Robust Control: First-Order Sliding Mode Control Techniques

2021 ◽  
pp. 57-88
Author(s):  
Nardênio Almeida Martins ◽  
Douglas Wildgrube Bertol
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
First Order ◽  
Control Techniques ◽  
Mode Control

Experimental Analysis of Higher-Order Sliding Mode Control Applied to Dynamic Positioning Systems

2013 ◽  
Author(s):  
Tadeu F. de Sousa ◽  
Eduardo A. Tannuri
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Real Time ◽  
Sliding Mode ◽  
Higher Order ◽  
Scale Model ◽  
Dynamic Positioning ◽  
Control Techniques ◽  
Mode Control ◽  
Position Signal

The control algorithm normally used in Dynamic Positioning (DP) Systems is based on linear control theory (proportional-derivative or linear quadratic MIMO controller), coupled to an Extended Kalman Filter (EKF) to estimate the environmental forces and wave filtering. Such controllers and estimators have problems of performance and stability related to large variations of loading (for tankers for example) or environmental conditions. The adjustment of controller gains and parameters of EKF is a complex process. Therefore, other techniques are being applied. An investigation into the area of control of mechanical systems was made, carrying out theoretical and experimental studies involving nonlinear robust control techniques applied to dynamic positioning of floating vessels. Two robust control techniques were applied and compared: first order sliding mode control (SMC) and higher order sliding mode control (HOSM). It is known that the main drawback of SMC is the presence of high-frequency oscillations called chattering. This undesirable effect can be eliminated by using HOSM. In order to ascertain the performance of the controller under the DP system, time-domain simulations were done. Furthermore, the technique of sliding mode requires higher order derivatives of the vessel’s position signal. Therefore was developed an exact real-time differentiator, a mathematical technique used to obtain the signal derived from the position signal in real time. To validate the simulated controller, experimental tests were performed considering a small-scale model of a DP tanker. The results confirmed the robustness of the HOSM controller, the good performance of the differentiator and the elimination of the chattering problem.

Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

2009 ◽  
Vol 223 (6) ◽  
pp. 785-795 ◽  
Author(s):  
D W Qian ◽  
X J Liu ◽  
J Q Yi
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Underactuated Systems ◽  
Sliding Surface ◽  
Nominal System ◽  
Sliding Surfaces ◽  
Mode Control ◽  
Mismatched Uncertainties

Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.

Implicit Discrete-Time Adaptive First-Order Sliding Mode Control with Predefined Convergence Time

2021 ◽  
pp. 1-1
Author(s):  
Xiaogang Xiong ◽  
Hua Chen ◽  
Yunjiang Lou ◽  
Zhichao Liu ◽  
Shyam Kamal ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Convergence Time ◽  
First Order ◽  
Mode Control

scholarly journals Robust Control of Nonlinear Time Delay System: A Sliding Mode Control Design

2001 ◽  
Vol 34 (6) ◽  
pp. 1253-1258 ◽  
Author(s):  
F. Gouaisbaut ◽  
Y. Blanco ◽  
J.P. Richard
Keyword(s):  
Time Delay ◽  
Robust Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Delay System ◽  
Time Delay System ◽  
Mode Control ◽  
System A
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