scholarly journals A Model-Free Control System Based on the Sliding Mode Control Method with Applications to Multi-Input-Multi-Output Systems

2017 ◽  
Author(s):  
Agamemnon Crassidis ◽  
Fares El Tin
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Mode Control ◽  
Model Free ◽  
Model Free Control

Sliding Mode Control of Electronic Throttle Valve

2011 ◽  
Vol 58-60 ◽  
pp. 2505-2510 ◽  
Author(s):  
Rong Di Yuan ◽  
Quan Quan Du ◽  
Hui Zong Feng
Keyword(s):  
Control System ◽  
Lyapunov Function ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Good Control ◽  
Electronic Throttle ◽  
Mode Control ◽  
Control Robustness ◽  
Simulation And Experiment

Electronic throttle is a typical nonlinear device because of the nonlinear reset springs. Normal sliding mode control usually leads to chattering. To reduce chatters, a sliding mode control method based on compensation of nonlinearity is proposed, in which an observer is designed to observe and compensate the nonlinearity. A Lyapunov function was constructed to prove that control system is stable. Simulation and experiment results indicate that the proposed method can reduce chatters and achieve good control robustness.

The Sliding Mode Control for Traction Control System Based on Variable Optimal Slip Ratio

2013 ◽  
Vol 380-384 ◽  
pp. 485-490
Author(s):  
Jian Zhao ◽  
Jin Zhang ◽  
Bing Zhu
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Road Surface ◽  
Information Measurement ◽  
Slip Ratio ◽  
Traction Control ◽  
Traction Control System ◽  
Mode Control

In this paper, the concept of intelligent tire and road surface information measurement methods are introduced, and the sliding mode algorithm for traction control system based on intelligent tire is proposed. By applying braking torque onto the driving wheels, the slip rates are adjusted to maintain within the optimal region on different road surface, and the optimal longitudinal traction is achieved. According to the simulation results on the CARSIM and MATLAB co-simulation platform of several working conditions, the TCS based on sliding mode control method improves the traction performance on different road surface effectively.

scholarly journals A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Feng Xu ◽  
Na An ◽  
Jianlin Mao ◽  
Shubo Yang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Exponential Power

In this article, a new nonlinear algorithm based on the sliding mode control is developed for the ball and plate control system to improve dynamic response and steady-state tracking accuracy of the control system. First, a new sliding mode reaching law is proposed, variable exponential power reaching law (VEPRL), which is expressed in two different forms including a nonlinear combination function term and a variable exponential power term, so that it can be adjusted adaptively according to the state of the system by the variable exponential power reaching term during the reaching process. The computation results show that it can not only effectively weaken the chattering phenomenon but also increase the rate of the system state reaching to the sliding mode surface. Moreover, it has the characteristic of global finite-time convergence. Besides, a complementary terminal sliding mode control (CTSMC) method is designed by combining the integral terminal sliding surface with the complementary sliding surface to improve the convergence rate. Based on the proposed VEPRL and CTSMC, a new sliding mode control method for the ball and plate system is presented. Finally, simulation results show the superiority and effectiveness of the proposed control method.

scholarly journals Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1289
Author(s):  
Dongdong Yuan ◽  
Yankai Wang
Keyword(s):  
Adaptive Control ◽  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Data Driven ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Model Free

In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation based on robust integral of the signum of the error (RISE) and improved sliding mode control (ISMC). The leader-follower strategy is adopted, and the leader realizes trajectory tracking control. A novel asymptotic tracking data-driven controller of quadrotor is used to control the system using the RISE method. It is divided into two parts: The inner loop is for attitude control and the outer loop for position control. Both use the RISE method in the loop to eliminate interference and this method only uses the input and output data of the unmanned aerial vehicle(UAV) system and does not rely on any dynamics and kinematics model of the UAV. The followers realize formation cooperative control, introducing adaptive update law and saturation function to improve sliding mode control (SMC), and it eliminates the general SMC algorithm controller design dependence on the mathematical model of the UAV and has the chattering problem. Then, the stability of the system is proved by the Lyapunov method, and the effectiveness of the algorithm and the feasibility of the scheme are verified by numerical simulation. The experimental results show that the designed data-driven model-free adaptive control method for the quadrotor formation is effective and can effectively realize the coordinated formation trajectory tracking control of the quadrotor. At the same time, the design of the controller does not depend on the UAV kinematics and dynamics model, and it has high control accuracy, stability, and robustness.

Data-Driven Model-Free Sliding Mode and Fuzzy Control with Experimental Validation

2020 ◽  
Vol 16 (1) ◽  
Author(s):  
Radu-Emil Precup ◽  
Raul-Cristian Roman ◽  
Elena-Lorena Hedrea ◽  
Emil M. Petriu ◽  
Claudia-Adina Bojan-Dragos
Keyword(s):  
Fuzzy Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Data Driven ◽  
Control Algorithms ◽  
Control Law ◽  
Control Structures ◽  
Mode Control ◽  
Model Free ◽  
Model Free Control

The paper presents the combination of the model-free control technique with two popular nonlinear control techniques, sliding mode control and fuzzy control. Two data-driven model-free sliding mode control structures and one data-driven model-free fuzzy control structure are given. The data-driven model-free sliding mode control structures are built upon a model-free intelligent Proportional-Integral (iPI) control system structure, where an augmented control signal is inserted in the iPI control law to deal with the error dynamics in terms of sliding mode control. The data-driven model-free fuzzy control structure is developed by fuzzifying the PI component of the continuous-time iPI control law. The design approaches of the data-driven model-free control algorithms are offered. The data-driven model-free control algorithms are validated as controllers by real-time experiments conducted on 3D crane system laboratory equipment.

scholarly journals Global robust super-twisting algorithm with adaptive switching gains for a hybrid robot

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142092642
Author(s):  
Guoqin Gao ◽  
Songyun Zhang ◽  
Mengyang Ye
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Prototype System ◽  
Mode Control ◽  
Global Robustness ◽  
Dynamic Sliding Mode Control ◽  
The Stability ◽  
Twisting Algorithm

To improve the robustness performance of dynamic sliding mode control to the time-varying uncertainties without the upper bound information in a hybrid robot system, a global robust super-twisting algorithm with adaptive switching gains is proposed. The main contributions are as follows: (1) for the problem that the robustness of the sliding mode control system is not guaranteed in the reaching phase, a global robust sliding surface is designed to eliminate the reaching phase of the sliding mode control; (2) for the chattering problem existing in the sliding phase of the sliding mode control system due to the conservative selection of switching gains, based on a reconstructive super-twisting sliding mode control and the equivalent principle, a fast-adaptive law is designed to effectively reduce the chattering while the global robustness is ensured. The stability of the proposed algorithm is proved by Lyapunov stability theorem. The simulation and experiment on the hybrid robot prototype system are implemented to verify the effectiveness of the proposed control method.

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