scholarly journals Adaptive Integral-Based Robust Q-S Synchronization and Parameter Identification of Nonlinear Hyperchaotic Complex Systems

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Sami Ud Din ◽  
Muhammad Rafiq Mufti ◽  
Humaira Afzal ◽  
Majid Ali ◽  
Muhammad Abdul Moiz Zia
Keyword(s):  
Parameter Identification ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Sliding Mode Controller ◽  
Unknown Parameters ◽  
Integral Sliding Mode ◽  
Error System ◽  
The Stability ◽  
Synchronization Scheme ◽  
Hyperchaotic Systems

This communique presents the Q-S synchronization of two nonidentical complex nonlinear hyperchaotic systems with unknown parameters. An adaptive controller based on adaptive integral sliding mode control and parameter update laws are designed to realize the synchronization and parameter identification to a given map vector. The aforementioned strategy’s employment demands the transformation of a system into a specific structure containing a nominal part and some unknown terms (later on, these unknown terms will be computed adaptively). An integral sliding mode controller is used to stabilize the error system by designing nominal control accompanied by compensator control. For chattering suppression, a continuous compensator of smooth nature is used instead of conventional control. The stability of the proposed algorithm is established in an impressive way, using Lyapunov criteria. A numerical simulation is performed to illustrate the validity of the proposed synchronization scheme.

Test of a Sliding Mode Controller for Trajectory Tracking of an Underactuated Surface Vessel

2011 ◽  
Author(s):  
Yaswanth Siramdasu ◽  
Farbod Fahimi
Keyword(s):  
Parameter Identification ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Model Parameters ◽  
Sliding Mode Controller ◽  
Special Test ◽  
Excellent Performance ◽  
Unknown Parameters ◽  
Surface Vessel ◽  
Test Scenarios

Sliding mode controller for trajectory tracking of a surface vessel is designed based on a 3DOF dynamic model. The model has six unknown parameters. For parameter identification, four special test scenarios are defined to isolate and identify one of the six parameters at a time. The identification tests are performed on a robotic boat which has an onboard PC104 computer and a navigation sensor providing vessel’s dynamic states in real-time. The data from experiments are used to determine the model parameters. A sliding mode controller is designed based on the identified model, and is implemented and tested on a real robotic boat. The experiments show the excellent performance of the controller.

ADAPTIVE SYNCHRONIZATION OF A NOVEL HYPERCHAOTIC SYSTEM WITH FULLY UNKNOWN PARAMETERS

2013 ◽  
Vol 27 (32) ◽  
pp. 1350197
Author(s):  
XING-YUAN WANG ◽  
SI-HUI JIANG ◽  
CHAO LUO
Keyword(s):  
Lyapunov Stability ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Chaotic Synchronization ◽  
Adaptive Synchronization ◽  
Hyperchaotic System ◽  
Unknown Parameters ◽  
Chen System ◽  
Synchronization Scheme ◽  
Hyperchaotic Systems

In this paper, a chaotic synchronization scheme is proposed to achieve adaptive synchronization between a novel hyperchaotic system and the hyperchaotic Chen system with fully unknown parameters. Based on the Lyapunov stability theory, an adaptive controller and parameter updating law are presented to synchronize the above two hyperchaotic systems. The corresponding theoretical proof is given and numerical simulations are presented to verify the effectiveness of the proposed scheme.

scholarly journals Parameter Identification and Hybrid Synchronization in an Array of Coupled Chaotic Systems with Ring Connection: An Adaptive Integral Sliding Mode Approach

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Nazam Siddique ◽  
Fazal ur Rehman
Keyword(s):  
Sliding Mode Control ◽  
Parameter Identification ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Design Method ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Error System ◽  
Hybrid Synchronization

This article presents an adaptive integral sliding mode control (SMC) design method for parameter identification and hybrid synchronization of chaotic systems connected in ring topology. To employ the adaptive integral sliding mode control, the error system is transformed into a special structure containing nominal part and some unknown terms. The unknown terms are computed adaptively. Then the error system is stabilized using integral sliding mode control. The controller of the error system is created that contains both the nominal control and the compensator control. The adapted laws and compensator controller are derived using Lyapunov stability theory. The effectiveness of the proposed technique is validated through numerical examples.

scholarly journals Adaptive Sliding Mode Control Vibrations of Structures

2021 ◽  
Author(s):  
Fali Leyla ◽  
Zizouni Khaled ◽  
Saidi Abdelkrim ◽  
Bousserhane Ismail Khalil ◽  
Djermane Mohamed
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Structural Vibration ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Active Devices ◽  
The Stability ◽  
Adaptation Law ◽  
Low Sensitivity

The sliding mode controller is one of the interesting classical nonlinear controllers in structural vibration control. From its apparition, in the middle of the twentieth century, this controller was a subject of several studies and investigations. This controller was widely used in the control of various semi-active or active devices in the civil engineering area. Nevertheless, the sliding mode controller offered a low sensitivity to the uncertainties or the system condition variations despite the presence of the Chattering defect. However, the adaptation law is one of the frequently used solutions to overcome this phenomenon offering the possibility to adapt the controller parameters according to the system variations and keeping the stability of the whole system assured. The chapter provides a sliding mode controller design reinforced by an adaptive law to control the desired state of an excited system. The performance of the adaptive controller is proved by numerical simulation results of a three-story excited structure.

Robust integral sliding mode control strategy under designed switching rules for uncertain switched linear systems via multiple Lyapunov functions

2019 ◽  
Vol 41 (12) ◽  
pp. 3536-3549 ◽  
Author(s):  
Xiaoyu Zhang
Keyword(s):  
Sliding Mode Control ◽  
Lyapunov Functions ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Multiple Lyapunov Functions ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
The Stability ◽  
Stable Matrix

This paper puts forward a switching rule stabilization design of the robust integral sliding mode control for uncertain switched systems. A kind of common robust integral sliding mode (CRISM) is firstly designed and the system matrices of subsystems under the sliding mode comprise a robust stable matrix set. The stability of the switched system (SS) under the sliding mode is then analyzed by multiple Lyapunov functions (MLF) method. Based on the presented design of CRISM, a sliding mode controller is devised so that the sliding mode can be reached. Finally, the correctness of the proposed method is verified through results of numerical and application simulations.

scholarly journals Adaptive High Order Sliding Mode Controller Design for Hypersonic Vehicle with Flexible Body Dynamics

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Bailing Tian ◽  
Wenru Fan ◽  
Qun Zong ◽  
Jie Wang ◽  
Fang Wang
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Hypersonic Vehicle ◽  
High Order ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Flexible Body Dynamics ◽  
Robust Adaptive ◽  
The Stability

This paper describes the design of a nonlinear robust adaptive controller for a flexible hypersonic vehicle model which is nonlinear, multivariable, and unstable, and includes uncertain parameters. Firstly, a control-oriented model is derived for controller design. Then, the model analysis is conducted for this model via input-output (I/O) linearized technique. Secondly, the sliding mode manifold is designed based on the homogeneity theory. Then, the adaptive high order sliding mode controller is designed to achieve the tracking for hypersonic vehicle where the upper bounds of the uncertainties are not known in advance. Furthermore, the stability of the system is proved via the Lyapunov theory. Finally, the Monte-Carlo simulation results on the full-order nonlinear model with aerodynamic uncertainties are provided to demonstrate the effectiveness of the proposed control strategy.

Decentralized Proportional-Integral Sliding Mode Tracking Control for a Class of Nonlinear Interconnected Uncertain System

2012 ◽  
Author(s):  
Mohamad Noh Ahmad ◽  
Johari H. S. Osman ◽  
Mohd. Ruddin A. Ghani
Keyword(s):  
Large Scale ◽  
Sliding Mode ◽  
Mathematical Proof ◽  
Uncertain System ◽  
Sliding Mode Controller ◽  
Matching Conditions ◽  
Integral Sliding Mode ◽  
Proportional Integral ◽  
System A ◽  
The Stability

Kertas kerja ini membincangkan pengawal ragam gelangsar ternyahpusat untuk sistem dalam kategori takpasti, tak lelurus tersaling hubung. Andaian yang dipakai dalam kertas kerja ini ialah loji yang hendak dikawal dianggap sebagai suatu sistem yang diwakili oleh subsistem–subsistem yang tersaling hubung di antara satu sama lain dan dinamik setempat untuk setiap subsistem pula diwakili oleh nilai nominalnya di samping ketakpastian berparameter terbatas. Di samping itu, dinamik untuk saling hubungan di antara subsistem juga diandaikan sebagai diwakili dengan cara yang serupa dan syarat padanan (matching conditions) benar untuk semua subsistem. Suatu pengawal ragam gelangsar ternyahpusat yang robust telah berjaya dihasilkan supaya untuk setiap subsistem, trajektori sebenar sistem akan menjejak trajektori yang dikehendaki menggunakan hanya mklumat dari pemboleh ubah keadaan setempat. Ragam gelangsar berkadaran–kamiran (Pi) sengaja dipilih untuk memastikan kestabilan dinamik keseluruhan sistem terjamin (meliputi fasa menjangkau dan fasa menggelangsar). Pembuktian secara matematik pengawal yang dicadangkan turut diketengahkan dalam kertas kerja ini dan keputusannya pula diperiksa benar tidaknya melalui satu kajian kes. Kata kunci: Sistem skala besar; Kawalan ragam gelangsar ternyahpusat; Pengawal menjejak; Ketakpastian terpadan A decentralized sliding mode controller for a class of nonlinear interconnected uncertain systems is presented in this paper. It is assumed that the plant to be controlled is represented by interconnected sub–systems and the local dynamics of each sub–system is represented by its nominal and bounded parametric uncertainties. It is also assumed that the interconnection dynamics is also represented in the same manner and it is further assumed that the matching conditions hold for every sub–system. A robust decentralized sliding mode controller is derived such that for each sub–system, the actual trajectory tracks the desired trajectory using only the local states information. The Proportional–Integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Mathematical proof of the proposed controller is presented and the results are verified using a case study. Key words: Large scale system; Decentralized sliding mode control; Tracking controller; Matched uncertainties

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

Sign in / Sign up

Export Citation Format

Share Document