Discrete variable structure control algorithm for nonlinear systems via sliding mode prediction

2006 ◽  
Author(s):  
Lingfei Xiao ◽  
Hongye Su ◽  
Xiaoyu Zhang ◽  
Jian Chu
Keyword(s):  
Nonlinear Systems ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Discrete Variable ◽  
Structure Control

Research of Trajectory Tracking Algorithms for Industrial Robot

2014 ◽  
Vol 568-570 ◽  
pp. 922-926
Author(s):  
Cheng Liu ◽  
Xue Ren Li ◽  
Yun Ze Li
Keyword(s):  
Trajectory Tracking ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Industrial Robot ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Fast Variable ◽  
Control Effect ◽  
Improve Response Rate ◽  
Structure Control

the paper firstly designs dynamics model of a 6-DOF vertical multi-joint robot and simplifies it, aiming at the existing algorithms PID path tracking control, the paper put forward two new algorithms based on the analysis of the variable structure control: fast variable structure control algorithm and adaptive fuzzy variable structure control algorithm. The fast variable structure control algorithm can improve the control effect by optimizing the reaching movement. By introducing adaptive processing and fuzziness into reaching law of traditional variable structure control, the reaching motion is improved during sliding mode process. The results show that the two algorithms can not only improve response rate, but also ensure the accuracy of trajectory tracking, as well as the advantages of simple structure, high robustness and adaptability.

Based on Sliding Mode Variable Structure Current Controller for Induction Motor Vector Control Technology

2013 ◽  
Vol 711 ◽  
pp. 426-431
Author(s):  
Chun Yan Cui ◽  
Kui Li ◽  
Bing Li ◽  
Chao Fu ◽  
Jia Guo
Keyword(s):  
Vector Control ◽  
Induction Motor ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Model Parameters ◽  
Structure Control ◽  
Current Controller ◽  
Sliding Mode Variable Structure

In this paper, according to the induction motor in rotating coordinate system mathematical model, established based on rotor flux oriented vector control model and realized flux linkage and torque decoupling. In order to solve the current high coupling, designed the sliding mode variable structure control algorithm of current controller. Based on the sliding mode variable structure control algorithm achievable conditions and Lyapunov stability theorem, proved that the sliding mode of accessibility and stability, determined the sliding model parameters. The simulation results show that the sliding mode variable structure control of induction motor vector control system, can reduce the torque ripple and the speed overshoot and improve the system parameter perturbation and external disturbance signal robustness.

Sign in / Sign up

Export Citation Format

Share Document