A new design method for sliding mode controllers using a linear time-varying sliding surface

2002 ◽  
Vol 216 (6) ◽  
pp. 455-466 ◽  
Author(s):  
S Tokat ◽  
I Eksin ◽  
M Güzelkaya
Keyword(s):  
Sliding Mode ◽  
Linear Time ◽  
Design Method ◽  
External Disturbance ◽  
Geometric Interpretation ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Sliding Surface ◽  
Sliding Mode Controllers ◽  
Parameter Variations

The main objective of this study is to present a time-varying sliding surface using a new design method to improve the performance of a classical sliding mode controller that has a constant linear sliding surface. In the proposed method, the sliding surface is defined on new coordinate axes: one of the coordinates is the original sliding surface and the other one is naturally chosen as perpendicular to this axis. An important property of the proposed method is that it has a simple geometric interpretation and provides continuous movement of the sliding surface. A comparison of the proposed method against both the classical sliding mode controller and sliding mode controller with a discretely rotating sliding surface is made through simulations. Simulations are first performed on a typical second-order linear system without any disturbances and parameter variations. Next, bounded external disturbance and parameter variations are inserted into the system simulations. Results have shown that the proposed method improved the system performance, providing decreases in the reaching and settling times, and the proposed method has demonstrated more robustness to disturbances and parameter variations compared to its counterparts.

scholarly journals Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Yassine El Houm ◽  
Ahmed Abbou ◽  
Moussa Labbadi ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Sliding Surface ◽  
State Variables ◽  
Quadrotor Uav ◽  
The Stability ◽  
Quadrotor System

This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

Stabilizing periodic orbits of Chua’s system using adaptive fuzzy sliding mode controller

2019 ◽  
Vol 12 (1) ◽  
pp. 102-126 ◽  
Author(s):  
Hanène Medhaffar ◽  
Moez Feki ◽  
Nabil Derbel
Keyword(s):  
Periodic Orbits ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Unstable Periodic Orbits ◽  
Content Type ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Sliding Mode Controllers ◽  
Parameter Variations ◽  
Fuzzy Sliding Mode

Purpose The purpose of this paper is to investigate the stabilization of unstable periodic orbits of Chua’s system using adaptive fuzzy sliding mode controllers with moving surface. Design/methodology/approach For this aim, the sliding mode controller and fuzzy systems are combined to achieve the stabilization. Then, the authors propose a moving sliding surface to improve robustness against uncertainties during the reaching phase, parameter variations and extraneous disturbances. Findings Afterward, the authors design a sliding observer to estimate the unmeasurable states which are used in the previously designed controller. Originality/value Numerical results are provided to show the effectiveness and robustness of the proposed 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.

Design of a sliding mode controller with a nonlinear time-varying sliding surface

2003 ◽  
Vol 25 (2) ◽  
pp. 145-162 ◽  
Author(s):  
Ibrahim Eksin ◽  
Sezai Tokat ◽  
Müjde Güzelkaya ◽  
M. Turan Söylemez
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Sliding Surface

On the Synchronization of a Class of Sprott Circuits Using Variable Structure Controller

2007 ◽  
Author(s):  
Kaveh Merat ◽  
Hoda Sadeghian ◽  
Hassan Salarieh ◽  
Aria Alasty
Keyword(s):  
Boundary Layer ◽  
Sliding Mode ◽  
External Disturbance ◽  
Variable Structure ◽  
Parametric Uncertainties ◽  
Time Varying ◽  
Sliding Surface ◽  
High Quality ◽  
Variable Boundary ◽  
Chaotic Circuits

In this paper the synchronization of a class of nonlinear chaotic circuits known as Sprott Circuits is studied. The Synchronization is obtained using a variable structure method based on sliding mode control with time varying sliding surface and variable boundary layer in presence of external disturbance and parametric uncertainties. The simulation is presented to show the effectiveness of this method. The results show the high quality and good performance of the method presented in the paper for synchronization of different drive-response chaotic Sprott circuits.

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.

The design of a fractional-order sliding mode controller with a time-varying sliding surface

2020 ◽  
Vol 42 (16) ◽  
pp. 3196-3215
Author(s):  
Osman Eray ◽  
Sezai Tokat
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Sliding Mode Controller ◽  
Sigmoid Function ◽  
Time Varying ◽  
Sliding Surface ◽  
Parameter Uncertainties ◽  
Improved Performance ◽  
System States

The novelty of this paper is the usage of a time-varying sliding surface with a fractional-order sliding mode controller. The objective of the controller is to allow the system states to move to the sliding surface and remain on it so as to ensure the asymptotic stability of the closed-loop system. The Lyapunov stability method is adopted to verify the stability of the controller. Firstly, by using the geometric coordinate transformation that is formerly defined for conventional sliding mode controller, a novel fractional-order sliding surface is defined. The time-varying fractional-order sliding surface is then rotated in the region in which the system state trajectories are stable. The adjustment of the sliding surface slope on the new coordinate axes is achieved by tuning a parameter defined as a sigmoid function. Then, a new control rule is derived. Numerical simulations are performed on the nonlinear mass-spring-damper and 2-DOF robot manipulator system models with parameter uncertainties and bounded external disturbances. The proposed controller is compared with the conventional sliding mode controller with a constant sliding surface and the fractional-order sliding mode controller with a constant sliding surface. Simulation results have shown improved performance of the proposed controller in terms of a decrease in the reaching and settling time, and robustness to disturbances as compared with the related controllers. Moreover, it is seen that the designed controller provides an improvement in the error state trajectories.

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