scholarly journals Luenberger-Sliding Mode Observer Based Backstepping Control for the SCR System in a Diesel Engine

Energies ◽  
2019 ◽  
Vol 12 (22) ◽  
pp. 4270
Author(s):  
Zheng ◽  
Yang ◽  
Li ◽  
Ma
Keyword(s):  
Lyapunov Function ◽  
Control Method ◽  
Sliding Mode ◽  
Setting Time ◽  
Tracking Error ◽  
Backstepping Control ◽  
Sliding Mode Observer ◽  
Control Law ◽  
Virtual Control ◽  
Scr System

In order to keep the ammonia (NH3) slip of the downstream selective catalytic reduction (SCR) system at a low level and simultaneously achieve a high nitrogen oxide (NOX) conversion rate, a Luenberger-sliding mode observer based backstepping control method is proposed. Considering that the internal working condition of the catalyst cannot be measured by commercial sensors directly, a Luenberger-sliding mode observer is designed to estimate the ammonia concentration at the middle of the catalyst. In addition, based on the stepped distributed characteristic of the surface ammonia coverage ratio along the SCR axial direction, a backstepping control method is utilized for the SCR system, in which the SCR system is decomposed into two subsystems. Firstly, the Lyapunov function is designed to ensure the convergence of the downstream subsystem, and then the virtual control law is obtained. After that, taking the virtual control law as the tracking target of the upstream subsystem, the Lyapunov function of virtual control law is given. Finally, the actual control law of the whole closed loop system is acquired. Simulations under different conditions are conducted to investigate the effect of the proposed control method. In addition, comparisons with the traditional PID (Proportion Integration Differentiation) control are presented. Results show that the proposed method is much better than the PID control method in overshoot, setting time, and tracking error.

scholarly journals Backstepping Control Method with Sliding Mode Observer for Autonomous Lane Keeping System

2017 ◽  
Vol 50 (1) ◽  
pp. 6989-6995
Author(s):  
Chang Mook Kang ◽  
Wonhee Kim ◽  
Seung-Hi Lee ◽  
Chung Choo Chung
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Sliding Mode Observer ◽  
Lane Keeping

Adaptive Method to Trajectory Tracking for Lane Changing

2014 ◽  
Vol 590 ◽  
pp. 413-417 ◽  
Author(s):  
Dian Bo Ren ◽  
Guan Zhe Zhang ◽  
Cong Wang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Parametric Uncertainty ◽  
Adaptive Method ◽  
Control Law ◽  
Terminal Sliding Mode ◽  
Lane Changing ◽  
Estimation Formula ◽  
Direct Adaptive Method

In the presence of parametric uncertainty, the adaptive control method for lane changing of intelligent vehicle was studied. Based on the lateral dynamical model of vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.

A Robust Adaptive Sliding Mode Control Method for Attitude Control of the Quad-Rotor

2014 ◽  
Vol 852 ◽  
pp. 391-395
Author(s):  
Yong Gao ◽  
Zhao Qing Song ◽  
Xiao Liu
Keyword(s):  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Unknown Disturbances ◽  
Robust Adaptive ◽  
Uncertainty Parameters

Quad-rotor is a multi-variable and strong coupling system which has nonlinear and uncertainties. According to the quad-rotor, a dynamic model of attitude which included uncertainty parameters and unknown disturbances was established. The tracking error state was used to design a slide mode surface, and a Lyapunov function which includes slide mode surface and unknown parameter was built. Further more, a robust adaptive control law was designed. At last, the designed control law was simulated, and the results justify the feasibility of the proposed control law.

Observer based direct adaptive fuzzy second-order-like sliding mode control for unknown nonlinear systems

2020 ◽  
pp. 095440892095259
Author(s):  
Hongzhuang Wu ◽  
Songyong Liu ◽  
Cheng Cheng ◽  
Changlong Du
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Nonlinear Dynamical Systems ◽  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Control Law ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
The Stability

This work proposes a novel observer based direct adaptive fuzzy second-order-like sliding mode control (SMC) method for a certain class of high order unknown nonlinear dynamical systems with unmeasurable states. An observer is firstly developed to estimate the tracking error vector directly, and the stability of the observer is analyzed based on Meyer-Kalman-Yakubovich (MKY) lemma. Based on the observer, the equivalent control law is approximated by a double-input single-output fuzzy logic system (FLS), in which the observation of the sliding surface and its derivative are applied as the inputs. In addition, an adaptive switching control law is added to mitigate the system chattering and improve the stability of the system. The free parameters of the controller are adjusted online by the adaptive laws that are derived from the Lyapunov stability analysis. Finally, the convergence of the overall closed-loop system is demonstrated, and the simulation examples illustrate the efficacy of the proposed control method.

Backstepping-based control methodology for aircraft roll dynamics

2019 ◽  
Vol 234 (4) ◽  
pp. 566-574 ◽  
Author(s):  
Thanh T Tran ◽  
Oscar R Gonzalez
Keyword(s):  
Control Method ◽  
Tracking Error ◽  
Feedback System ◽  
Backstepping Control ◽  
Control Law ◽  
Feedback Form ◽  
Control Lyapunov Function ◽  
Aircraft Model ◽  
Langley Research Center ◽  
Strict Feedback

This article investigates a backstepping-based control method for aircraft roll dynamics. The research starts with a formulation of backstepping control law for a general class of a strict-feedback form of nonlinear dynamic systems. The backstepping control law is formulated by introducing a normal tracking error. Then, control and virtual control inputs are selected by addressing each layer of the design process with a chosen corresponding control Lyapunov function. The parameter assignment in each design layer is selected to ensure the stability of the entire system. Next, a backstepping-based control algorithm with online-gain schedule or variable gains is provided for the standard strict-feedback system. In order to validate the proposed method, application of roll dynamics of aircraft is implemented. Dynamic equations of free-to-roll aircraft model is restructured in a standard strict-feedback model for formulating the backstepping control. Then, a backstepping control–based control strategy is provided for aircraft free-to-roll dynamics. Indoor experimental and simulation studies of roll angle control for the L-59 free-to-roll aircraft model at NASA Langley Research Center are implemented to verify and validate the proposed approach.

scholarly journals Hybrid synchronization of n–scroll Chua and Lur’e chaotic systems via backstepping control with novel feedback

2012 ◽  
Vol 22 (3) ◽  
pp. 343-365 ◽  
Author(s):  
Suresh Rasappan ◽  
Sundarapandian Vaidyanathan
Keyword(s):  
Lyapunov Function ◽  
Chaotic Systems ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Backstepping Control ◽  
Control Law ◽  
Recursive Procedure ◽  
Stability Performance ◽  
Controller Gain ◽  
Hybrid Synchronization

Abstract This paper investigates the backstepping control design with novel feedback input approach for controlling chaotic systems to guarantee the complete synchronization as well as the anti-synchronization of chaotic systems, viz. n-scroll Chua (K. Wallace et.al. 2001) and Lur’e chaotic systems. Our theorems on hybrid synchronization for n-scroll Chua and Lur’e (J.Suyken et.al. 1997) chaotic systems is established using Lyapunov stability theory. Based on the Lyapunov function, the backstepping control is determined to tune the controller gain based on the precalculated feedback control inputs. The backstepping scheme is recursive procedure that links the choice of a Lyapunov function with the design of a controller and guarantees global stability performance of strict-feedback chaotic systems. Since the Lyapunov exponents are not required for these calculations, the backstepping control method is effective and convenient to synchronize the chaotic systems. Mainly this technique gives the flexibility to construct a control law. Numerical simulations are also given to illustrate and validate the hybrid synchronization results derived in this paper

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

The Simulation Analysis of Semi-Active Suspension System in Vehicle Based on Sliding Mode Control with Varying Structure

2011 ◽  
Vol 216 ◽  
pp. 96-100
Author(s):  
Jing Jun Zhang ◽  
Wei Sha Han ◽  
Li Ya Cao ◽  
Rui Zhen Gao
Keyword(s):  
Control Method ◽  
Simulation Analysis ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Active Suspension ◽  
Suspension System ◽  
Sliding Mode Controller ◽  
Error Dynamics ◽  
Dynamic Quality

A sliding mode controller for semi-active suspension system of a quarter car is designed with sliding model varying structure control method. This controller chooses Skyhook as a reference model, and to force the tracking error dynamics between the reference model and the plant in an asymptotically stable sliding mode. An equal near rate is used to improve the dynamic quality of sliding mode motion. Simulation result shows that the stability of performance of the sliding-mode controller can effectively improve the driving smoothness and safety.

scholarly journals Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Shen Xu ◽  
Lulu Chu ◽  
Fei Tong ◽  
Lei Chen
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Switching Control ◽  
Polar Coordinates ◽  
Control Law ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Time Switching

In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.

scholarly journals Forced dynamics control of an actuator with linear PMSM

2009 ◽  
Vol 22 (2) ◽  
pp. 183-195
Author(s):  
Ján Vittek ◽  
Vladimir Vavrús ◽  
Jozef Buday ◽  
Jozef Kuchta
Keyword(s):  
Control System ◽  
Control Method ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Control Law ◽  
Flux Vector ◽  
Stator Current ◽  
Current Vector ◽  
Filtering Effect ◽  
Speed Response

The paper presents design and verification of Forced Dynamics Control of an actuator with linear permanent magnet synchronous motor. This control method is a relatively new one and offers an accurate realization of a dynamic speed response, which can be selected for given application by the user. In addition to this, the angle between stator current vector and moving part flux vector is maintained mutually perpendicular as it is under conventional vector control. To achieve prescribed speed response derived control law requires estimation of an external force, which is obtained from the set of observers. The first observer works in pseudo-sliding mode and observes speed of moving part while the second one has filtering effect for elimination of the previous one chattering. The overall control system is verified by simulations and experimentally. Preliminary experiments confirmed that the moving part speed response follows the prescribed one fairly closely.

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