Euler’s discretization effect on a twisting algorithm based sliding mode control

Automatica ◽  
2016 ◽  
Vol 68 ◽  
pp. 203-208 ◽  
Author(s):  
Yan Yan ◽  
Zbigniew Galias ◽  
Xinghuo Yu ◽  
Changyin Sun
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Twisting Algorithm ◽  
Discretization Effect

Super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

2020 ◽  
Vol 235 (1) ◽  
pp. 43-54
Author(s):  
Jun Liu ◽  
Liang Gao ◽  
Junjie Zhang ◽  
Feng Yan
Keyword(s):  
Sliding Mode Control ◽  
Collision Avoidance ◽  
Sliding Mode ◽  
Mode Control ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Collision Avoidance System ◽  
Path Planner ◽  
Twisting Algorithm

Active collision avoidance system has received more and more attraction, which has the capability to avoid potential accidents and reduce driver burden. This paper proposes an active collision avoidance system which consists of a path planner and a coordinated lateral controller. In the path planner, cubic B-spline is developed to obtain collision-free trajectories to bypass the obstacle by steering. Based on this, a coordinated lateral dynamic control of autonomous ground vehicles is presented to improve the accuracy and robustness of path following and simultaneously ensure vehicle stability via active front steering and direct yaw moment control. Then, second-order sliding mode control, based on super-twisting algorithm, is applied to reduce lateral offset and heading angle deviation as much as possible and avoid chattering phenomenon of tradition sliding mode control. Meanwhile, a new form of sliding mode control based on improved reaching law is devoted to forcing the vehicle state sideslip angle and yaw rate to stability envelope with less chattering in the case of low road friction coefficient. Eventually, the effectiveness and robustness of active collision avoidance system against external disturbance and parametric uncertainties are confirmed through different test cases in the MATLAB/Simulink simulation platform.

Second Order Sliding Mode Control of Direct-Drive Ring Permanent Magnet Torque Motor

2011 ◽  
Vol 383-390 ◽  
pp. 5964-5971 ◽  
Author(s):  
Yi Biao Sun ◽  
Ya Nan Jing ◽  
Jia Kuan Xia
Keyword(s):  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Sliding Mode ◽  
Servo System ◽  
Second Order ◽  
Continuous Control ◽  
Direct Drive ◽  
Mode Control ◽  
Twisting Algorithm ◽  
Second Order Sliding Mode

The direct-drive ring permanent magnet torque motor is easily affected by parameters changes and the load torque disturbances, which reduces the servo performance of the system. In order to enhance the robustness of the servo system, the super twisting algorithm based on the second order sliding mode control (SMC) is proposed as the speed controller of the direct-drive servo system. The super twisting algorithm need not know the information of the sliding mode time derivative, which through the continuous control measure the sliding mode and its derivative approach zero in finite time. This method not only guarantees the robustness of the servo system and eliminates chatting, but also enhances the static precision of the servo system. The simulation results show that the servo system of the direct-drive NC rotary table has a very strong robustness by adopting the control method against parameters changes and the external disturbances.

Sign in / Sign up

Export Citation Format

Share Document