scholarly journals Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 196618-196632
Author(s):  
Baolei Wang ◽  
Chi Zhang ◽  
Qingwei Jia ◽  
Xiangjun Liu ◽  
Guilin Yang
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Tracking System ◽  
Time Varying ◽  
Mode Control ◽  
Uncertain Disturbances

Model-free adaptive iterative sliding mode control for a robotic exoskeleton trajectory tracking system

2020 ◽  
Vol 51 (10) ◽  
pp. 1782-1797
Author(s):  
Xuechao Qiu ◽  
Changchun Hua ◽  
Jiannan Chen ◽  
Liuliu Zhang ◽  
Xinping Guan
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Tracking System ◽  
Robotic Exoskeleton ◽  
Mode Control ◽  
Model Free

Distributed sliding mode control for time-varying formation tracking of multi-UAV system with a dynamic leader

2021 ◽  
Vol 111 ◽  
pp. 106549
Author(s):  
Jianhua Wang ◽  
Liang Han ◽  
Xiwang Dong ◽  
Qingdong Li ◽  
Zhang Ren
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Time Varying ◽  
Mode Control ◽  
Formation Tracking ◽  
Multi Uav

scholarly journals New Time-Varying Sliding Surface for Switching Type Quasi-Sliding Mode Control

Energies ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 3811
Author(s):  
Katarzyna Adamiak ◽  
Andrzej Bartoszewicz
Keyword(s):  
Sliding Mode Control ◽  
Continuous Time ◽  
Sliding Mode ◽  
Representative Point ◽  
Time Varying ◽  
Sliding Surface ◽  
External Disturbances ◽  
Mode Control ◽  
Switching Type ◽  
Time Systems

This study considers the problem of energetical efficiency in switching type sliding mode control of discrete-time systems. The aim of this work is to reduce the quasi-sliding mode band-width and, as follows, the necessary control input, through an application of a new type of time-varying sliding hyperplane in quasi-sliding mode control of sampled time systems. Although time-varying sliding hyperplanes are well known to provide insensitivity to matched external disturbances and uncertainties of the model in the whole range of motion for continuous-time systems, their application in the discrete-time case has never been studied in detail. Therefore, this paper proposes a sliding surface, which crosses the system’s representative point at the initial step and then shifts in the state space according to the pre-generated demand profile of the sliding variable. Next, a controller for a real perturbed plant is designed so that it drives the system’s representative point to its reference position on the sliding plane in each step. Therefore, the impact of external disturbances on the system’s trajectory is minimized, which leads to a reduction of the necessary control effort. Moreover, thanks to a new reaching law applied in the reference profile generator, the sliding surface shift in each step is strictly limited and a switching type of motion occurs. Finally, under the assumption of boundedness and smoothness of continuous-time disturbance, a compensation scheme is added. It is proved that this control strategy reduces the quasi-sliding mode band-width from O(T) to O(T3) order from the very beginning of the regulation process. Moreover, it is shown that the maximum state variable errors become of O(T3) order as well. These achievements directly reduce the energy consumption in the closed-loop system, which is nowadays one of the crucial factors in control engineering.

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