Application of adaptive sliding mode control with integral/exponential adaptation law to mechanical manipulators

2016 ◽  
Author(s):  
Jiang Zhu ◽  
Karim Khayati
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Mechanical Manipulators ◽  
Adaptation Law

Application of adaptive sliding mode control for nonlinear systems with unknown polynomial bounded uncertainties

2017 ◽  
Vol 40 (13) ◽  
pp. 3721-3735 ◽  
Author(s):  
Jiang Zhu ◽  
Karim Khayati
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
System Response ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Spring System ◽  
Adaptation Law ◽  
Mass Spring

In this paper, we discuss the application of a novel switching integral-exponential-adaptation-law-based adaptive sliding mode control design for a wide class of nonlinear systems with unknown polynomial bounds on the uncertainty norm. A robust finite time convergence, i.e. finite stability, is obtained with low chatter on control actions and a fast-transient performance for adaptive sliding mode control handling the multi-input multi-output nonlinear systems with uncertainties of amplitudes bounded within unknown polynomials in the state vector norm. The exponential term of the proposed adaptation law targets the reduction of the chatter levels of the sliding mode by significantly reducing the gain overestimation while simultaneously suppressing the overshoot by speeding up the system response to the uncertainties. It also prevents the instability issues which encounters the classic integral-gain-law-based adaptive sliding mode control when underestimating its initial gain or gain rate parameter. A simple example illustrates the motivation and feasibility of the proposed adaptive sliding mode control. The applications on a nonlinear mass–spring system and on a two degree of freedom electromechanical rotative plant demonstrate the effectiveness of the proposed design.

scholarly journals Adaptive Sliding Mode Control Based on Equivalence Principle and Its Application to Chaos Control in a Seven-Dimensional Power System

2020 ◽  
Vol 2020 ◽  
pp. 1-13 ◽  
Author(s):  
Jiangbin Wang ◽  
Ling Liu ◽  
Chongxin Liu ◽  
Xiaoteng Li
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Design Process ◽  
Equivalence Principle ◽  
Sliding Mode ◽  
Chaotic Oscillation ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

The main purpose of the paper is to control chaotic oscillation in a complex seven-dimensional power system model. Firstly, in view that there are many assumptions in the design process of existing adaptive controllers, an adaptive sliding mode control scheme is proposed for the controlled system based on equivalence principle by combining fixed-time control and adaptive control with sliding mode control. The prominent advantage of the proposed adaptive sliding mode control scheme lies in that its design process breaks through many existing assumption conditions. Then, chaotic oscillation behavior of a seven-dimensional power system is analyzed by using bifurcation and phase diagrams, and the proposed strategy is adopted to control chaotic oscillation in the power system. Finally, the effectiveness and robustness of the designed adaptive sliding mode chaos controllers are verified by simulation.

scholarly journals Adaptive Sliding Mode Control for Attitude and Altitude System of a Quadcopter UAV via Neural Network

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 40076-40085
Author(s):  
Ngoc Phi Nguyen ◽  
Nguyen Xuan Mung ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan Tu Huynh ◽  
Ngoc Tam Lam ◽  
...  
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control
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