scholarly journals Closed-Loop Elastic Demand Control under Dynamic Pricing Program in Smart Microgrid Using Super Twisting Sliding Mode Controller

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4376 ◽  
Author(s):  
Taimoor Ahmad Khan ◽  
Kalim Ullah ◽  
Ghulam Hafeez ◽  
Imran Khan ◽  
Azfar Khalid ◽  
...  
Keyword(s):  
Renewable Energy ◽  
Dynamic Pricing ◽  
Closed Loop ◽  
Sliding Mode ◽  
Smart Cities ◽  
Sliding Mode Controller ◽  
Elastic Demand ◽  
Demand And Supply ◽  
Dynamic Price ◽  
Demand Control

Electricity demand is rising due to industrialisation, population growth and economic development. To meet this rising electricity demand, towns are renovated by smart cities, where the internet of things enabled devices, communication technologies, dynamic pricing servers and renewable energy sources are integrated. Internet of things (IoT) refers to scenarios where network connectivity and computing capability is extended to objects, sensors and other items not normally considered computers. IoT allows these devices to generate, exchange and consume data without or with minimum human intervention. This integrated environment of smart cities maintains a balance between demand and supply. In this work, we proposed a closed-loop super twisting sliding mode controller (STSMC) to handle the uncertain and fluctuating load to maintain the balance between demand and supply persistently. Demand-side load management (DSLM) consists of agents-based demand response (DR) programs that are designed to control, change and shift the load usage pattern according to the price of the energy of a smart grid community. In smart grids, evolved DR programs are implemented which facilitate controlling of consumer demand by effective regulation services. The DSLM under price-based DR programs perform load shifting, peak clipping and valley filling to maintain the balance between demand and supply. We demonstrate a theoretical control approach for persistent demand control by dynamic price-based closed-loop STSMC. A renewable energy integrated microgrid scenario is discussed numerically to show that the demand of consumers can be controlled through STSMC, which regulates the electricity price to the DSLM agents of the smart grid community. The overall demand elasticity of the current study is represented by a first-order dynamic price generation model having a piece-wise linear price-based DR program. The simulation environment for this whole scenario is developed in MATLAB/Simulink. The simulations validate that the closed-loop price-based elastic demand control technique can trace down the generation of a renewable energy integrated microgrid.

Trajectory Tracking of Underactuated Surface Vessels Based on Hierarchical Sliding Mode

2014 ◽  
Author(s):  
Cheng Liu ◽  
Zaojian Zou ◽  
Jianchuan Yin
Keyword(s):  
Trajectory Tracking ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Sliding Mode ◽  
Underactuated System ◽  
Sliding Mode Controller ◽  
Control Field ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Hierarchical Sliding Mode

Trajectory tracking is an importance practice in ship motion control field. It attracts more attention recently due to its difficulties. Trajectory tracking requires the ship to arrive pinpoint location at exact time. It is a underactuated system because the degrees of freedom of control inputs are fewer than the degrees of freedom that needed to be controlled. In this paper, a hierarchical sliding mode controller and a common sliding mode controller are proposed to deal with the trajectory tracking problem of underactuated surface vessels. Simulation results validate the tracking performance of the proposed controllers. The closed-loop stability is testified by the Lyapunov stability theorem.

scholarly journals Torque control of bolt tightening process through adaptive-gain second-order sliding mode

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1131-1143
Author(s):  
Zhimin Wu ◽  
Guigang Zhang ◽  
Wenjuan Du ◽  
Jian Wang ◽  
Fengyang Han ◽  
...  
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Sliding Mode ◽  
Nonlinear Process ◽  
Second Order ◽  
Torque Control ◽  
Sliding Mode Controller ◽  
Tightening Torque ◽  
Bolt Preload ◽  
Second Order Sliding Mode

Bolts constitute a very important subset of mechanical fasteners. In order to tighten bolts, a degree of bolt preload scatter is to be expected. Since the torque control of tightening bolts is the most popular means of controlling the preload, an appropriate tightening torque becomes pivotal. This paper investigates the torque control problem of bolt tightening process. This process is not as simple as it looks because the inherently nonlinear process contains many uncertainties. To conquer the adverse effects of the uncertainties, this paper designs an adaptive-gain second-order sliding mode controller. Theoretically, such design can guarantee that the bolt tightening process has the closed-loop stability in the sense of Lyapunov. From the aspect of practice, the control method is carried out by a platform. Some comparisons illustrate the feasibility and effectiveness of the designed controller.

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.

Robust Perfect Tracking Control With Discrete Sliding Mode Controller

2003 ◽  
Vol 125 (1) ◽  
pp. 27-32 ◽  
Author(s):  
Jian Wang ◽  
Hendrik Van Brussel ◽  
Jan Swevers
Keyword(s):  
Transfer Function ◽  
Closed Loop ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Sliding Mode Controller ◽  
Model Uncertainties ◽  
Plant Model ◽  
Loop Transfer Function ◽  
Tracking Controllers ◽  
Switching Line

The closed-loop transfer function of a plant controlled with a classical feedback controller, depends on the dynamics of the plant. Since most feedforward tracking controllers are designed based on this closed-loop transfer function, they are not robust against plant model uncertainties. Sliding-mode controllers have the property that when the system is on the switching line, the closed-loop behavior is independent of the plant dynamics. As a result, it can be expected that a feedforward control design based on this closed-loop behavior is robust against plant model uncertainties. This paper studies this feedforward robustness issue in detail and verifies the results on an experimental test setup: a stage driven by a linear motor. An integrated procedure is proposed in designing the closed-loop discrete-time sliding mode controller using the reaching law method.

scholarly journals A Path Tracking Strategy for Car Like Robots with Sensor Unpredictability and Measurement Errors

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3077 ◽  
Author(s):  
Madan Mohan Rayguru ◽  
Mohan Rajesh Elara ◽  
Balakrishnan Ramalingam ◽  
M. A. Viraj J. Muthugala ◽  
S. M. Bhagya P. Samarakoon
Keyword(s):  
Motion Control ◽  
Measurement Errors ◽  
Feedback Linearization ◽  
Closed Loop ◽  
Sliding Mode ◽  
Observer Design ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Robust Observer ◽  
Uncertain Dynamics

This work is inspired by motion control of cleaning robots, operating in certain endogenous environments, and performing various tasks like door cleaning, wall sanitizing, etc. The base platform’s motion for these robots is generally similar to the motion of four-wheel cars. Most of the cleaning and maintenance tasks require detection, path planning, and control. The motion controller’s job is to ensure the robot follows the desired path or a set of points, pre-decided by the path planner. This control loop generally requires some feedback from the on-board sensors, and odometry modules, to compute the necessary velocity inputs for the wheels. As the sensors and odometry modules are prone to environmental noise, dead-reckoning errors, and calibration errors, the control input may not provide satisfactory performance in a closed-loop. This paper develops a robust-observer based sliding mode controller to fulfill the motion control task in the presence of incomplete state measurements and sensor inaccuracies. A robust intrinsic observer design is proposed to estimate the input matrix, which is used for dynamic feedback linearization. The resulting uncertain dynamics are then stabilized through a sliding mode controller. The proposed robust-observer based sliding mode technique assures asymptotic trajectory tracking in the presence of measurement uncertainties. Lyapunov based stability analysis is used to guarantee the convergence of the closed-loop system, and the proposed strategy is successfully validated through numerical simulations.

Control of TITO processes using sliding mode controller tuned by ITAE minimizing criterion based Nelder-Mead algorithm

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Govinda Kumar E ◽  
Arunshankar J
Keyword(s):  
Matrix Element ◽  
Closed Loop ◽  
Dead Time ◽  
Sliding Mode ◽  
Absolute Error ◽  
Process Models ◽  
Sliding Mode Controller ◽  
The Matrix ◽  
The One ◽  
Nelder Mead Algorithm

Abstract Control of multi input and multi output (MIMO) process with interaction is often encountered in process industry. Such MIMO processes are controlled using conventional sliding mode controller (SMC) and tuned by integral square error (ISE) minimizing criterion based Nelder-Mead algorithm. SMC tuned by integral time absolute error (ITAE) minimization criterion based Nelder-Mead algorithm is proposed in this work. Three categories of two inputs and two outputs (TITO) process models are represented in the matrix form, with each of the matrix element representing a first order plus dead time (FOPDT) process. These TITO models are categorized based on the ratio ε, between dead time and time constant of the FOPDT model which forms the matrix element of the TITO model. The performance of conventional SMC is evaluated for these three categories of TITO models, in which the TITO process models with the ratio ε greater than the one, exhibited by poor closed loop performance, whereas the proposed SMC when applied to the these process models delivered superior closed loop performance.

scholarly journals Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance Using Optimal Sliding Mode Controller

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Reta Degefa
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Sliding Mode ◽  
System Stability ◽  
Control Technique ◽  
Sliding Mode Controller ◽  
Closed Loop System ◽  
Stability Performance ◽  
Highly Nonlinear ◽  
Unstable Position

In this paper, a two-link manipulator system stability performance is designed and analyzed using Optimal control technique. The manipulator system is highly nonlinear and unstable. The system is modelled using Lagrangian equation and linearized in upward unstable position. The closed loop system is designed using optimal sliding mode controller. The system is compared with a known PID controller with an impulse applied and disturbance torques and a promising results has been obtained.

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