Relation of dynamic sliding surface design and high order sliding mode controllers

2003 ◽  
Author(s):  
T. Acarman ◽  
U. Ozguner
Keyword(s):  
Sliding Mode ◽  
High Order ◽  
Sliding Surface ◽  
Surface Design ◽  
Sliding Mode Controllers

scholarly journals Design of Terminal Sliding Mode Controllers for Disturbed Non-Linear Systems Described by Matrix Differential Equations of the Second and First Orders

2019 ◽  
Vol 9 (11) ◽  
pp. 2325 ◽  
Author(s):  
Paweł Skruch ◽  
Marek Długosz
Keyword(s):  
Differential Equations ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Sliding Mode Controllers ◽  
System Trajectory ◽  
Non Linear ◽  
Matrix Differential Equations ◽  
Non Linear Systems ◽  
Matrix Differential

This paper describes a design scheme for terminal sliding mode controllers of certain types of non-linear dynamical systems. Two classes of such systems are considered: the dynamic behavior of the first class of systems is described by non-linear second-order matrix differential equations, and the other class is described by non-linear first-order matrix differential equations. These two classes of non-linear systems are not completely disjointed, and are, therefore, investigated together; however, they are certainly not equivalent. In both cases, the systems experience unknown disturbances which are considered bounded. Sliding surfaces are defined by equations combining the state of the system and the expected trajectory. The control laws are drawn to force the system trajectory from an initial condition to the defined sliding surface in finite time. After reaching the sliding surface, the system trajectory remains on it. The effectiveness of the approaches proposed is verified by a few computer simulation examples.

scholarly journals AN INTELLIGENT NEURO-FUZZY TERMINAL SLIDING MODE CONTROL METHOD WITH APPLICATION TO ATOMIC FORCE MICROSCOPE

2016 ◽  
Vol 17 (2) ◽  
pp. 185-204
Author(s):  
Seied Yasser Nikoo ◽  
Behrooz Rezaie ◽  
Zahra Rahmani ◽  
Seied Jalil Sadati
Keyword(s):  
Sliding Mode Control ◽  
Atomic Force Microscope ◽  
Control Method ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Atomic Force ◽  
Neuro Fuzzy ◽  
Sliding Mode Controllers

In this paper, a neuro-fuzzy fast terminal sliding mode control method is proposed for controlling a class of nonlinear systems with bounded uncertainties and disturbances. In this method, a nonlinear terminal sliding surface is firstly designed. Then, this sliding surface is considered as input for an adaptive neuro-fuzzy inference system which is the main controller. A proportinal-integral-derivative controller is also used to asist the neuro-fuzzy controller in order to improve the performance of the system at the begining stage of control operation. In addition, bee algorithm is used in this paper to update the weights of neuro-fuzzy system as well as the parameters of the proportinal-integral-derivative controller. The proposed control scheme is simulated for vibration control in a model of atomic force microscope system and the results are compared with conventional sliding mode controllers. The simulation results show that the chattering effect in the proposed controller is decreased in comparison with the sliding mode and the terminal sliding mode controllers. Also, the method provides the advantages of fast convergence and low model dependency compared to the conventional methods.

scholarly journals Fast Fractional-Order Terminal Sliding Mode Control for Seven-Axis Robot Manipulator

2020 ◽  
Vol 10 (21) ◽  
pp. 7757
Author(s):  
Jie Wang ◽  
Min Cheol Lee ◽  
Jae Hyung Kim ◽  
Hyun Hee Kim
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Order Derivative ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Surface Design ◽  
Fractional Order Derivative

This paper proposes a novel controller, fast fractional-order terminal sliding mode control (FFOTSMC), for a seven-degree-of-freedom (7-DOF) robot manipulator with tracking control. The new controller applies the fractional-order derivative on both the sliding surface design and the sliding control/reaching law. Compared to previous research, which only applies the fractional-order derivative on the sliding surface design, the proposed controller has a faster convergence for reaching the sliding surface and maintaining stay on it because of the new fractional-order control law, which helps the tracking accuracy. To implement the controller on the robot with less chattering, a sliding perturbation observer (SPO) is used to estimate the disturbance and uncertainties. Stability analysis is analyzed using Lyapunov functions for fractional-order systems. The controller performance is evaluated by a simulation of a single-input and single-output (SISO) system in MATLAB Simulink and experiments on the robot manipulator.

Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators

2014 ◽  
Vol 228 (17) ◽  
pp. 3240-3257 ◽  
Author(s):  
Mien Van ◽  
Hee-Jun Kang ◽  
Kyoo-Sik Shin
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Second Order ◽  
High Order ◽  
Sliding Mode Controller ◽  
Sliding Mode Controllers ◽  
Sliding Manifold ◽  
Feedback Tracking ◽  
Second Order Sliding Mode

In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation [Formula: see text]. To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold [Formula: see text]. Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm.

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