Dynamic sliding mode position control of induction motors based load torque compensation using adaptive state observer

2018 ◽  
Vol 37 (6) ◽  
pp. 2249-2262
Author(s):  
Ali Karami-Mollaee ◽  
Hamed Tirandaz ◽  
Oscar Barambones
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
State Observer ◽  
Practical Implementation ◽  
Load Torque ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Adaptive State Observer ◽  
Dynamic Sliding Mode

Purpose The purpose of this paper is position control scheme for a servo induction motor (SIM) with uncertainty has been designed using a new observer issue and a dynamic sliding mode control (DSMC). Design/methodology/approach In DSMC, the chattering is removed due to the integrator (or a low-pass filter) which is placed before the input control of the plant. However, in DSMC, the augmented system has one dimension bigger than the actual system (if integrator is used) and then, the plant model should be completely known. To solve this problem in SIM, the use of a new adaptive state observer (ASO) is proposed. Findings The advantage of the proposed approach is to maintain the system controlled under the external load torque variations. Then, the load variations do not affect the motor positioning. Moreover, it is demonstrated that the observer error converges to zero based on the Lyapunov stability theory. Originality/value The knowledge of the upper bound for the system uncertainty is not necessary in an adaptive state observer, which is important in practical implementation. Simulation results are presented to demonstrate the performance of the proposed approach.

Robust active disturbance attenuation control of an uncertain quadrotor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Ajeet kumar Bhatia ◽  
Syed Awais Ali Shah
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
The State ◽  
Disturbance Attenuation ◽  
State Variables ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Highly Nonlinear ◽  
The Stability

PurposeThe aim of this research is to design a robust active disturbance attenuation control (RADAC) technique combined with an extended high gain observer (EHGO) and low pass filter (LPF).Design/methodology/approachFor designing a RADAC technique, the sliding mode control (SMC) method is used. Since the standard method of SMC exhibits a chattering phenomenon in the controller, a multilayer sliding mode surface is designed for avoiding the chattering. In addition, to attenuate the unwanted uncertainties and disturbances (UUDs), the techniques of EHGO and LPF are deployed. Besides acting as a patch for disturbance attenuation, the EHGO design estimates the state variables. To investigate the stability and effectiveness of the designed control algorithm, the stability analysis followed by the simulation study is presented.FindingsThe major findings include the design of a chattering-free RADAC controller based on the multilayer sliding mode surface. Furthermore, a criterion of integrating the LPF scheme within the EHGO scheme is also developed to attenuate matched and mismatched UUDs.Practical implicationsIn practice, the quadrotor flight is opposed by different kinds of the UUDs. And, the model of the quadrotor is a highly nonlinear underactuated model. Thus, the dynamics of the quadrotor model become more complex and uncertain due to the additional UUDs. Hence, it is necessary to design a robust disturbance attenuation technique with the ability to estimate the state variables and attenuate the UUDs and also achieve the desired control objectives.Originality/valueDesigning control methods to attenuate the disturbances while assuming that the state variables are known is a common practice. However, investigating the uncertain plants with unknown states along with the disturbances is rarely taken in consideration for the control design. Hence, this paper presents a control algorithm to address the issues of the UUDs as well as investigate a criterion to reduce the chattering incurred in the controller due to the standard SMC algorithm.

scholarly journals Sliding Mode Control for Bearingless Induction Motor Based on a Novel Load Torque Observer

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Zebin Yang ◽  
Ling Wan ◽  
Xiaodong Sun ◽  
Lin Chen ◽  
Zheng Chen
Keyword(s):  
Control System ◽  
Induction Motor ◽  
Sliding Mode ◽  
Rotational Inertia ◽  
Observation Error ◽  
Load Torque ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass ◽  
Adverse Influence

For the problem of low control performance of Bearingless Induction Motor (BIM) control system in the presence of large load disturbance, a novel load torque sliding mode observer is proposed on the basis of establishing sliding mode speed control system. The load observer chooses the speed and load torque of the BIM control system as the observed objects, uses the speed error to design the integral sliding mode surface, and adds the low-pass filter to reduce the torque observation error. Meanwhile, the output of the load torque is used as the feedforward compensation for the control system, which can provide the required current for load changes and reduce the adverse influence of disturbance on system performance. Besides, considering that the load changes lead to the varying rotational inertia, the integral identification method is adopted to identify the rotational inertia of BIM, and the rotational inertia can be updated to the load observer in real time. The simulation and experiment results all show that the proposed method can track load torque accurately, improve the ability to resist disturbances, and ameliorate the operation quality of BIM control system. The chattering of sliding mode also is suppressed effectively.

A New Parabolic Sliding Mode Filter Augmented by a Linear Low-Pass Filter and Its Application to Position Control

2017 ◽  
Vol 140 (4) ◽  
Author(s):  
Myo Thant Sin Aung ◽  
Zhan Shi ◽  
Ryo Kikuuwe
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Frequency Noise ◽  
Noise Attenuation ◽  
Optical Encoder ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Response Characteristics ◽  
Low Pass ◽  
Dc Servomotor

This paper proposes a new sliding mode filter augmented by a linear low-pass filter (LPF) for mitigating the effect of high-frequency noise. It is based on the derivation of three new variants of Jin et al.'s (2012, “Real-Time Quadratic Sliding Mode Filter for Removing Noise,” Adv. Rob., 26(8–9), pp. 877–896) parabolic sliding mode filter (J-PSMF) and investigation on their frequency-response characteristics. The new filter is developed by augmenting one of the variants of J-PSMF by a second-order linear LPF. It has better balance between the noise attenuation and signal preservation than both linear LPFs and J-PSMF. The effectiveness of the new filter is experimentally evaluated on a direct current (DC) servomotor equipped with an optical encoder. This paper also shows the application of the proposed filter to a positioning system under PDD2 (proportional, derivative, and second derivative) control, which successfully realizes the noise attenuation and the nonovershooting response simultaneously.

Robust fuzzy sliding mode control based on low pass filter for the welding robot with dynamic uncertainty

2019 ◽  
Vol 47 (1) ◽  
pp. 111-120
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Welding Robot ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Mode Control ◽  
Dynamic Uncertainty ◽  
Low Pass

Purpose Considering the external disturbances and dynamic uncertainties during the process of the trajectory tracking, this paper aims to address the problem of the welding robot trajectory tracking with guaranteed accuracy. Design/methodology/approach The controller consists sliding mode control, fuzzy control and low pass filter. The controller adopts low-pass filter to reduce the high frequency chattering control signal in sliding mode control. The fuzzy control model is used to simulate the external disturbance signal and the dynamic uncertainty signal, so that the controller can effectively restrain the chattering caused by the sliding mode control algorithm, realizing the track of the welding robot effectively and improving the robustness of the robot. Findings An innovative experiment device was adopted to realize the performance of the proposed controller. Considering the kinematic and dynamic uncertainty during the process of robot tracking, the tracking accuracy was realized within 0.3 mm. Originality/value This paper uses Lyapunov stability theory and Barbalat theorem to analyze the stability of the proposed controller.

scholarly journals Robust Sliding Mode Control of a Unipolar Power Inverter

Energies ◽  
2021 ◽  
Vol 14 (17) ◽  
pp. 5405
Author(s):  
Muhammad Awais ◽  
Abdul Rehman Yasin ◽  
Mudassar Riaz ◽  
Bilal Saqib ◽  
Saba Zia ◽  
...  
Keyword(s):  
Electromagnetic Interference ◽  
Sliding Mode ◽  
Practical Implementation ◽  
Switching Frequency ◽  
Sigmoid Function ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Pulse Width Modulated ◽  
Simulation Based ◽  
Low Pass

The key issue in the practical implementation of the sliding mode (SM) control–based power inverter is the variable switching frequency. This variable switching frequency not only induces electromagnetic interference (EMI) noise, but also reduces the efficiency of the inverter, as the size of the inductor and capacitor does not alter in tandem with this variable frequency. In this context, fixed switching frequency–based SM control techniques are proposed; however, some of them are too complex, while others compromise the inherent properties of SM control. In this research, a fixed frequency SM controller is proposed, which is based on the novel low-pass filter extraction of the discontinuous control signal. This allows the technique to be implemented with fewer hardware components, thus reducing the complications of implementation, while maintaining the robustness and parametric invariance of SM control. A simulation-based comparison with an existing pulse width modulated (PWM) SM controller is presented as the benchmark. In comparison with the sigmoid function SM controller, an improvement of 50% in the settling time along with zero steady-state errors and a further 37% and 42% improvement in the undershoot and overshoot, respectively, is reported in the simulation. A hardware setup is established to validate the proposed technique, which substantiates the simulation results and its disturbance rejection properties.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals Trajectory tracking control for chain-series robot manipulator: Robust adaptive fuzzy terminal sliding mode control with low-pass filter

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091698 ◽  
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Adaptive Fuzzy ◽  
Low Pass ◽  
Robust Adaptive

This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller.

Sign in / Sign up

Export Citation Format

Share Document