A Fuzzy Integral Sliding Mode Control Algorithm for High-Speed Laser Beam Focus Tracking Control

2002 ◽  
Vol 20 (4) ◽  
pp. 296-302 ◽  
Author(s):  
S.Q. Xie ◽  
Z.C. Duan ◽  
A. Shaw ◽  
Y.L. Tu
Keyword(s):  
Sliding Mode Control ◽  
Laser Beam ◽  
Tracking Control ◽  
High Speed ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Fuzzy Integral ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

scholarly journals Discrete–Time Integral Sliding Mode Control with Disturbances Compensation and Reduced Chattering for Pv Grid–Connected Inverter

2015 ◽  
Vol 66 (2) ◽  
pp. 61-69 ◽  
Author(s):  
Santolo Meo ◽  
Vincenzo Sorrentino
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Time Integral ◽  
Grid Connected Inverter ◽  
Disturbances Compensation

Abstract In the paper a new discrete-time integral sliding mode control (DISMC) with disturbances compensation and reduced chattering for grid-connected inverter is proposed for active and reactive power regulation. Differently by many SMC proposed in literature that have a time-continuous formulation in spite have been implemented with digital processor, the proposed DISMC is fully formulated in discrete-time, taking into account the effects introduced by a microprocessor-based implementation. As will be demonstrated such approach consents to reduce the chattering about the sliding manifold within a boundary layer of O(T2) thickness instead of O(T) (being T the sampling period of the control algorithm). Moreover it introduces a correction of the control vector which eliminates the influence of modeling error and external disturbances improving stability and robustness of the controlled system. Constant converter switching frequency is achieved by using space vector modulation, which eases the design of the ac harmonic filter. In the paper, after a detailed formalization of the proposed control algorithm, several numerical and experimental results on a three-phase grid-connected inverter prototype are shown, proving the effectiveness of the control strategy.

A new continuous integral sliding mode control algorithm for inverted pendulum and 2-DOF helicopter nonlinear systems: Theory and experiment

2021 ◽  
pp. 095965182110480
Author(s):  
Satyanarayan Sadala ◽  
Balasaheb Patre ◽  
Divyesh Ginoya
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Discontinuous Function ◽  
Single Input Single Output ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Control Approach ◽  
Mode Control

This paper introduces a new continuous integral sliding mode control algorithm, where the discontinuous function of the super-twisting control law is replaced with a continuous disturbance observer for the substantial chattering attenuation. In the present integral sliding mode control, the discontinuous function generates chattering that is undesirable for several real-time applications. The proposed control strategy decreases the amplitude of the controller gain compared to the existing integral sliding mode controls, and as a consequence of this, the attenuation of chattering is achieved to a great extent. The efficacy of the proposed control algorithm is validated successfully on the single-input single-output Inverted Pendulum and 2-DOF Helicopter nonlinear coupled multi-input multi-output systems. The simulation and experimental results demonstrate the successful application of the proposed control approach to follow reference inputs and acquire robustness and stabilization of the system in the presence of limited matched perturbations and nonlinearities.

scholarly journals LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems

2011 ◽  
Vol 21 (4) ◽  
pp. 605-615 ◽  
Author(s):  
Chaouki Mnasri ◽  
Moncef Gasmi
Keyword(s):  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Control Law ◽  
Fuzzy Integral ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Adaptive Fuzzy ◽  
Mode Control

LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as norm-bounded nonlinearities and external disturbances. A sufficient condition for the robust stability of the sliding manifold is derived by means of linear matrix inequalities. The initial existence of the sliding mode is guaranteed by the proposed control law. The improvement of the proposed control scheme performances, such as chattering elimination and estimation of norm bounds of uncertainties, is then considered with the application of an adaptive fuzzy integral sliding mode control law. The validity and efficiency of the proposed approaches are investigated through a sixth order uncertain mechanical system.

scholarly journals Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Waseem Abbasi ◽  
Fazal ur Rehman
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Front Wheel ◽  
Stabilizing Controller ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Lie Brackets

This article presents adaptive integral sliding mode control algorithm for the stabilization of nonholonomic drift-free systems. First the system is transformed, by using input transform, into a special structure containing a nominal part and some unknown terms which are computed adaptively. The transformed system is then stabilized using adaptive integral sliding mode control. The stabilizing controller for the transformed system is constructed that consists of the nominal control plus a compensator control. The compensator control and the adaptive laws are derived on the basis of Lyapunov stability theory. The proposed control algorithm is applied to three different nonholonomic drift-free systems: the unicycle model, the front wheel car model, and the mobile robot with trailer model. The controllability Lie algebra of the unicycle model contains Lie brackets of depth one, the model of a front wheel car contains Lie brackets of depths one and two, and the model of a mobile robot with trailer contains Lie brackets of depths one, two, and three. The effectiveness of the proposed control algorithm is verified through numerical simulations.

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