Sliding mode control and a variable structure system observer as a dual problem for systems with non-linear uncertainties

1992 ◽  
Vol 23 (11) ◽  
pp. 1991-2001 ◽  
Author(s):  
KEIGO WATANABE ◽  
TOSHIO FUKUDA ◽  
SPYROS G. TZAFESTAS
Keyword(s):  
Sliding Mode Control ◽  
Dual Problem ◽  
Sliding Mode ◽  
Variable Structure ◽  
Structure System ◽  
Mode Control ◽  
Variable Structure System ◽  
Non Linear

A Novel Fuzzy Sliding Mode Control Scheme for Nonlinear Systems with Bounded Inputs

2002 ◽  
Vol 8 (7) ◽  
pp. 945-965 ◽  
Author(s):  
Juhng-Perng Su ◽  
Chi-Ying Liang
Keyword(s):  
Sliding Mode Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Variable Structure ◽  
Single Frequency ◽  
Bench Mark ◽  
Mode Control ◽  
Variable Structure System ◽  
Control Scheme

In this paper, we investigated the design of robust controllers for a class of nonlinear uncertain systems with bounded inputs, which have not yet been thoroughly discussed. Based on the variable structure system theory, we developed a novel stable sliding mode control scheme for this class of systems. A key feature of this control scheme is the introduction of a new generalized error as a complement to the conventional generalized error to form a meaningful error measure so that a new sliding mode controller incorporated with a two-input one-output fuzzy controller can be constructed to improve the reaching behavior of the system during the reaching phase as well as the tracking precision while in the boundary layer. The nonlinear bench mark problem, TORA, was used as an example to demonstrate the effectiveness of the design. Simulation results showed that, as compared with various available controllers in literature, much better responses to any initial conditions and to single-frequency sinusoidal disturbances can be obtained.

Synchronization of Chaotic Systems Using Variable Structure Controllers

2006 ◽  
Author(s):  
Hassan Salarieh ◽  
Aria Alasty
Keyword(s):  
Sliding Mode Control ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Variable Structure ◽  
Variable Boundary ◽  
Mode Control ◽  
Variable Structure System ◽  
Response Systems ◽  
Improved Performance ◽  
Different Chaotic Systems

In this paper a variable structure system based upon sliding mode control with time varying sliding surface and variable boundary layer is introduced to synchronize two different chaotic systems with uncertain parameters. The method is applied to Lur'e-Genesio chaotic systems, as drive-response systems to investigate the effectiveness and robustness of the controlling method. In addition the simulation is repeated with a conventional sliding mode to compare the performance of the proposed sliding mode technique with a simple sliding mode control. The results show the high quality and improved performance of the method presented in the paper for synchronization of different drive-response chaotic systems.

Slip parameter estimation of a single wheel using a non-linear observer

Robotica ◽  
2008 ◽  
Vol 27 (6) ◽  
pp. 801-811 ◽  
Author(s):  
Z. B. Song ◽  
L. D. Seneviratne ◽  
K. Althoefer ◽  
X. J. Song ◽  
Y. H. Zweiri
Keyword(s):  
Sliding Mode ◽  
Kinematic Model ◽  
Variable Structure ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Observer ◽  
Slip Angle ◽  
Wheel Slip ◽  
Variable Structure System ◽  
Non Linear ◽  
Linear Observer

SUMMARYSliding mode observer is a variable structure system where the dynamics of a nonlinear system is altered via application of a high-frequency switching control. This paper presents a non-linear sliding mode observer for wheel linear slip and slip angle estimation of a single wheel based on its kinematic model and velocity measurements with added noise to simulate actual on-board sensor measurements. Lyapunov stability theory is used to establish the stability conditions for the observer. It is shown that the observer will converge in a finite time, provided the observer gains satisfy constraints based on a stability analysis. To validate the observer, linear and two-dimensional (2D) test rigs are specially designed. The sliding mode observer is tested under a variety of conditions and it is shown that the sliding mode observer can estimate wheel slip and slip angle to a high accuracy. It is also shown that the sliding mode observer can accurately predict wheel slip and slip angle in the presence of noise, by testing the performance of the sliding mode observer after adding white noise to the measurements. An extended Kalman filter is also developed for comparison purposes. The sliding mode observer is better in terms of prediction accuracy.

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