scholarly journals Enhanced Discrete-Time Sliding Mode Filter for Removing Noise

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Shanhai Jin ◽  
Xiaodan Wang ◽  
Yonggao Jin ◽  
Xiaogang Xiong
Keyword(s):  
Discrete Time ◽  
Finite Time ◽  
Position Control ◽  
Sliding Mode ◽  
The State ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Numerical Example ◽  
Backward Euler ◽  
Euler Discretization

This paper presents a new discrete-time sliding mode filter for effectively removing noise in control of mechatronic systems. The presented filter is an enhanced version of a sliding mode filter by employing an adaptive gain in determining a virtual desired velocity of the output. Owing to the use of backward Euler discretization, the discrete-time implementation of the filter does not produce chattering, which has been considered as a common problem of sliding mode techniques. Besides that, the state of the filter converges to the desired state in finite time. Numerical example and experimental position control of a mechatronic system are conducted for validating the effectiveness of the filter.

Backward-Euler Discretization of Second-Order Sliding Mode Control and Super-Twisting Observer for Accurate Position Control

2013 ◽  
Author(s):  
Xiaogang Xiong ◽  
Ryo Kikuuwe ◽  
Motoji Yamamoto
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Position Control ◽  
Sliding Mode ◽  
Second Order ◽  
Mode Control ◽  
Backward Euler ◽  
Euler Discretization ◽  
Accurate Position ◽  
Second Order Sliding Mode

This paper introduces an accurate position control algorithm based on Backward-Euler discretization of a second-order sliding mode control (SOSMC) and the super-twisting observer (STO). This position control algorithm does not produce numerical chattering, which has been known to be a major drawback of explicit implementation of SOSMC and STO. It is more accurate than the conventional PID control that is also free of chattering. In contrast to conventional Backward-Euler discretization schemes of SOSMC and STO, the presented discretization method does not require any special solvers for computation. The accuracy and implementation of this algorithm are illustrated by simulations.

scholarly journals Robust Position Control of PMSM Using Fractional-Order Sliding Mode Controller

2012 ◽  
Vol 2012 ◽  
pp. 1-33 ◽  
Author(s):  
Jiacai Huang ◽  
Hongsheng Li ◽  
YangQuan Chen ◽  
Qinghong Xu
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
The State ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
State Variables ◽  
Nonlinear Load ◽  
Special Case

A new robust fractional-order sliding mode controller (FOSMC) is proposed for the position control of a permanent magnet synchronous motor (PMSM). The sliding mode controller (SMC), which is insensitive to uncertainties and load disturbances, is studied widely in the application of PMSM drive. In the existing SMC method, the sliding surface is usually designed based on the integer-order integration or differentiation of the state variables, while in this proposed robust FOSMC algorithm, the sliding surface is designed based on the fractional-order calculus of the state variables. In fact, the conventional SMC method can be seen as a special case of the proposed FOSMC method. The performance and robustness of the proposed method are analyzed and tested for nonlinear load torque disturbances, and simulation results show that the proposed algorithm is more robust and effective than the conventional SMC method.

Discrete-Time Sliding Mode Control: The Linear Case

1997 ◽  
Vol 119 (4) ◽  
pp. 819-821 ◽  
Author(s):  
E. A. Misawa
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Linear Case ◽  
Numerical Example ◽  
Mode Control ◽  
Sliding Mode Controllers ◽  
And Performance ◽  
Insight Into

This paper discusses the application of a class of discrete-time sliding mode controllers (DSMC) which was previously shown to be robustly stable. Further insight into design and performance of DSMC is obtained considering the case of linear plants. A simple numerical example is used to illustrate the properties of this technique.

Practical finite time vibration suppression of mechatronic systems using proportional–integral–derivative variable structure controls with dead-band nonlinearity

2021 ◽  
pp. 095965182110143
Author(s):  
Mohammad Pourmahmood Aghababa ◽  
Mehrdad Saif
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Variable Structure ◽  
Second Order ◽  
Control Input ◽  
Stable Equilibrium Point ◽  
Proportional Integral Derivative ◽  
Mechatronic Systems ◽  
Dead Band ◽  
Proportional Integral

Vibration is an intrinsic phenomenon in many mechanical and mechatronic applied devices and undesirable vibration can either degrade the performance of the system or lead to unpredictable outputs. The main purpose of this article is to introduce a novel second-order proportional–integral–derivative sliding mode control methodology to suppress the undesirable vibrations of a class of applied dynamical systems with applications to mechatronic and mechanical devices. After designing a nonlinear proportional–integral–derivative terminal sliding manifold, rigorous mathematics are provided to guarantee that the origin is a practical finite time stable equilibrium point. Consequently, two efficient control laws are proposed to ensure the occurrence of the sliding motion with and/or without system unknown parameters. Motivated by situations encountered in practice, unknown lumped uncertainties are also added to the system and their impacts are tackled using adaptive control techniques. Furthermore, a hard nonlinear dead-band function is utilized in the control input and its effects such as lags and delays appeared on the control signals as well as on the system outputs are dealt with by the proposed proportional–integral–derivative variable structure controller. The proposed second-order variable structure controller not only utilizes the simple effective design approach of the proportional–integral–derivative controllers to ensure a reasonable transient performance, but also displays fast convergence properties demonstrated in non-singular terminal sliding modes. Finally, through simulation studies, it is confirmed that the proposed control strategy is effective in vibration attenuation of microelectromechanical resonators.

scholarly journals Electrical Drives Control via Discrete-Time Variable Structure Systems with Sliding Mode

2020 ◽  
Vol 5 (1) ◽  
Author(s):  
Čedomir Milosavljević ◽  
Branislava Peruničić-Draženović ◽  
Senad Huseinbegović ◽  
Boban Veselić ◽  
Milutin P. Petronijević
Keyword(s):  
Mathematical Model ◽  
Discrete Time ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Variable Structure ◽  
Electrical Machine ◽  
Two Phase ◽  
Variable Structure Systems ◽  
Electrical Drives

Modern control techniques of electrical drives (EDs) use robust control algorithms. One of such algorithms is variable structure control (VSC) with sliding mode (SM). SM control needs more information on the controlled plant than the conventional PI(D) control. Valid mathematical model of the controlled plant is necessary for the SM controller design. Generalized mathematical model of two-phase electrical machine and its adaptation to direct current (DC) and induction motor (IM) are given in this paper, employed in the cascade control structure. Also, the basic SM control theory and discrete-time controller design approach, developed by the authors, are given. Finally, experimentally realized examples of speed and position control of DC and IM are given as an illustration of the efficiency of the promoted EDs controller design via discrete-time VSC.

scholarly journals A Unified Anti-Windup Technique for Fuzzy and Sliding Mode Controllers

2015 ◽  
Vol 10 (6) ◽  
pp. 83 ◽  
Author(s):  
Radu Emil Precup ◽  
Marius L. Tomescu ◽  
Emil M. Petriu
Keyword(s):  
State Feedback ◽  
Position Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Digital Simulation ◽  
The State ◽  
Sliding Mode Controllers ◽  
Hydraulic Servo ◽  
Back Calculation ◽  
Simulation Results

This paper proposes the unified treatment of an anti-windup technique for fuzzy and sliding mode controllers. A back-calculation and tracking anti-windup scheme is proposed in order to prevent the zero error integrator wind-up in the structures of state feedback fuzzy controllers and sliding mode controllers. The state feedback sliding mode controllers are based on the state feedback-based computation of the switching variable. An example that copes with the position control of an electro-hydraulic servo-system is presented. The conclusions are pointed out on the basis of digital simulation results for the state feedback fuzzy controller.

scholarly journals Finite-Time Composite Position Control for a Disturbed Pneumatic Servo System

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Xiaojun Wang ◽  
Jiankun Sun ◽  
Guipu Li
Keyword(s):  
Finite Time ◽  
State Feedback ◽  
Position Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Servo Systems ◽  
Control Approach ◽  
Composite Control ◽  
Control Scheme ◽  
Pneumatic Servo System

This paper investigates the finite-time position tracking control problem of pneumatic servo systems subject to hard nonlinearities and various disturbances. A finite-time disturbance observer is firstly designed, which guarantees that the disturbances can be accurately estimated in a finite time. Then, by combining disturbances compensation and state feedback controller together, a nonsmooth composite controller is developed based on sliding mode control approach and homogeneous theory. It is proved that the tracking errors under the proposed composite control approach can be stabilized to zero in finite time. Moreover, compared with pure state feedback control, the proposed composite control scheme offers a faster convergence rate and a better disturbance rejection property. Finally, numerical simulations illustrate the effectiveness of the proposed control scheme.

A SIMPLE DISCRETE-TIME ANALOGUE PRESERVING THE GLOBAL STABILITY OF A CONTINUOUS SIRS EPIDEMIC MODEL

2013 ◽  
Vol 06 (02) ◽  
pp. 1350001 ◽  
Author(s):  
YOICHI ENATSU ◽  
YOSHIAKI MUROYA
Keyword(s):  
Asymptotic Stability ◽  
Discrete Time ◽  
Epidemic Model ◽  
Discrete Model ◽  
Continuous Model ◽  
The Other ◽  
Infected Population ◽  
Sirs Epidemic Model ◽  
Backward Euler ◽  
Euler Discretization

In this paper, we consider the backward Euler discretization derived from a continuous SIRS epidemic model, which contains a remaining problem that our discrete model has two solutions for infected population; one is positive and the other is negative. Under an additional positiveness condition on infected population, we show that the backward Euler discretization is one of simple discrete-time analogue which preserves the global asymptotic stability of equilibria of the corresponding continuous model.

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