A fractional adaptation law for sliding mode control

2008 ◽  
Vol 22 (10) ◽  
pp. 968-986 ◽  
Author(s):  
Mehmet Önder Efe ◽  
Cosku Kasnakog̃lu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Adaptation Law

Application of adaptive sliding mode control for nonlinear systems with unknown polynomial bounded uncertainties

2017 ◽  
Vol 40 (13) ◽  
pp. 3721-3735 ◽  
Author(s):  
Jiang Zhu ◽  
Karim Khayati
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
System Response ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Spring System ◽  
Adaptation Law ◽  
Mass Spring

In this paper, we discuss the application of a novel switching integral-exponential-adaptation-law-based adaptive sliding mode control design for a wide class of nonlinear systems with unknown polynomial bounds on the uncertainty norm. A robust finite time convergence, i.e. finite stability, is obtained with low chatter on control actions and a fast-transient performance for adaptive sliding mode control handling the multi-input multi-output nonlinear systems with uncertainties of amplitudes bounded within unknown polynomials in the state vector norm. The exponential term of the proposed adaptation law targets the reduction of the chatter levels of the sliding mode by significantly reducing the gain overestimation while simultaneously suppressing the overshoot by speeding up the system response to the uncertainties. It also prevents the instability issues which encounters the classic integral-gain-law-based adaptive sliding mode control when underestimating its initial gain or gain rate parameter. A simple example illustrates the motivation and feasibility of the proposed adaptive sliding mode control. The applications on a nonlinear mass–spring system and on a two degree of freedom electromechanical rotative plant demonstrate the effectiveness of the proposed design.

Sliding-Mode Control With Switching-Gain Adaptation for Trajectory Tracking of Underactuated Unmanned Surface Vessels

2019 ◽  
Author(s):  
Rui Yu ◽  
Haochen Qi ◽  
Kamal Upadhyay ◽  
Hua Zhou
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Wave Loads ◽  
Environmental Disturbances ◽  
Mode Control ◽  
Gain Adaptation ◽  
Surface Vessels ◽  
Adaptation Law

Abstract Robust trajectory tracking is a vitally important issue to underactuated unmanned surface vessels (USVs). In this paper, a sliding-mode control method with switching-gain adaptation is proposed to force an underactuated USV to track a predefined trajectory, despite the presence of parametric uncertainties and unknown environmental disturbances induced by the wave loads, the wind and the ocean currents. The proposed controller is designed using sliding-mode control (SMC) and backstepping and switching-gain adaptation techniques. In this methodology, SMC and backstepping technique are combined to enhance the robustness of the system, and the switching-gain adaptation law based on the ideal switching-gain is employed to alleviate the chattering problem. In addition, we have proved the global asymptotic stability of the closed-loop system under the discontinuous thruster forces or the varying uncertain terms related to the velocities and the environmental disturbances. Finally, numerical simulations are provided to demonstrate the robustness and effectiveness of the proposed method for trajectory tracking of underactuated USVs.

Moving-horizon-estimator-integrated adaptive hierarchical sliding mode control for flexible hypersonic vehicles considering aeroservoelastic effect

2020 ◽  
pp. 095441002097755
Author(s):  
Erkang Chen ◽  
Wuxing Jing ◽  
Changsheng Gao
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Mode Control ◽  
Gain Adaptation ◽  
Sliding Mode Disturbance Observer ◽  
Control Scheme ◽  
Hierarchical Sliding Mode ◽  
Adaptation Law

In order to solve the attitude control problem of flexible hypersonic vehicles with consideration of aeroservoelastic effect, uncertainty and external disturbance, a novel moving-horizon-estimator-integrated adaptive hierarchical sliding mode control scheme is presented in this paper. First, the measurement model considering flexibility is established and the influence of aeroservoelastic effect on system stability is analyzed. Then moving horizon estimator is developed to reconstruct full state information from sensor measurements, while sliding mode disturbance observer and gain adaptation law is proposed to enhance the robustness and attenuate the chattering. Via combining moving horizon estimator, sliding mode disturbance observer, gain adaptation law and baseline hierarchical sliding mode controller, the moving-horizon-estimator-integrated adaptive hierarchical sliding mode control scheme that is able to achieve the control objective of both precise attitude control and active flexible vibration suppression is developed. Finally, Lyapunov theory is used to prove the stability of the proposed control scheme, and the numerical simulations are carried out, which further verify the effectiveness of the proposed control scheme against aeroservoelastic effect, uncertainty and external disturbance.

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

2011 ◽  
Vol 7 (1) ◽  
pp. 19-24
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Speed Control ◽  
Mode Control

Adjust Method of Nonlinear Gain in Four-Wheel Steering Control Using Sliding Mode Control

2009 ◽  
Vol 129 (7) ◽  
pp. 1389-1396 ◽  
Author(s):  
Misawa Kasahara ◽  
Yuki Kanai ◽  
Ryoko Shiraki ◽  
Yasuchika Mori
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Steering Control ◽  
Nonlinear Gain ◽  
Mode Control
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