scholarly journals Robust Stable Control Design for AC Power Supply Applications

Electronics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 419 ◽  
Author(s):  
En-Chih Chang ◽  
Sung-Chi Yang ◽  
Rong-Ching Wu
Keyword(s):  
Steady State ◽  
Power Supply ◽  
High Performance ◽  
Sliding Mode ◽  
Convergence Time ◽  
Control Technology ◽  
Grey Prediction ◽  
Terminal Sliding Mode ◽  
Ac Power ◽  
State Error

This paper applies modified feedback technology to carry out the exact steady-state and fast transient in a high-performance alternating current (AC) power supply. The presented scheme displays the virtues of a finite-time convergence control (FTCC) and a discrete grey prediction model (DGPM). The FTCC, derived from a terminal sliding-mode (TSM) design principle, can produce the finite system-state convergence time and evade the singularity. It is noteworthy that the chattering/steady-state error around the FTCC may occur because of the overestimated or underestimated uncertainty bound. The DGPM with the bound estimate ability is integrated into the FTCC to cope with internal parameter variations and external load disturbances. The less chattering and steady-state error can be obtained, providing more robust performance in the AC power supply. The combination of the FTCC and the DGPM extends the standard TSM design for the purpose of faster singularity-free convergence, as well as introducing the grey modeling method in the case of a more exact uncertainty estimate. The modified control technology has a high-precision tracking performance and a fast convergent speed. Simulated and experimental results point out that the modified control technology can effectuate low total harmonic distortion (THD) and fast dynamic response in the presence of rectifier loads and abrupt step load changes.

scholarly journals A Novel Fast Terminal Sliding Mode Tracking Control Methodology for Robot Manipulators

2020 ◽  
Vol 10 (9) ◽  
pp. 3010 ◽  
Author(s):  
Quang Vinh Doan ◽  
Anh Tuan Vo ◽  
Tien Dung Le ◽  
Hee-Jun Kang ◽  
Ngoc Hoai An Nguyen
Keyword(s):  
Tracking Control ◽  
High Performance ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Convergence Time ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Uncertain Dynamics ◽  
Fast Terminal Sliding Mode

This paper comes up with a novel Fast Terminal Sliding Mode Control (FTSMC) for robot manipulators. First, to enhance the response, fast convergence time, against uncertainties, and accuracy of the tracking position, the novel Fast Terminal Sliding Mode Manifold (FTSMM) is developed. Then, a Supper-Twisting Control Law (STCL) is applied to combat the unknown nonlinear functions in the control system. By using this technique, the exterior disturbances and uncertain dynamics are compensated more rapidly and more correctly with the smooth control torque. Finally, the proposed controller is launched from the proposed sliding mode manifold and the STCL to provide the desired performance. Consequently, the stabilization and robustness criteria are guaranteed in the designed system with high-performance and limited chattering. The proposed controller runs without a precise dynamic model, even in the presence of uncertain components. The numerical examples are simulated to evaluate the effectiveness of the proposed control method for trajectory tracking control of a 3-Degrees of Freedom (DOF) robotic manipulator.

scholarly journals Piecewise fast multi-power reaching law: Basis for sliding mode control algorithm

2020 ◽  
pp. 002029402096424
Author(s):  
Guang-Yu Yang ◽  
Si-Yi Chen
Keyword(s):  
Steady State ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Nonlinear Function ◽  
Convergence Time ◽  
Pendulum System ◽  
Reaching Law ◽  
Mode Control ◽  
Inverted Pendulum System ◽  
State Error

A piecewise fast multi-power reaching law (PFMPRL) is proposed aiming at the problems of chattering and slow convergence in the reaching phase of sliding mode control (SMC). In this paper, the fast power reaching law and the double power reaching law are combined, and a nonlinear function is introduced to design the exponential term in PFMPRL. The proposed method ensures the characteristic of fast convergence of the system at all the phases of tendency. The characteristic of fixed-time convergence has also been satisfied. The study proves that the system state can converge to steady-state error bounds within a finite time in the presence of system uncertainty and bounded external disturbance. Compared with the existed methods, the proposed method has shorter convergence time and smaller steady-state error bound. To suppress the influence of model uncertainty and disturbance in system control, a non-linear disturbance observer (NDO) is introduced, and combined with the reaching law-based non-singular terminal sliding mode control (NTSMC), is applied to the cart inverted pendulum system. Simulation results and numerical analysis verify the effectiveness and superiority of this approach.

scholarly journals Study and Application of Intelligent Sliding Mode Control for Voltage Source Inverters

Energies ◽  
2018 ◽  
Vol 11 (10) ◽  
pp. 2544 ◽  
Author(s):  
En-Chih Chang
Keyword(s):  
Steady State ◽  
Sliding Mode Control ◽  
Digital Signal Processor ◽  
Sliding Mode ◽  
Transient Behavior ◽  
Voltage Source ◽  
Accurate Estimation ◽  
Inference System ◽  
Mode Control ◽  
State Error

In this paper, an intelligent sliding mode controlled voltage source inverter (VSI) is developed to achieve not only quick transient behavior, but satisfactory steady-state response. The presented approach combines the respective merits of a nonsingular fast terminal attractor (NFTA) as well as an adaptive neuro-fuzzy inference system (ANFIS). The NFTA allows no singularity and error states to be converged to the equilibrium within a finite time, while conventional sliding mode control (SMC) leads to long-term (infinite) convergent behavior. However, there is the likelihood of chattering or steady-state error occurring in NFTA due to the overestimation or underestimation of system uncertainty bound. The ANFIS with accurate estimation and the ease of implementation is employed in NFTA for suppressing the chatter or steady-state error so as to improve the system’s robustness against uncertain disturbances. Simulation results display that this described approach yields low distorted output wave shapes and quick transience in the presence of capacitor input rectifier loading as well as abrupt connection of linear loads. Experimental results conducted on a 1 kW VSI prototype with control algorithm implementation in Texas Instruments DSP (digital signal processor) support the theoretic analysis and reaffirm the robust performance of the developed VSI. Because the proposed VSI yields remarkable benefits over conventional terminal attractor VSIs on the basis of computational quickness and unsophisticated realization, the presented approach is a noteworthy referral to the designers of correlated VSI applications in future, such as DC (direct current) microgrids and AC (alternating current) microgrids, or even hybrid AC/DC microgrids.

Smooth second-order nonsingular terminal sliding mode control for reusable launch vehicles

2014 ◽  
Vol 7 (1) ◽  
pp. 95-110 ◽  
Author(s):  
Shaobo Ni ◽  
Jiayuan Shan
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Convergence Time ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Content Type ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking

Purpose – The purpose of this paper is to present a sliding mode attitude controller for reusable launch vehicle (RLV) which is nonlinear, coupling, and includes uncertain parameters and external disturbances. Design/methodology/approach – A smooth second-order nonsingular terminal sliding mode (NTSM) controller is proposed for RLV in reentry phase. First, a NTSM manifold is proposed for finite-time convergence. Then a smooth second sliding mode controller is designed to establish the sliding mode. An observer is utilized to estimate the lumped disturbance and the estimation result is used for feedforward compensation in the controller. Findings – It is mathematically proved that the proposed sliding mode technique makes the attitude tracking errors converge to zero in finite time and the convergence time is estimated. Simulations are made for RLV through the assumption that aerodynamic parameters and atmospheric density are perturbed. Simulation results demonstrate that the proposed control strategy is effective, leading to promising performance and robustness. Originality/value – By the proposed controller, the second-order sliding mode is established. The attitude tracking error converges to zero in a finite time. Meanwhile, the chattering is alleviated and a smooth control input is obtained.

scholarly journals Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Design Method ◽  
Robotic Manipulator ◽  
Convergence Time ◽  
Terminal Sliding Mode Control ◽  
Tracking Errors ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Control Scheme

This paper concentrates on the predefined-time trajectory tracking for an uncertain robotic manipulator system. First, a modified predefined-time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding mode, a novel nonsingular terminal sliding-mode control (NTSMC) scheme is proposed for ensuring the predefined-time convergence of tracking errors. The advantages of the newly proposed control scheme are as follows. (i) Unlike the conventional predefined-time sliding-mode control (SMC) which only guarantees the predefined-time convergence of sliding-mode surface, the proposed scheme can guarantee the predefined-time convergence of tracking errors. (ii) Compared with the conventional PTC algorithm, the proposed modified PTC algorithm can reduce the initial control peaking and enhance the precision of convergence time. The performance and effectiveness of the proposed control scheme are illustrated by comparing with the existing methods.

Integral Sliding Mode Control Based on Barrier Function for Servo Actuator with Friction

2021 ◽  
Vol 39 (2A) ◽  
pp. 248-259
Author(s):  
Anmar F. Abd ◽  
Shibly A. Al-Samarraie
Keyword(s):  
Steady State ◽  
Sliding Mode Control ◽  
Barrier Function ◽  
Sliding Mode ◽  
Function Parameter ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Servo Actuator ◽  
State Error

This paper proposes the use of the integral sliding mode control (ISMC) based on the barrier function to control the servo actuator system with friction.  Based on the barrier function, the main features of the ISMC design were preserved, additionally, the proposed control design is done without the need to know the bound on the system model uncertainty, accordingly, the overestimation of the control gain doesn’t take place and the chattering is eliminated. Moreover, the steady-state error can be adjusted via selecting the barrier function parameter only. The simulation results demonstrate the performance of the proposed ISMC based on the barrier function where the system angle successfully follows the desired angular position with a small pre-adjusted steady-state error. Additionally, the obtained results clarify superior features compared with a traditional ISMC designed to the same actuator.

Guidance and control with fixed-time convergence for an interception missile

2021 ◽  
pp. 095441002110440
Author(s):  
Lei Cui ◽  
Nan Jin ◽  
Yantao Zong
Keyword(s):  
Sliding Mode ◽  
Fixed Time ◽  
Convergence Time ◽  
Singular Problem ◽  
State Variables ◽  
Terminal Sliding Mode ◽  
Surface Design ◽  
Guidance And Control ◽  
Nonsingular Terminal Sliding Mode ◽  
And Control

This article deals with the problem of partial integrated guidance and control (IGC) design with fixed-time convergence. First of all, two new fixed-time stability systems are proposed, and a novel nonsingular terminal sliding mode with fixed-time convergence is constructed by switching the exponential term of system state variables, which can realize the transition from finite-time convergence to fixed-time convergence. Concurrently, in order to solve the singular problem of terminal sliding mode, a continuous piecewise function is used in the sliding mode surface design. Then, a novel nonsingular terminal sliding mode control with fixed-time convergence is proposed for partial IGC design; that is, the upper-bound of convergence time is independent of the initial states of both missile and target and can be set in advance. In addition, a radial basis function neural network (RBFNN) is used to adaptively estimate and compensate for the uncertainties caused by the target’s maneuvering, so that the design of fixed-time sliding mode controller does not need to know any information about the target maneuver in advance, which enables the proposed controller to be better with robustness. Finally, the effectiveness and merits of the proposed control strategy are shown by the numerical simulation results based on the nonlinear longitudinal model of missile.

Satellite magnetic/momentum wheel attitude control technology based on PIO cascade-saturation algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Bing Hua ◽  
Nan Zhang ◽  
Mohong Zheng
Keyword(s):  
Steady State ◽  
Attitude Control ◽  
Control Law ◽  
Control Technology ◽  
Optimal Parameters ◽  
Saturation Control ◽  
Content Type ◽  
Attitude Maneuver ◽  
Control Objective ◽  
State Error

Purpose Taking into account the factors of torque saturation and angular velocity limitation during the actual attitude maneuver of the satellite, as well as the difficulty of parameter selection in the design of attitude control algorithm, the purpose of this paper is to propose a satellite magnetic/momentum wheel attitude control technology based on pigeon-inspired optimization (PIO) cascade-saturation control law optimization. Design/methodology/approach The optimal parameters are calculated through the PIO algorithm and then the parameters are used in the cascade-saturation control law to control the actuator findings-mathematical simulation results show that the cascade-saturation control law optimization algorithm based on PIO can shorten the adjustment time and reduce the steady-state error. Findings Compared with traditional attitude maneuver control with given parameters, the PIO algorithm can accurately calculate the optimal parameters needed to achieve the control objective and this method has better stability and higher accuracy. Originality/value The innovative PIO algorithm is used to calculate the optimal parameters, and the cascade saturation control law is used to control the actuator. Compared with the traditional algorithm, the regulation time is shortened and the steady-state error is reduced.

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