scholarly journals Modeling, Simulation, and Temperature Control of a Thermal Zone with Sliding Modes Strategy

Mathematics ◽  
2019 ◽  
Vol 7 (6) ◽  
pp. 503 ◽  
Author(s):  
Frank Florez ◽  
Pedro Fernández de Córdoba ◽  
José Luis Higón ◽  
Gerard Olivar ◽  
John Taborda
Keyword(s):  
Energy Consumption ◽  
Sliding Mode ◽  
Temperature Gradients ◽  
Sliding Mode Controller ◽  
Sliding Modes ◽  
Internal Temperature ◽  
Control Techniques ◽  
Modeling Simulation ◽  
Thermal Zone ◽  
Internal Sources

To reduce the energy consumption in buildings is necessary to analyze individual rooms and thermal zones, studying mathematical models and applying new control techniques. In this paper, the design, simulation and experimental evaluation of a sliding mode controller for regulating internal temperature in a thermal zone is presented. We propose an experiment with small physical dimensions, consisting of a closed wooden box with heat internal sources to stimulate temperature gradients through operating and shut down cycles.

scholarly journals Combination of Two Nonlinear Techniques Applied to a 3-DOF Helicopter

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
P. Ahmadi ◽  
M. Golestani ◽  
S. Nasrollahi ◽  
A. R. Vali
Keyword(s):  
Convergence Rate ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Control Methods ◽  
Control Effort ◽  
Control Techniques ◽  
Control Scheme ◽  
Feedback Linearization Control

A combination of two nonlinear control techniques, fractional order sliding mode and feedback linearization control methods, is applied to 3-DOF helicopter model. Increasing of the convergence rate is obtained by using proposed controller without increasing control effort. Because the proposed control law is robust against disturbance, so we only use the upper bound information of disturbance and estimation or measurement of the disturbance is not required. The performance of the proposed control scheme is compared with integer order sliding mode controller and results are justified by the simulation.

A comparative study of two model-based control techniques for the industrial manipulator

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 2036-2055 ◽  
Author(s):  
Ahmet Dumlu ◽  
Köksal Erentürk ◽  
Alirıza Kaleli ◽  
Kağan Koray Ayten
Keyword(s):  
Real Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Trajectory Tracking Control ◽  
Spherical Type ◽  
Control Techniques

SUMMARYIn this paper, design, analysis and real-time trajectory tracking control of a 6-degree of freedom revolute spherical-spherical type parallel manipulator, actuated by six hybrid stepper motors, has been studied. Two different control approaches have been used to improve the trajectory tracking performance of the designed manipulator. The first approach considered a single input-single output (SISO) linear quadratic regulator (LQR) for trajectory tracking control of the manipulator. Another controller type based on a nonlinear sliding mode controller method has been utilized to take decoupled dynamic approximation model of the manipulator into account and to improve tracking performance of the manipulator. Real-time experimental results for the two different control techniques have been verified. Finally, according to the results, the nonlinear sliding mode controller method has improved the tracking performance of the designed manipulator.

scholarly journals Robust Extremum Seeking for a Second Order Uncertain Plant Using a Sliding Mode Controller

2019 ◽  
Vol 29 (4) ◽  
pp. 703-712 ◽  
Author(s):  
Cesar Solis ◽  
Julio Clempner ◽  
Alexander Poznyak
Keyword(s):  
Continuous Time ◽  
Closed Loop ◽  
Sliding Mode ◽  
Main Idea ◽  
Extremum Seeking ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Sliding Modes ◽  
Optimal Point ◽  
The Stability

Abstract This paper suggests a novel continuous-time robust extremum seeking algorithm for an unknown convex function constrained by a dynamical plant with uncertainties. The main idea of the proposed method is to develop a robust closed-loop controller based on sliding modes where the sliding surface takes the trajectory around a zone of the optimal point. We assume that the output of the plant is given by the states and a measure of the function. We show the stability and zone-convergence of the proposed algorithm. In order to validate the proposed method, we present a numerical example.

Generalized projective synchronization between controlled master and multiple slave TLFMs with modified adaptive SMC

2016 ◽  
Vol 40 (4) ◽  
pp. 1049-1071 ◽  
Author(s):  
Kshetrimayum Lochan ◽  
Binoy Krishna Roy ◽  
Bidyadhar Subudhi
Keyword(s):  
Sliding Mode ◽  
Low Frequency ◽  
Chaotic Signal ◽  
Projective Synchronization ◽  
Sliding Mode Controller ◽  
Control Effort ◽  
Control Techniques ◽  
Generalized Projective Synchronization ◽  
And Control ◽  
Adaptive Smc

The problem of projected work space trajectory synchronization for multiple two link flexible manipulators is considered here. Generalized projective synchronization between a controlled master and multiple slave manipulators is presented in this paper. The master and slave manipulators are non-identical. A low frequency chaotic signal and an exponentially varying signal are used as the desired trajectories. An equivalent sliding mode controller is designed for the master manipulator to track the desired trajectory. A modified adaptive equivalent sliding mode controller is designed for the slave manipulators to be projectively synchronized with the controlled master. Two scaling factors are used for the projective synchronization. Simulation results, with disturbances and payload variation reveal that the master and multiple slaves are synchronized with their respective desired trajectories. Such projective synchronization between one master and multiple slaves using the proposed control techniques to track a low frequency chaotic desired signal is not found in the literature. Such projective synchronization to track a chaotic signal is considered as the novelty of this paper. The performances of the proposed control techniques are found to be better in terms of link deflections and control effort when compared with three other sliding mode control techniques.

Hybrid controller design and simulation for a small-size autonomous helicopter

2016 ◽  
Vol 4 (2) ◽  
pp. 129-140 ◽  
Author(s):  
Nugroho Gesang
Keyword(s):  
Energy Consumption ◽  
Sliding Mode ◽  
External Disturbance ◽  
Mathematic Model ◽  
Optimal Controller ◽  
Sliding Mode Controller ◽  
Content Type ◽  
Hybrid Controller ◽  
Controller Performance ◽  
Autonomous Helicopter

Purpose – During flight, a small-size autonomous helicopter will suffer external disturbance that is wind gust. Moreover, the small-size helicopter can carries limited payload or battery. Therefore control system of an autonomous helicopter should be able to eliminate external disturbance and optimize energy consumption. The purpose of this paper is to propose a hybrid controller structure to control a small-size autonomous helicopter capable to eliminate external disturbance and optimize energy consumption. The proposed control strategy comprise of two components, a linear component to stabilize the nominal linear system and a discontinuous component to guarantee the robustness. An integral control is included in the system to eliminate steady state error and tracking reference input. Design/methodology/approach – This research started with derived mathematic model of the small-size helicopter that will be controlled. Based on the obtained mathematic model, then design of a hybrid controller to control the autonomous helicopter. The hybrid controller was designed based on optimal controller and sliding mode controller. The optimal controller as main controller is used to stabilize the nominal linear system and a discontinuous component based on sliding mode controller to guarantee the robustness. Findings – Performance of the proposed controller was tested in simulation. The hybrid controller performance was compared with optimal controller performance. The hybrid controller has better performance compared with optimal controller. Results of the simulation shows that the proposed controller has good performance and robust against external disturbances. The proposed controller has better performance in rise time, settling time and overshoot compared with optimal controller response both for step input response and tracking capability. Originality/value – Hybrid controller to control small-size helicopter has not reported yet. In this research new hybrid controller structure for a small size autonomous helicopter was proposed.

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