scholarly journals Minimal-Learning-Parameter Technique Based Adaptive Neural Sliding Mode Control of MEMS Gyroscope

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Bin Xu ◽  
Pengchao Zhang
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Lyapunov Approach ◽  
Mode Control ◽  
Minimal Learning Parameter ◽  
Mems Gyroscopes ◽  
Learning Parameter

This paper investigates an adaptive neural sliding mode controller for MEMS gyroscopes with minimal-learning-parameter technique. Considering the system uncertainty in dynamics, neural network is employed for approximation. Minimal-learning-parameter technique is constructed to decrease the number of update parameters, and in this way the computation burden is greatly reduced. Sliding mode control is designed to cancel the effect of time-varying disturbance. The closed-loop stability analysis is established via Lyapunov approach. Simulation results are presented to demonstrate the effectiveness of the method.

Finite-time H∞ sliding mode control of uncertain T-S fuzzy system with time-varying delay based on observer

2021 ◽  
Vol 40 (1) ◽  
pp. 983-999
Author(s):  
Huan Li ◽  
Pengyi Tang ◽  
Yuechao Ma
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Time Interval ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Sliding Surface ◽  
State Estimator ◽  
Mode Control

In this paper, a class of observer-based sliding mode controller is designed, and the finite-time H∞ control problem of uncertain T-S fuzzy systems with time-varying is studied. Firstly, an integral-type sliding surface function with time-delay is devised based on the state estimator, and sufficient criteria of finite-time bounded and finite-time H∞ bounded can be obtained for the T-S systems. Moreover, the proposed sliding mode control law is integrated to ensure the dynamics of controlled system into the sliding surface in a finite-time interval. Then, according to the linear matrix inequalities (LMIs), the desired gain matrices of fuzzy sliding mode controller and state estimator are derived. Finally, effectiveness gives some illustrative examples may be used to display the value of the current proposed method as well as a significant improvement.

Nonstationary Sliding Mode Control Using Time-Varying Switching Hyperplane for Transverse Vibration of Elevator Rope

2005 ◽  
Author(s):  
Masatsugu Otsuki ◽  
Yumiko Ushijima ◽  
Kazuo Yoshida ◽  
Hiroyuki Kimura ◽  
Toshiaki Nakagawa
Keyword(s):  
Sliding Mode Control ◽  
Transverse Vibration ◽  
Vibration Suppression ◽  
Sliding Mode ◽  
Control Device ◽  
Sliding Mode Controller ◽  
Practical Case ◽  
Time Varying ◽  
Mode Control ◽  
Wind Induced Vibration

The excitation of transverse vibration of an elevator rope is caused by the resonance with the building-sway by an earthquake or wind-induced vibration, hence, a useful active solution for its issue is demanded. In this paper, therefore, the vibration suppression for the elevator rope with the nonstationary sliding mode control using a time-varying switching hyperplane is performed by moving the rope directly near its boundary by use of a control device with gaps between actuator and rope. The nonstationary sliding mode controller has the effectiveness for the control of the object with time-varying characteristics and the robustness for the nonlinearity of the control device. The performance and robustness of the proposed controller are verified through the numerical calculation for the practical case, consequently, the good results are obtained.

Adaptive type-2 fuzzy sliding mode control of steer-by-wire systems with event-triggered communication

2021 ◽  
pp. 095440702199539
Author(s):  
Bingxin Ma ◽  
Yongfu Wang
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Control Input ◽  
Time Varying ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Event Triggered

The steering-by-wire (SbW) system is one of the main subsystems of automatic vehicles, realizing the steering control of autonomous vehicles. This paper proposes an event-triggered adaptive sliding mode control for the SbW system subject to the uncertain nonlinearity, time-varying disturbance, and limited communication resources. Firstly, an event-triggered nested adaptive sliding mode control is proposed for SbW systems. The uncertain nonlinearity is approximated by the interval type-2 fuzzy logic system (IT2 FLS). The time-varying disturbance, modeling error, and event-triggering error can be offset by robust terms of sliding mode control. The key advantage is that the high-frequency switching of sliding mode control only appears on the time derivate of control input without increasing the input-output relative degree of closed-loop SbW systems, such that the chattering phenomenon can be eliminated. Finally, theoretical analysis shows that the practical finite-time stability of the closed-loop SbW system can be achieved, and communication resources in the controller-to-actuator channels can be saved while avoiding the Zeno-behavior. Numerical simulations and experiments are given to evaluate the effectiveness of the proposed method.

A discrete repetitive adaptive sliding mode control for DC-DC buck converter

2021 ◽  
pp. 095965182110055
Author(s):  
Khadija Dehri ◽  
Ahmed Said Nouri
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Linear Time ◽  
Robustness Analysis ◽  
Buck Converter ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Adaptive Sliding Mode ◽  
Mode Control

The problem of sensitivity to uncertainties and disturbances is still a challenging task in the theory of discrete sliding mode controller. In this article, a discrete repetitive adaptive sliding mode control using only input-output measurements of linear time-varying system with periodic disturbances is proposed. A new indirect adaptive algorithm taken into account the periodicity of disturbances is used to identify parameter variations of the considered system. Based on this identification, discrete sliding mode controller is developed. Then, the structure of plug-in repetitive control is integrated into the previous controller to reject harmonic disturbances. A robustness analysis is achieved to ensure the asymptotic stability of the proposed controller. An example of time-varying DC-DC buck converter subject to harmonic disturbances is carried out to illustrate the effectiveness of the designed discrete repetitive adaptive sliding mode control.

Sliding Mode Control for Uncertain Markov Switched Systems

2015 ◽  
Vol 740 ◽  
pp. 278-282
Author(s):  
Zhao Lan He ◽  
Zong Ze Liu ◽  
Xian Xian Tang
Keyword(s):  
Sliding Mode Control ◽  
Switched Systems ◽  
Closed Loop ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Sufficient Condition ◽  
Closed Loop System ◽  
Standard Type ◽  
Mode Control ◽  
Sliding Mode Dynamics

This Paper deals with the sliding mode control of a class of uncertain Markov switched systems. By using linear transformation, the system is transformed into standard type. A sufficient condition of the existence of a sliding mode dynamics is derived, and an explicit parameterization of desired sliding surface is also given. A sliding mode controller is then designed to guarantee exponential stability of the overall switched closed-loop system. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed approaches.

Time-Varying Sliding Mode Control for Discrete-Time Nonlinear Uncertain Coupled Systems via Sliding Mode Prediction

2010 ◽  
Vol 29-32 ◽  
pp. 2164-2169
Author(s):  
Ling Fei Xiao ◽  
Shao Dong Duan ◽  
Tao Shen
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Closed Loop ◽  
Sliding Mode ◽  
Variable Structure ◽  
Coupled Systems ◽  
Time Varying ◽  
Structure Control ◽  
Mode Control ◽  
Closed Loop Systems

In this paper, a novel time-varying sliding mode control (SMC) algorithm based on sliding mode prediction for a class of discrete-time nonlinear uncertain coupled systems is presented. After giving a kind of time-varying sliding mode function, a sliding mode prediction model is used to predict the future information of sliding mode. By employing feedback correction and receding horizon optimization approaches which are extensively applied in predictive control strategy, the desired discrete-time variable structure control law is obtained. Under the influence of uncertainties whose boundaries are unknown, the closed-loop systems are proofed to be robustly stable. Numerical simulation results illustrate that compared with conventional SMC method, under the algorithm proposed in this paper, chattering is eliminated, the control signals have smaller peak values, and the closed-loop system possesses stronger robustness.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

Distributed sliding mode control for time-varying formation tracking of multi-UAV system with a dynamic leader

2021 ◽  
Vol 111 ◽  
pp. 106549
Author(s):  
Jianhua Wang ◽  
Liang Han ◽  
Xiwang Dong ◽  
Qingdong Li ◽  
Zhang Ren
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Time Varying ◽  
Mode Control ◽  
Formation Tracking ◽  
Multi Uav

scholarly journals New Time-Varying Sliding Surface for Switching Type Quasi-Sliding Mode Control

Energies ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 3811
Author(s):  
Katarzyna Adamiak ◽  
Andrzej Bartoszewicz
Keyword(s):  
Sliding Mode Control ◽  
Continuous Time ◽  
Sliding Mode ◽  
Representative Point ◽  
Time Varying ◽  
Sliding Surface ◽  
External Disturbances ◽  
Mode Control ◽  
Switching Type ◽  
Time Systems

This study considers the problem of energetical efficiency in switching type sliding mode control of discrete-time systems. The aim of this work is to reduce the quasi-sliding mode band-width and, as follows, the necessary control input, through an application of a new type of time-varying sliding hyperplane in quasi-sliding mode control of sampled time systems. Although time-varying sliding hyperplanes are well known to provide insensitivity to matched external disturbances and uncertainties of the model in the whole range of motion for continuous-time systems, their application in the discrete-time case has never been studied in detail. Therefore, this paper proposes a sliding surface, which crosses the system’s representative point at the initial step and then shifts in the state space according to the pre-generated demand profile of the sliding variable. Next, a controller for a real perturbed plant is designed so that it drives the system’s representative point to its reference position on the sliding plane in each step. Therefore, the impact of external disturbances on the system’s trajectory is minimized, which leads to a reduction of the necessary control effort. Moreover, thanks to a new reaching law applied in the reference profile generator, the sliding surface shift in each step is strictly limited and a switching type of motion occurs. Finally, under the assumption of boundedness and smoothness of continuous-time disturbance, a compensation scheme is added. It is proved that this control strategy reduces the quasi-sliding mode band-width from O(T) to O(T3) order from the very beginning of the regulation process. Moreover, it is shown that the maximum state variable errors become of O(T3) order as well. These achievements directly reduce the energy consumption in the closed-loop system, which is nowadays one of the crucial factors in control engineering.

Sign in / Sign up

Export Citation Format

Share Document