Securing the Control of Euler–Lagrange Systems in Networked Environments with Model-Free Sliding Mode Control

2014 ◽  
pp. 353-376
Author(s):  
Shuai Li ◽  
Yunpeng Wang ◽  
Long Cheng
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Model Free

scholarly journals Fractional Order Adaptive Fast Super-Twisting Sliding Mode Control for Steer-by-Wire Vehicles with Time-Delay Estimation

Electronics ◽  
2021 ◽  
Vol 10 (19) ◽  
pp. 2424
Author(s):  
Yong Yang ◽  
Yunbing Yan ◽  
Xiaowei Xu
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Delay Estimation ◽  
Mode Control ◽  
Model Free ◽  
Steer By Wire

It is difficult to model and determine the parameters of the steer-by-wire (SBW) system accurately, and the perturbation is variable with complex and changeable tire–road conditions. In order to improve the control performance of the vehicle SBW system, an adaptive fast super-twisting sliding mode control (AFST-SMC) scheme with time-delay estimation (TDE) is proposed. The proposed scheme uses TDE to acquire the lumped dynamics in a simple way and establishes a practical model-free structure. Then, a fractional order (FO) sliding mode surface and a fast super-twisting sliding mode control structure were designed on the basic super-twisting sliding mode to ensure fast convergence and high control accuracy. Since the uncertain boundary information of the actual system is unknown, a novel adaptive algorithm is proposed to regulate the control gain based on the control errors. Theoretical analysis concerning system stability is given based on the Lyapunov theory. Finally, the effectiveness of the method is verified through comparative experiments. The results show that the proposed TDE-AFST-FOSMC control scheme has the advantages of model-free, fast response and high accuracy.

scholarly journals Robust Model-Free Nonsingular Terminal Sliding Mode Control for PMSM Demagnetization Fault

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 15737-15748 ◽  
Author(s):  
Kaihui Zhao ◽  
Tonghuan Yin ◽  
Changfan Zhang ◽  
Jing He ◽  
Xiangfei Li ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Model Free ◽  
Robust Model ◽  
Nonsingular Terminal Sliding Mode

scholarly journals Model-Free Non-Cascade Integral Sliding Mode Control of Permanent Magnet Synchronous Motor Drive with a Fast Reaching Law

Symmetry ◽  
2021 ◽  
Vol 13 (9) ◽  
pp. 1680
Author(s):  
Tong Li ◽  
Xudong Liu
Keyword(s):  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Main Trend ◽  
Integral Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Model Free

Electric vehicle has become the main trend of the development of automobile industry. As a highly symmetrical system, the characteristics of drive motor will have a great impact on the driving comfort. Aiming at the control regulation of permanent magnet synchronous motor (PMSM) drive, a model-free and non-cascade sliding mode control with a fast-reaching law is proposed in this paper. Firstly, the mathematical model of PMSM is constructed as an ultra-local model without considering any motor parameters. Then, to improve the response speed, an integral sliding mode method with a fast reaching law is proposed, and the fast convergence can be realized. The controller system adopts single loop non-cascade control, which greatly simplifies the system structure. In order to further improve the anti-disturbance performance of the system, the dual disturbance observers are used to compensate the disturbance through feed-forward control. The stability of the system is proved by Lyapunov. Finally, the experimental results show that the proposed method has faster convergence speed and stronger anti-disturbance ability.

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