Nonlinear sliding surface based adaptive sliding mode control for industrial emulator

2013 ◽  
Author(s):  
R. Raman ◽  
A. Chalanga ◽  
S. Kamal ◽  
B. Bandyopadhyay
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Mode Control

Adaptive sliding mode control for stochastic switched systems with actuator faults

2018 ◽  
Vol 41 (7) ◽  
pp. 1880-1887
Author(s):  
Yonghui Liu
Keyword(s):  
Sliding Mode Control ◽  
Switched Systems ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Adaptive Sliding Mode Control ◽  
Sliding Surface ◽  
Actuator Faults ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Actuator Degradation

The problem of adaptive sliding mode control is considered for a class of stochastic switched systems with actuator degradation. In this work, the input matrix for each subsystem is unnecessarily the same. Thus, a weighted sum approach of the input matrices is introduced such that a common sliding surface is designed. By online estimating the loss of effectiveness of the actuators, an adaptive sliding mode controller is designed. It can not only compensate the effect of the actuator degradation effectively, but also reduce the conservatism that the bound of the actuator faults should be known in advance. Moreover, it is shown that the reachability of the sliding surface can be guaranteed. Furthermore, sufficient conditions on the mean-square exponential stability of the sliding mode dynamics are obtained via the average dwell time method. Finally, a numerical simulation example is given to demonstrate the effectiveness of the proposed method.

Adaptive Sliding Mode Controller With Proportional Plus Integral Sliding Surface

2006 ◽  
Author(s):  
J. Fei ◽  
Celel Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller ◽  
Integral Sliding Surface

This paper presents an adaptive tracking controller with a proportional and integral switching surface. A new adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of linear dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then an adaptive sliding mode controller is derived and its stability is proved. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The adaptive design is extended to the multiple inputs system. The numerical simulation is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.

scholarly journals Novel Adaptive Sliding Mode Control with Nonlinear Disturbance Observer for SMT Assembly Machine

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
Rongrong Qian ◽  
Minzhou Luo ◽  
Yao Zhao ◽  
Jianghai Zhao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Sliding Surface ◽  
Parameter Uncertainties ◽  
Nonlinear Disturbance Observer ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Nonlinear Disturbance

This paper presents a novel adaptive sliding mode control based on nonlinear sliding surface with disturbance observer (ANSMC-DOB) for precision trajectory tracking control of a surface mount technology (SMT) assembly machine. A two-degree-of-freedom model with time-varying parameter uncertainties and disturbances is built to describe the first axial mode of the pick-place actuation axis of the machine. According to the principle of variable damping ratio coefficient which makes the system have a nonovershoot transient response and a short settling time in the second-order system, the nonlinear sliding surface is designed for the sliding mode control (SMC). Since the upper bound value of the disturbances is unknown, the adaptive gain estimation is applied to replace the switching gain in the SMC. In order to settle the problem of SMC unrobust to the mismatched parameter uncertainties and disturbances, the nonlinear disturbance observer is introduced to estimate the mismatched disturbances and form the novel controller of ANSMC-DOB. The stability of sliding surfaces and control laws are verified by the Lyapunov functions. The simulation research and comparative experiments are conducted to verify the improvement of positioning accuracy and robustness by the proposed ANSMC-DOB in the SMT assembly machine.

A class of adaptive sliding mode controller with proportional-integral sliding surface

2009 ◽  
Vol 223 (7) ◽  
pp. 989-999 ◽  
Author(s):  
J Fei ◽  
C Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller ◽  
Integral Sliding Surface

This paper presents an adaptive sliding mode tracking controller with a proportional and integral switching surface. A novel adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then a class of adaptive sliding mode controller with integral sliding term is developed. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The numerical simulation of a triaxial gyroscope is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.

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