Performance Optimization Methodology for Discrete-Time Sliding Mode Control in Industrial Servo Systems Under Control Input Saturation and Disturbance

In this paper, dynamical behavior and synchronization of a non-equilibrium four-dimensional chaotic system are studied. The system only includes one constant term and has hidden attractors. Some dynamical features of the governing system, such as invariance and symmetry, the existence of attractors and dissipativity, chaotic flow with a plane of equilibria, and offset boosting of the chaotic attractor, are stated and discussed and a new disturbance-observer-based adaptive terminal sliding mode control (ATSMC) method with input saturation is proposed for the control and synchronization of the chaotic system. To deal with unexpected noises, an extended Kalman filter (EKF) is implemented along with the designed controller. Through the concept of Lyapunov stability, the proposed control technique guarantees the finite time convergence of the uncertain system in the presence of disturbances and control input limits. Furthermore, to decrease the chattering phenomena, a genetic algorithm is used to optimize the controller parameters. Finally, numerical simulations are presented to demonstrate the performance of the designed control scheme in the presence of noise, disturbances, and control input saturation.

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Sliding-mode control of discrete-time linear plants with input saturation: application to a twin-rotor system

International Journal of Control ◽

10.1080/00207179.2013.878039 ◽

2014 ◽

Vol 87 (8) ◽

pp. 1523-1535 ◽

Cited By ~ 7

Author(s):

Maria Letizia Corradini ◽

Andrea Cristofaro ◽

Giuseppe Orlando

Keyword(s):

Sliding Mode Control ◽

Discrete Time ◽

Sliding Mode ◽

Input Saturation ◽

Rotor System ◽

Mode Control ◽

Time Linear ◽

Twin Rotor

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Fuzzy Sliding Mode Control of a Flexible Spacecraft With Input Saturation

Volume 10: Mechanical Systems and Control, Parts A and B ◽

10.1115/imece2009-12778 ◽

2009 ◽

Author(s):

Shengjian Bai ◽

Pinhas Ben-Tzvi ◽

Qingkun Zhou ◽

Xinsheng Huang

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Input Saturation ◽

Flexible Spacecraft ◽

Body Motion ◽

Control Input ◽

Local Domain ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Fuzzy Sliding Mode

This paper presents the dynamic modeling and fuzzy sliding mode control (FSMC) for a spacecraft with flexible appendages. A first-order approximate model (FOAM) of the flexible spacecraft system is formulated by using Hamilton’s principles and assumed mode method (AMM), taking into account the second-order term of the coupling deformation field. The use of classical Sliding Mode Control (SMC) presents a major problem that appears in the form of chattering. For highly flexible structural models, ideal sliding surface producing pure rigid body motion may not be achievable. In this paper, the discontinuity in the sliding mode controller is smoothened inside a thin boundary layer by using fuzzy logic (FL) techniques so that the chattering phenomenon is effectively reduced. The robustness of SMC only holds in the sliding mode domain (SMD). However, when the amplitude of the actuators is limited, SMD will be restricted to some local domain near zero on the switching surface. Control input saturation is also explicitly considered in the FSMC approach. The new features and advantages of the proposed approach are the use of new dynamic equations of motion of flexible spacecraft systems, and the design of FSMC by taking into account the control input saturation. To study the effectiveness of the corresponding control scheme, the classical SMC case is also developed for the control system. Numerical simulations are performed to show that rotational maneuvers and vibration suppression are accomplished in spite of the presence of disturbance torques, model uncertainty and control saturation nonlinearity.

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Fuzzy Sliding Mode Control of Rigid-Flexible Multibody Systems With Bounded Inputs

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4004581 ◽

2011 ◽

Vol 133 (6) ◽

Cited By ~ 4

Author(s):

Pinhas Ben-Tzvi ◽

Shengjian Bai ◽

Qingkun Zhou ◽

Xinsheng Huang

Keyword(s):

Sliding Mode Control ◽

Multibody Systems ◽

Sliding Mode ◽

Input Saturation ◽

Flexible Multibody Systems ◽

Flexible Spacecraft ◽

Control Input ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Fuzzy Sliding Mode

This paper presents the dynamic modeling and fuzzy sliding mode control for rigid-flexible multibody systems. To investigate the dynamic stiffening of rigid-flexible systems, a first-order approximate model of a flexible spacecraft system is formulated by using Hamilton’s principles and assumed mode method, taking into account the second-order term of the coupling deformation field. For highly flexible structural models, ideal surface sliding that produces pure rigid body motion may not be achievable. In this paper, the discontinuity in the sliding mode controller is smoothed inside a thin boundary layer using fuzzy logic technique to reduce the chattering phenomenon efficiently. Sliding mode control is insensitive to parameter variations and provides complete rejection of disturbances, but these advantages only hold in the sliding mode domain. However, when the actuators’ amplitude is limited by their physical constraints, the sliding mode domain will be restricted to some local domain near zero on the switching surface. Control input saturation is also considered in the fuzzy sliding mode control approach. The new features and advantages of the proposed approach are the use of new dynamic equations for the motion of flexible spacecraft systems and the design of fuzzy sliding mode control by taking into account the control input saturation. The classical sliding mode control case is also developed for comparison. Numerical simulations are performed to validate the proposed methods and to demonstrate that rotational maneuvers and vibration suppression are accomplished in spite of the presence of model uncertainty and control saturation nonlinearity.

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