Disturbance Adaptive Discrete-Time Sliding Control With Application to Engine Speed Control

1998 ◽  
Vol 123 (1) ◽  
pp. 1-9 ◽  
Author(s):  
Mooncheol Won ◽  
J. K. Hedrick
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Sliding Surface ◽  
Sliding Control ◽  
Error Dynamics

This paper presents a discrete-time adaptive sliding control method for SISO nonlinear systems with a bounded disturbance or unmodeled dynamics. Control and adaptation laws considering input saturation are obtained from approximately discretized nonlinear systems. The developed disturbance adaptation or estimation law is in a discrete-time form, and differs from that of conventional adaptive sliding mode control. The closed-loop poles of the feedback linearized sliding surface and the adaptation error dynamics can easily be placed. It can be shown that the adaptation error dynamics can be decoupled from sliding surface dynamics using the proposed scheme. The proposed control law is applied to speed tracking control of an automatic engine subject to unknown external loads. Simulation and experimental results verify the advantages of the proposed control law.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Modified Sliding Mode Control for Mismatched Uncertain Systems with Unknown Disturbances

2016 ◽  
Vol 829 ◽  
pp. 123-127
Author(s):  
Van Van Huynh ◽  
Thao Phuong Thi Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Existence Condition ◽  
Adaptive Sliding Mode Control ◽  
Linear Matrix ◽  
Control Law ◽  
Sliding Surface ◽  
Mode Control ◽  
System States

In this paper, a new sliding mode control law is developed for a class of mismatched uncertain systems with more general exogenous disturbances. First, we derive a new existence condition of linear sliding surface in terms of strict linear matrix inequalities such that the reduce-order sliding mode dynamics is is asymptotically stable. Second, we propose an adaptive sliding mode control law such that the system states reach the sliding surface in finite time and stay on its thereafter. Final, a numerical example is used to demonstrate the efficacy of the proposed method.

scholarly journals Control of Chaos in Rate-Dependent Friction-Induced Vibration Using Adaptive Sliding Mode Control and Impulse Damper

2013 ◽  
Vol 2013 ◽  
pp. 1-8
Author(s):  
Ehsan Maani Miandoab ◽  
Aghil Yousefi-Koma ◽  
Saeed Hashemnia
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Adaptive Sliding Mode ◽  
Chaotic Vibration ◽  
Mode Control ◽  
Rate Dependent

Two different control methods, namely, adaptive sliding mode control and impulse damper, are used to control the chaotic vibration of a block on a belt system due to the rate-dependent friction. In the first method, using the sliding mode control technique and based on the Lyapunov stability theory, a sliding surface is determined, and an adaptive control law is established which stabilizes the chaotic response of the system. In the second control method, the vibration of this system is controlled by an impulse damper. In this method, an impulsive force is applied to the system by expanding and contracting the PZT stack according to efficient control law. Numerical simulations demonstrate the effectiveness of both methods in controlling the chaotic vibration of the system. It is shown that the settling time of the controlled system using impulse damper is less than that one controlled by adaptive sliding mode control; however, it needs more control effort.

scholarly journals Discrete time reaching law based variable structure control for fast reaching with reduced chattering

2020 ◽  
Vol 9 (1) ◽  
pp. 51
Author(s):  
Pournami Padmalatha ◽  
Susy Thomas
Keyword(s):  
Discrete Time ◽  
Sliding Mode ◽  
Variable Structure Control ◽  
Variable Structure ◽  
The Other ◽  
Control Law ◽  
Sliding Surface ◽  
Structure Control ◽  
Reaching Law ◽  
Speed Up

In this paper, a variable structure control law is proposed for discrete time sliding mode control so as to reduce both reaching time and quasi sliding mode band reduction. This new law is composed of two different sliding variable dynamics; one to achieve fast reaching and the other to counter its effect on widening the quasi sliding mode band. This is accomplished<br />by introducing a boundary layer around the sliding surface about which the transformation of the sliding variable dynamics takes place. This provides the flexibility to choose the initial dynamics in such a way as to speed up the reaching phase and then at the boundary transform this dynamics to one that reduces the quasi sliding mode band. Thus, the law effectively<br />coalesces the advantageous traits of hitherto proposed reaching laws that succeed in either the reduction of reaching phase or the elimination of quasi sliding mode band. The effectiveness of the proposed reaching law is validated through simulations.<br /><br />

scholarly journals Neural Adaptive Sliding-Mode Control of a Bidirectional Vehicle Platoon with Velocity Constraints and Input Saturation

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Maode Yan ◽  
Jiacheng Song ◽  
Panpan Yang ◽  
Lei Zuo
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Adaptive Sliding Mode Control ◽  
String Stability ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Vehicle Platoon ◽  
Velocity Constraints

This paper investigates the vehicle platoon control problems with both velocity constraints and input saturation. Firstly, radial basis function neural networks (RBF NNs) are employed to approximate the unknown driving resistance of a vehicle’s dynamic model. Then, a bidirectional topology, where vehicles can only communicate with their direct preceding and following neighbors, is used to depict the relationship among the vehicles in the platoon. On this basis, a neural adaptive sliding-mode control algorithm with an anti-windup compensation technique is proposed to maintain the vehicle platoon with desired distance. Moreover, the string stability and the strong string stability of the whole vehicle platoon are proven through the stability theorem. Finally, numerical simulations verify the feasibility and effectiveness of the proposed control method.

scholarly journals Adaptive chattering-free terminal sliding-mode control for full-order nonlinear system with unknown disturbances and model uncertainties

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092529
Author(s):  
Lei Wan ◽  
Guofang Chen ◽  
Mingwei Sheng ◽  
Yinghao Zhang ◽  
Ziyang Zhang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Upper Bound ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Chattering Free

This study investigates an adaptive chattering-free sliding-mode control method for n-order nonlinear systems with unknown external disturbances and uncertain models. The proposed method takes the advantage of finite-time fast convergence to avoid singularity problem and ensure its robustness against system uncertainty and unknown disturbance. To achieve fast convergence from any initial condition to system origin, a full-order terminal sliding-mode controller containing differential terms is proposed based on the property of n-order nonlinear systems. Then the continuous and smooth actual control law is obtained by integrating the differential control law containing the discontinuous sign function to realize chattering free. Meanwhile, instead of evaluating the fixed upper bound of system uncertainty and interference in practical implementations, an adaptive method is utilized for its unknown upper bound estimation. The convergence of the adaptive terminal sliding-mode controller in finite time is verified based on Lyapunov stability theory. Finally, two simulation results demonstrate the effectiveness of the proposed control method.

A robust control approach for MEMS capacitive micromachined ultrasonic transducer

2018 ◽  
Vol 41 (1) ◽  
pp. 107-116 ◽  
Author(s):  
Yi Qin ◽  
Weijie Sun ◽  
John TW Yeow
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Ultrasonic Transducer ◽  
Input Saturation ◽  
Tracking Performance ◽  
Control Law ◽  
Nonlinear Feedback Control ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Capacitive Micromachined Ultrasonic Transducer

An optimal composite nonlinear feedback control method with integral sliding mode is presented in this paper. The controller extends the travel range of the micro-electromechanical system capacitive micromachined ultrasonic transducer (CMUT). Moreover, enhanced transient response and precise tracking performance is achieved. It is known that CMUT is inherently unstable which results in pull-in phenomenon and it is very sensitive to small perturbations, so one of the major problems is to stabilize the CMUT beyond the pull-in limit with the external disturbances. In addition, the input saturation problem is significant to CMUT. Based on that, a robust control scheme is derived using composite nonlinear feedback control law combined with integral sliding mode control law. Then all the tuning parameters for the proposed control method are converted into a minimization problem and solved by particle swarm optimization algorithm automatically. We verified the effectiveness through extending the travel range of the CMUT gap by three control methods which are proportional integral derivative, composite nonlinear feedback and the method we proposed. The stability and small range tracking performance with three control methods is compared on the pull-in position of CMUT. The simulations show that the proposed control method has desired tracking performance and robustness to external disturbance with input saturation.

A Robust Adaptive Sliding Mode Control Method for Attitude Control of the Quad-Rotor

2014 ◽  
Vol 852 ◽  
pp. 391-395
Author(s):  
Yong Gao ◽  
Zhao Qing Song ◽  
Xiao Liu
Keyword(s):  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Unknown Disturbances ◽  
Robust Adaptive ◽  
Uncertainty Parameters

Quad-rotor is a multi-variable and strong coupling system which has nonlinear and uncertainties. According to the quad-rotor, a dynamic model of attitude which included uncertainty parameters and unknown disturbances was established. The tracking error state was used to design a slide mode surface, and a Lyapunov function which includes slide mode surface and unknown parameter was built. Further more, a robust adaptive control law was designed. At last, the designed control law was simulated, and the results justify the feasibility of the proposed control law.

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