Extremum seeking by a dynamic plant using mixed integral sliding mode controller with synchronous detection gradient estimation

2018 ◽  
Vol 29 (3) ◽  
pp. 702-714 ◽  
Author(s):  
Cesar U. Solis ◽  
Julio B. Clempner ◽  
Alexander S. Poznyak
Keyword(s):  
Sliding Mode ◽  
Extremum Seeking ◽  
Sliding Mode Controller ◽  
Gradient Estimation ◽  
Synchronous Detection ◽  
Integral Sliding Mode ◽  
Dynamic Plant

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

Robust Nonlinear Double Integral Sliding Mode Controller Design for Mitigating SSR in DFIG-Based Wind Farms

2021 ◽  
Author(s):  
Farjana Faria ◽  
Tushar Kanti Roy ◽  
Most. Mahmuda Khatun ◽  
Tanmoy Sarkar ◽  
Tabassum Haque ◽  
...  
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Wind Farms ◽  
Sliding Mode Controller ◽  
Double Integral ◽  
Integral Sliding Mode

An optimized double-integral-sliding-mode-controller for a PV microgrid

2021 ◽  
Vol 40 (5) ◽  
pp. 1011-1031
Author(s):  
Swati Sucharita Pradhan ◽  
Raseswari Pradhan ◽  
Bidyadhar Subudhi
Keyword(s):  
Sliding Mode ◽  
Water Evaporation ◽  
Sliding Mode Controller ◽  
Double Integral ◽  
Reference Tracking ◽  
Content Type ◽  
Integral Sliding Mode ◽  
Highly Nonlinear ◽  
System Output ◽  
Linear Controllers

Purpose The dynamics of the PV microgrid (PVMG) system are highly nonlinear and uncertain in nature. It is encountered with parametric uncertainties and disturbances. This system cannot be controlled properly by conventional linear controllers. H− controller and sliding mode controller (SMC) may capable of controlling it with ease. Due to its inherent dynamics, SMC introduces unwanted chattering into the system output waveforms. This paper aims to propose a controller to reduce this chattering. Design/methodology/approach This paper presents redesign of the SMC by modifying its sliding surface and tuning its parameters by employing water-evaporation-optimization (WEO) based metaheuristic algorithm. Findings By using this proposed water-evaporation-optimization algorithm-double integral sliding mode controller (WEOA-DISMC), the chattering magnitude is diminished greatly. Further, to examine which controller between H8 controller and proposed WEOA-DISMC performs better in both normal and uncertain situations, a comparative analysis has been made in this paper. The considered comparison parameters are reference tracking, disturbance rejection and robust stability. Originality/value WEO tuned DISMC for PVMG system is the contribution.

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