STATE-DEPENDENT BOUNDARY LAYER METHOD FOR ATTITUDE CONTROL OF SATELLITE

2015 ◽  
Vol 76 (12) ◽  
Author(s):  
Nurul Syazwani Hussain ◽  
Hassrizal Hasan Basri ◽  
Sazali Yaacob
Keyword(s):  
Boundary Layer ◽  
Sliding Mode Control ◽  
Attitude Control ◽  
Sliding Mode ◽  
Control Signal ◽  
Switching Function ◽  
Parameter Uncertainties ◽  
Mode Control ◽  
Layer Method ◽  
Boundary Layer Method

Sliding mode control is known to be robust against parameter uncertainties and external disturbances. Based on the dynamic equation of motion, a sliding mode controller is designed to solve this problem. However, for the sliding surface to be attractive, a switching function is used in the control law, which caused chattering of the control signal. In order to avoid this, a boundary layer method is considered in the modified controller. So this paper proposes new boundary layer designs that resolve the problem in control accuracy and control signal smoothness in sliding mode control. The propose design improve the system state to almost zero with no chattering in the control signals.

Dynamic analysis, simulation, and control of a 6-DOF IRB-120 robot manipulator using sliding mode control and boundary layer method

2018 ◽  
Vol 25 (9) ◽  
pp. 2219-2244 ◽  
Author(s):  
Mojtaba Hadi Barhaghtalab ◽  
Vahid Meigoli ◽  
Mohammad Reza Golbahar Haghighi ◽  
Seyyed Ahmad Nayeri ◽  
Arash Ebrahimi
Keyword(s):  
Boundary Layer ◽  
Sliding Mode Control ◽  
Dynamic Analysis ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Mode Control ◽  
Layer Method ◽  
Boundary Layer Method ◽  
Simulation And Control ◽  
And Control

Robust stabilization of one-sided Lipschitz nonlinear systems via adaptive sliding mode control

2019 ◽  
Vol 26 (7-8) ◽  
pp. 399-412
Author(s):  
Wajdi Saad ◽  
Anis Sellami ◽  
Germain Garcia
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Linear Matrix ◽  
Switching Function ◽  
Parameter Uncertainties ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Lipschitz Nonlinear Systems

In this paper, the problem of adaptive sliding mode control for varied one-sided Lipschitz nonlinear systems with uncertainties is investigated. In contrast to existing sliding mode control design methods, the considered models, in the current study, are affected by nonlinear control inputs, one-sided Lipschitz nonlinearities, unknown disturbances and parameter uncertainties. At first, to design the sliding surface, a specific switching function is defined. The corresponding nonlinear equivalent control is extracted and the resulting sliding mode dynamic is given. Novel synthesis conditions of asymptotic stability are derived in terms of linear matrix inequalities. Thereafter, to ensure the reachability of system states and the occurrence of the sliding mode, the sliding mode controller is designed. Any knowledge of the upper bound on the perturbation is not required and an adaptation law is proposed. At last, two illustrative examples are introduced.

scholarly journals Chebyshev Neural Network-Based Adaptive Nonsingular Terminal Sliding Mode Control for Hypersonic Vehicles

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Ruimin Zhang ◽  
Qiaoyu Chen ◽  
Haigang Guo
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Adaptive Law ◽  
Nonsingular Terminal Sliding Mode

This paper presents an adaptive nonsingular terminal sliding mode control approach for the attitude control of a hypersonic vehicle with parameter uncertainties and external disturbances based on Chebyshev neural networks (CNNs). First, a new nonsingular terminal sliding surface is proposed for a general uncertain nonlinear system. Then, a nonsingular sliding mode control is designed to achieve finite-time tracking control. Furthermore, to relax the requirement for the upper bound of the lumped uncertainty including parameter uncertainties and external disturbances, a CNN is used to estimate the lumped uncertainty. The network weights are updated by the adaptive law derived from the Lyapunov theorem. Meanwhile, a low-pass filter-based modification is added into the adaptive law to achieve fast and low-frequency adaptation when using high-gain learning rates. Finally, the proposed approach is applied to the attitude control of the hypersonic vehicle and simulation results illustrate its effectiveness.

scholarly journals Research on predictive sliding mode control strategy for horizontal vibration of ultra-high-speed elevator car system based on adaptive fuzzy

2021 ◽  
Vol 54 (3-4) ◽  
pp. 360-373
Author(s):  
Hong Wang ◽  
Mingqin Zhang ◽  
Ruijun Zhang ◽  
Lixin Liu
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Sliding Mode ◽  
Mode Switching ◽  
Parameter Uncertainties ◽  
Horizontal Vibration ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
System A ◽  
Ultra High Speed

In order to effectively suppress horizontal vibration of the ultra-high-speed elevator car system. Firstly, considering the nonlinearity of guide shoe, parameter uncertainties, and uncertain external disturbances of the elevator car system, a more practical active control model for horizontal vibration of the 4-DOF ultra-high-speed elevator car system is constructed and the rationality of the established model is verified by real elevator experiment. Secondly, a predictive sliding mode controller based on adaptive fuzzy (PSMC-AF) is proposed to reduce the horizontal vibration of the car system, the predictive sliding mode control law is achieved by optimizing the predictive sliding mode performance index. Simultaneously, in order to decrease the influence of uncertainty of the car system, a fuzzy logic system (FLS) is designed to approximate the compound uncertain disturbance term (CUDT) on-line. Furthermore, the continuous smooth hyperbolic tangent function (HTF) is introduced into the sliding mode switching term to compensate the fuzzy approximation error. The adaptive laws are designed to estimate the error gain and slope parameter, so as to increase the robustness of the system. Finally, numerical simulations are conducted on some representative guide rail excitations and the results are compared to the existing solution and passive system. The analysis has confirmed the effectiveness and robustness of the proposed control method.

scholarly journals The Approximation of the Nonlinear Singular System with Impulses and Sliding Mode Control via a Singular Polynomial Fuzzy Model Approach

Symmetry ◽  
2021 ◽  
Vol 13 (8) ◽  
pp. 1409
Author(s):  
Jiawen Li ◽  
Yi Zhang ◽  
Zhenghong Jin
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Singular System ◽  
Fuzzy Model ◽  
Switching Function ◽  
Covering Theorem ◽  
Function Type ◽  
Numerical Examples ◽  
Mode Control ◽  
Nonlinear Singular System

In this paper, the Singular-Polynomial-Fuzzy-Model (SPFM) approach problem and impulse elimination are investigated based on sliding mode control for a class of nonlinear singular system (NSS) with impulses. Considering two numerical examples, the SPFM of the nonlinear singular system is calculated based on the compound function type and simple function type. According to the solvability and the steps of two numerical examples, the method of solving the SPFM form of the nonlinear singular system with (and without) impulse are extended to the more general case. By using the Heine–Borel finite covering theorem, it is proven that a class of nonlinear singular systems with bounded impulse-free item (BIFI) properties and separable impulse item (SII) properties can be approximated by SPFM with arbitrary accuracy. The linear switching function and sliding mode control law are designed to be applied to the impulse elimination of SPFM. Compared with some published works, a human posture inverted pendulum model example and Example 3.2 demonstrate that the approximation error is small enough and that both algorithms are effective. Example 3.3 is to illustrate that sliding mode control can effectively eliminate impulses of SPFM.

scholarly journals Experimentally Validated Sliding Mode Control of Multi-rotor UAV with Control Signal Constraints

2020 ◽  
Vol 53 (2) ◽  
pp. 8860-8865
Author(s):  
Yuankang Zhu ◽  
Liuping Wang ◽  
Jyoti Mishra
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Signal ◽  
Mode Control
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