Performance margins in conventional and second order sliding mode controllers

2013 ◽  
Author(s):  
Antonio Rosales ◽  
Yuri Shtessel ◽  
Leonid Fridman
Keyword(s):  
Sliding Mode ◽  
Second Order ◽  
Sliding Mode Controllers ◽  
Second Order Sliding Mode

scholarly journals Second Order Sliding Mode Control of the Coupled Tanks System

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Fayiz Abu Khadra ◽  
Jaber Abu Qudeiri
Keyword(s):  
Performance Measures ◽  
Sliding Mode ◽  
Absolute Error ◽  
Second Order ◽  
Liquid Level ◽  
First Order ◽  
Sliding Mode Controllers ◽  
The Time Domain ◽  
Domain Performance ◽  
Second Order Sliding Mode

Four classes of second order sliding mode controllers (2-SMC) have been successfully applied to regulate the liquid level in the second tank of a coupled tanks system. The robustness of these classes of 2-SMC is investigated and their performances are compared with a first order controller to show the merits of these controllers. The effectiveness of these controllers is verified through computer simulations. Comparison between the controllers is based on the time domain performance measures such as rise time, settling time, and the integral absolute error. Results showed that controllers are able to regulate the liquid level with small differences in their performance.

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.

Second-Order Sliding Mode Controllers and Differentiators

2014 ◽  
pp. 143-182 ◽  
Author(s):  
Yuri Shtessel ◽  
Christopher Edwards ◽  
Leonid Fridman ◽  
Arie Levant
Keyword(s):  
Sliding Mode ◽  
Second Order ◽  
Sliding Mode Controllers ◽  
Second Order Sliding Mode

scholarly journals Design of Second Order Sliding Mode for Glucose Regulation Systems with Disturbance

2018 ◽  
Vol 7 (2.28) ◽  
pp. 243 ◽  
Author(s):  
Amjad Jaleel Humaidi ◽  
Sami Hasan ◽  
Ammar Abdulhussein Al-Jodah
Keyword(s):  
Glucose Concentration ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
Blood Glucose Concentration ◽  
Second Order ◽  
Sliding Mode Controller ◽  
Sliding Mode Controllers ◽  
Characteristic Features ◽  
Second Order Sliding Mode ◽  
Made In

In this work, Design of second order sliding mode control has been developed to control the diabetic glucose concentration level under disturbing meal has been controlled using three sliding mode controllers. A comparative study of three sliding mode controllers is made in terms of robustness characteristics due to meal feeding. The first is the classical sliding mode controller, the second is integral sliding mode controller and the third is the second order sliding mode controller. Due to their characteristic features of disturbance rejection, all the three sliding mode controllers are presented here for comparison. The Bergman minimal mathematical model is used to describe the dynamic behavior of blood glucose concentration due to insulin regulator injection. Simulations, based on MATLAB/Simulink, were performed to verify the performance of each controller. It has been shown that integral and second order sliding mode controllers are the best of all in terms of disturbance rejection capability. 

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