and output voltage of inverter stage to improve the robustness under external disturbance and parametric uncertainties and reduce the switching frequency. A modified feedback linearization technique using isolated stage simplified model is presented to achieve satisfactory regulation of output voltage of the isolated stage. The system is tested for steady state operation, reactive power control, dynamic load change and voltage sag simulations, respectively. The switching model of SST is implemented in Matlab/ Simulink to verify the SST control algorithms.

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

    Directory of Open Access Journals (Sweden)

    Zeeshan Ali Memon

    2012-10-01

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

  19. Sliding-mode control for semi-active suspension with actuator dynamics

    Science.gov (United States)

    Chen, Bo-Chiuan; Shiu, Yu-Hua; Hsieh, Feng-Chi

    2011-02-01

    A sliding-mode controller (SMC) is proposed for semi-active suspensions to achieve ride comfort and handling performance simultaneously. First, a nonlinear quarter-car model of Macpherson strut suspension is established in Matlab/Simulink. Constrained damper force and actuator dynamics are considered for the damper model. System identification is applied to the nonlinear model for obtaining the linear model parameters. Kalman filter is designed based on the linear model and the actuator dynamics to estimate the state responses required for SMC. The sliding surface consists of tyre deflection and sprung mass acceleration. The proposed SMC is evaluated using the nonlinear model for both time and frequency domain responses. Robustness due to the increased sprung mass and deteriorated suspension is also investigated in this paper. Preliminary simulation results show improved ride comfort without sacrificing the road holding performance.

  20. Chattering free adaptive fuzzy terminal sliding mode control for second order nonlinear system

    Institute of Scientific and Technical Information of China (English)

    Jinkun LIU; Fuchun SUN

    2006-01-01

    A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach.

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

    Energy Technology Data Exchange (ETDEWEB)

    Ansarifar, G.R., E-mail: ghr.ansarifar@ast.ui.ac.ir; Nasrabadi, M.N.; Hassanvand, R.

    2016-01-15

    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.

  2. Synchronization of uncertain fractional-order chaotic systems with disturbance based on a fractional terminal sliding mode controller

    Institute of Scientific and Technical Information of China (English)

    Wang Dong-Feng; Zhang Jin-Ying; Wang Xiao-Yan

    2013-01-01

    This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control.Based on Lyapunov stability theory,a new fractional-order switching manifold is proposed,and in order to ensure the occurrence of sliding motion in finite time,a corresponding sliding mode control law is designed.The proposed control scheme is applied to synchronize the fractional-order Lorenz chaotic system and fractional-order Chen chaotic system with uncertainty and external disturbance parameters.The simulation results show the applicability and efficiency of the proposed scheme.

  3. FUZZY GLOBAL SLIDING MODE CONTROL BASED ON GENETIC ALGORITHM AND ITS APPLICATION FOR FLIGHT SIMULATOR SERVO SYSTEM

    Institute of Scientific and Technical Information of China (English)

    LIU Jinkun; HE Yuzhu

    2007-01-01

    To alleviate the chattering problem, a new type of fuzzy global sliding mode controller (FGSMC) is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller(SMC), and genetic algorithm (GA) is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated.Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface.Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.

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

    Directory of Open Access Journals (Sweden)

    Ehsan Maani Miandoab

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Wen-Bin Lin

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Kaijia Xue

    2016-01-01

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

  7. Sliding Mode Control and Modified Generalized Projective Synchronization of a New Fractional-Order Chaotic System

    Directory of Open Access Journals (Sweden)

    Junbiao Guan

    2015-01-01

    Full Text Available A new fractional-order chaotic system is addressed in this paper. By applying the continuous frequency distribution theory, the indirect Lyapunov stability of this system is investigated based on sliding mode control technique. The adaptive laws are designed to guarantee the stability of the system with the uncertainty and external disturbance. Moreover, the modified generalized projection synchronization (MGPS of the fractional-order chaotic systems is discussed based on the stability theory of fractional-order system, which may provide potential applications in secure communication. Finally, some numerical simulations are presented to show the effectiveness of the theoretical results.

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

    OpenAIRE

    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...

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

    Directory of Open Access Journals (Sweden)

    S. Bououden

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Yan-long Zhou

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Zhanshan Zhao

    2015-01-01

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

  12. A swarm intelligence-based tuning method for the Sliding Mode Generalized Predictive Control.

    Science.gov (United States)

    Oliveira, J B; Boaventura-Cunha, J; Moura Oliveira, P B; Freire, H

    2014-09-01

    This work presents an automatic tuning method for the discontinuous component of the Sliding Mode Generalized Predictive Controller (SMGPC) subject to constraints. The strategy employs Particle Swarm Optimization (PSO) to minimize a second aggregated cost function. The continuous component is obtained by the standard procedure, by Quadratic Programming (QP), thus yielding an online dual optimization scheme. Simulations and performance indexes for common process models in industry, such as nonminimum phase and time delayed systems, result in a better performance, improving robustness and tracking accuracy.

  13. Chattering Suppression for DSP Based Sliding Mode Current Control of PM DC Drives

    DEFF Research Database (Denmark)

    Dal, Mehmet; Teodorescu, Remus

    2009-01-01

    This paper investigates several chattering suppression methods for DSP based implementation of sliding mode control (SMC). It concentrates on the ‘equivalent-control-dependent' and ‘state-dependent' gain adjustment methods proposed in recent theoretical studies, and tests the effectiveness...... performed separately, and so various combinations of these methods are tested to find the best solution for chattering elimination. Discontinuous control signal averaging, which is a common chattering reduction technique, is made possible while the system is online by the use of a tunable low-pass filter...

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

    DEFF Research Database (Denmark)

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

    2013-01-01

    In this paper a control strategy based on second order sliding modes, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD), is proposed. The main target is to overcome problems with linear controllers deteriorating performance due to the strong...... nonlinearities characterizing VCD's. The proposed controller requires pressure-, valve- and piston position measurements, and is based on the so-called super twisting algorithm and compensation of controlgain nonlinearities. Simulation results demonstrate strong robustness when subjected to large perturbations...

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

    Institute of Scientific and Technical Information of China (English)

    郭建川; 鲜斌

    2014-01-01

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

  16. Synchronizing chaotic dynamics with uncertainties based on a sliding mode control design.

    Science.gov (United States)

    Yang, Tao; Shao, Hui He

    2002-04-01

    The synchronization of two chaotic systems with uncertainties is studied in this paper. A feedback controller is provided based on a sliding mode control design. A kind of extended state observer is used to compensate for the systems' uncertainties, such as the structure difference or parameter mismatching, using only the available synchronizing error. Then the feedback controller becomes physically realizable based on the states of the observer, and can be used to synchronize two continuous chaotic systems. Illustrative examples of the synchronization of Duffing and Van der Pol oscillators as well as two Lorenz systems with parameter mismatching are proposed to show the effectiveness of this method.

  17. A novel fractional sliding mode control configuration for synchronizing disturbed fractional-order chaotic systems

    Indian Academy of Sciences (India)

    KARIMA RABAH; SAMIR LADACI; MOHAMED LASHAB

    2017-09-01

    In this paper, a new design of fractional-order sliding mode control scheme is proposed for the synchronization of a class of nonlinear fractional-order systems with chaotic behaviour. The considered design approach provides a set of fractional-order laws that guarantee asymptotic stability of fractional-order chaotic systems in the sense of the Lyapunov stability theorem. Two illustrative simulation examples on the fractional-order Genesio–Tesi chaotic systems and the fractional-order modified Jerk systems are provided. These examples show the effectiveness and robustness of this control solution.

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

    Science.gov (United States)

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

    2016-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Chunhui Liang

    2014-01-01

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

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

    Science.gov (United States)

    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 (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.

  1. High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode

    Directory of Open Access Journals (Sweden)

    Maolin Jin

    2011-09-01

    Full Text Available A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time‐delay‐estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dynamics, and a correcting element that suppresses residual time delay estimation error caused by discontinuous nonlinearities. Terminal sliding mode is used for the correcting element to pursue fast convergence of the time delay estimation error. Implementation of proposed control is easy because calculation of robot dynamics including friction is not required. Experimental results verify high‐accuracy trajectory tracking of industrial robot manipulators.

  2. Sliding mode control for efficiency optimization of wind electrical pumping systems

    Energy Technology Data Exchange (ETDEWEB)

    Fernandez, R.D. [Universidad Nacional de la Patagonia (Argentina); Universidad Nacional de La Plata (Argentina); Mantz, R.J. [Comision de Investigaciones Cientificas de la Provincia de Buenos Aires (Argentina); Battatotto, P.E. [Universidad Nacional de La Plata (Argentina)

    2003-07-01

    Wind energy conversion systems have been receiving increasing attention in recent years, particularly in remote areas, where power from the utility is not available or is costly to install. Among many applications, wind electrical systems are successfully used for pumping water. Owing to the non-linear characteristics of these systems, their control is essential to attain high efficiency. In this work, concepts of sliding mode control are employed to guarantee global stability and to optimize the efficiency of a wind electrical water-pumping system. The measurement of wind speed is avoided. A thorough analysis of stability and dynamic behaviour is realized. Simulation results are presented. (Author)

  3. Hybrid force-velocity sliding mode control of a prosthetic hand.

    Science.gov (United States)

    Engeberg, Erik D; Meek, Sanford G; Minor, Mark A

    2008-05-01

    Four different methods of hand prosthesis control are developed and examined experimentally. Open-loop control is shown to offer the least sensitivity when manipulating objects. Force feedback substantially improves upon open-loop control. However, it is shown that the inclusion of velocity and/or position feedback in a hybrid force-velocity control scheme can further improve the functionality of hand prostheses. Experimental results indicate that the sliding mode controller with force, position, and velocity feedback is less prone to unwanted force overshoot when initially grasping objects than the other controllers.

  4. Synchronization of a coupled Hodgkin-Huxley neurons via high order sliding-mode feedback

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    Institute of Scientific and Technical Information of China (English)

    Liu Gang; Zhang Cong

    2013-01-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

  7. Second-order sliding mode control of a 2D torsional MEMS micromirror with sidewall electrodes

    Science.gov (United States)

    Chen, H.; Sun, W. J.; Sun, Z. D.; Yeow, J. T. W.

    2013-01-01

    A second-order sliding mode control (2-SMC) scheme with a proportional integral derivative (PID) sliding surface, to achieve enhanced transient response, accurate positioning and precise tracking performance of a 2-degree-of-freedom (2D) torsional MEMS micromirror with sidewall electrodes, is developed in this paper. The PID sliding surface is chosen to achieve a zero steady-state error of the closed-loop system. The 2-SMC is able to reduce the chattering phenomena, which comprises of an equivalent control and switching control to dominate model uncertainty and external disturbances leading to an enhanced performance of the controlled system. Finite-time convergence of the closed-loop system in the presence of bounded parameter uncertainties and external disturbances is guaranteed through Lyapunov stability analysis. The proposed 2-SMC is programmed in a LABVIEW environment and implemented based on National Instrument (NI) field-programmable gate array hardware to verify the effectiveness and robustness. The experimental results of set-point regulation and sinusoidal trajectory tacking demonstrate that the closed-loop system with the proposed control scheme significantly improves the transient performance, accurate positioning and trajectory tracking with robustness against external disturbance. The 95% settling time is shortened from 70 to 3 ms for the X-axis and from 60 to 3 ms for the Y-axis respectively, the overshoots and steady-state errors are eliminated in both axes, and less than 5% maximum positioning error is achieved in the presence of external disturbance.

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

    Science.gov (United States)

    Safa, Khari; Zahra, Rahmani; Behrooz, Rezaie

    2016-05-01

    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.

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

    Science.gov (United States)

    Fei, Juntao; Lu, Cheng

    2017-03-06

    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 z-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.

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

    Directory of Open Access Journals (Sweden)

    Fang Zhiming

    2013-02-01

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

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

    Institute of Scientific and Technical Information of China (English)

    Jia Yinghong; Xu Shijie

    2016-01-01

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

  12. Output feedback fractional-order nonsingular terminal sliding mode control of underwater remotely operated vehicles.

    Science.gov (United States)

    Wang, Yaoyao; Chen, Jiawang; Gu, Linyi

    2014-01-01

    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.

  13. A sliding mode-based starling-like controller for implantable rotary blood pumps.

    Science.gov (United States)

    Bakouri, Mohsen A; Salamonsen, Robert F; Savkin, Andrey V; AlOmari, Abdul-Hakeem H; Lim, Einly; Lovell, Nigel H

    2014-07-01

    Clinically adequate implementation of physiological control of a rotary left ventricular assist device requires a sophisticated technique such as the recently proposed method based on the Frank-Starling mechanism. In this mechanism, the stroke volume of the heart increases in response to an increase in the volume of blood filling the left ventricle at the end of diastole. To emulate this process, changes in pump speed need to automatically regulate pump flow to ensure that the combined output of the left ventricle and pump match the output of the right ventricle across changing cardiovascular states. In this approach, we exploit the linear relationship between estimated mean pump flow (Q ̅ est) and pump flow pulsatility (PIQp) in a tracking control algorithm based on sliding mode control. The immediate response of the controller was assessed using a lumped parameter model of the cardiovascular system (CVS) and pump from which could be extracted both Q ̅ est and PIQp. Two different perturbations from the resting state in the presence of left ventricular failure were tested. The first was blood loss requiring a reduction in pump flow to match the reduced output from the right ventricle and to avoid the complication of ventricular suction. The second was exercise, requiring an increase in pump flow. The sliding mode controller induced the required changes in Qp within approximately five heart beats in the blood loss simulation and eight heart beats in the exercise simulation without clinically significant transients or steady-state errors.

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

    Science.gov (United States)

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

    2016-09-01

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

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

    Science.gov (United States)

    Zhao, Yao; Sheng, Yongzhi; Liu, Xiangdong

    2016-05-01

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

  16. A new fuzzy sliding mode controller for vibration control systems using integrated-structure smart dampers

    Science.gov (United States)

    Dzung Nguyen, Sy; Kim, Wanho; Park, Jhinha; Choi, Seung-Bok

    2017-04-01

    Vibration control systems using smart dampers (SmDs) such as magnetorheological and electrorheological dampers (MRD and ERD), which are classified as the integrated structure-SmD control systems (ISSmDCSs), have been actively researched and widely used. This work proposes a new controller for a class of ISSmDCSs in which high accuracy of SmD models as well as increment of control ability to deal with uncertainty and time delay are to be expected. In order to achieve this goal, two formualtion steps are required; a non-parametric SmD model based on an adaptive neuro-fuzzy inference system (ANFIS) and a novel fuzzy sliding mode controller (FSMC) which can weaken the model error of the ISSmDCSs and hence provide enhanced vibration control performances. As for the formulation of the proposed controller, first, an ANFIS controller is desgned to identify SmDs using the improved control algorithm named improved establishing neuro-fuzzy system (establishing neuro-fuzzy system). Second, a new control law for the FSMC is designed via Lyapunov stability analysis. An application to a semi-active MRD vehicle suspension system is then undertaken to illustrate and evaluate the effectiveness of the proposed control method. It is demonstrated through an experimental realization that the FSMC proposed in this work shows superior vibration control performance of the vehicle suspension compared to other surveyed controller which have similar structures to the FSMC, such as fuzzy logic and sliding mode control.

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

    Science.gov (United States)

    Cao, Y.; Chen, X. B.

    2014-01-01

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

  18. Second Order Sliding Mode-Based Output Feedback Tracking Control for Uncertain Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Mien Van

    2013-01-01

    Full Text Available In this paper, a robust output feedback tracking control scheme for motion control of uncertain robot manipulators without joint velocity measurement based on a second-order sliding mode (SOSM observer is presented. Two second‐order sliding mode observers with finite time convergence are developed for velocity estimation and uncertainty identification, respectively. The first SOSM observer is used to estimate the state vector in finite time without filtration. However, for uncertainty identification, the values are constructed from the high switching frequencies, necessitating the application of a filter. To estimate the uncertainties without filtration, a second SOSM‐based nonlinear observer is designed. By integrating two SOSM observers, the resulting observer can theoretically obtain exact estimations of both velocity and uncertainty. An output feedback tracking control scheme is then designed based on the observed values of the state variables and the direct compensation of matched modelling uncertainty using their identified values. Finally, results of a simulation for a PUMA560 robot are shown to verify the effectiveness of the proposed strategy.

  19. Decentralized RBFNN Type-2 Fuzzy Sliding Mode Controller for Robot Manipulator Driven by Artificial Muscles

    Directory of Open Access Journals (Sweden)

    Rezoug Amar

    2012-11-01

    Full Text Available In the few last years, investigations in neural networks, fuzzy systems and their combinations become attractive research areas for modeling and controlling of uncertain systems. In this paper, we propose a new robust controller based on the integration of a Radial Base Function Neural Network (RBFNN and an Interval Type‐2 Fuzzy Logic (IT2FLC for robot manipulator actuated by pneumatic artificial muscles (PAM. The proposed approach was synthesized for each joint using Sliding Mode Control (SMC and named Radial Base Function Neural Network Type‐2 Fuzzy Sliding Mode Control (RBFT2FSMC. Several objectives can be accomplished using this control scheme such as: avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy control, guaranteeing the stability and the robustness of the system, and finally handling the uncertainties of the system. The proposed control approach is synthesized and the stability of the robot using this controller was analyzed using Lyapunov theory. In order to demonstrate the efficiency of the RBFT2FSMC compared to other control technique, simulations experiments were performed using linear model with parameters uncertainties obtained after identification stage. Results show the superiority of the proposed approach compared to RBFNN\tType‐1 Fuzzy SMC. Finally, an experimental study of the proposed approach was presented using 2‐ DOF robot.

  20. An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints

    Science.gov (United States)

    Chen, Naijian; Song, Fangzhen; Li, Guoping; Sun, Xuan; Ai, Changsheng

    2013-10-01

    To solve disturbances, nonlinearity, nonholonomic constraints and dynamic coupling between the platform and its mounted robot manipulator, an adaptive sliding mode controller based on the backstepping method applied to the robust trajectory tracking of the wheeled mobile manipulator is described in this article. The control algorithm rests on adopting the backstepping method to improve the global ultimate asymptotic stability and applying the sliding mode control to obtain high response and invariability to uncertainties. According to the Lyapunov stability criterion, the wheeled mobile manipulator is divided into several stabilizing subsystems, and an adaptive law is designed to estimate the general nondeterminacy, which make the controller be capable to drive the trajectory tracking error of the mobile manipulator to converge to zero even in the presence of perturbations and mathematical model errors. We compare our controller with the robust neural network based algorithm in nonholonomic constraints and uncertainties, and simulation results prove the effectivity and feasibility of the proposed method in the trajectory tracking of the wheeled mobile manipulator.