Terminal sliding mode control for dual active bridge dc-dc converter with structure of voltage and current double closed loop

We propose a terminal sliding mode control (SMC) law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables. Moreover, based on the information of the adaptive observer, the terminal SMC law is designed. The Lyapunov synthesis approach is used to guarantee a global uniform ultimate boundedness property of the state estimation error and the asymptotic output tracking of the closed-loop control systems in spite of unknown uncertainties/disturbances, as well as all the other signals in the closed-loop system. Finally, using the designed terminal sliding mode controller, the simulation results on the dynamic model demonstrate the effectiveness of the proposed new control techniques.

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Continuous terminal sliding mode control with extended state observer for PMSM speed regulation system

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331216630361 ◽

2016 ◽

Vol 39 (8) ◽

pp. 1195-1204 ◽

Cited By ~ 19

Author(s):

Huiming Wang ◽

Shihua Li ◽

Qixun Lan ◽

Zhenhua Zhao ◽

Xingpeng Zhou

Keyword(s):

Sliding Mode Control ◽

Disturbance Rejection ◽

Closed Loop ◽

Control Method ◽

Sliding Mode ◽

Terminal Sliding Mode Control ◽

Closed Loop System ◽

Terminal Sliding Mode ◽

Mode Control ◽

Speed Regulation

In this paper, we discuss the speed regulation problem of permanent magnet synchronous motor (PMSM) servo systems. Firstly, a continuous terminal sliding mode control (CTSMC) method is introduced for speed loops to eliminate the chattering phenomenon while still ensuring a strong disturbance rejection ability for the closed-loop system. However, in the presence of strong disturbances, the CTSMC law still needs to select high gain which may result in large steady-state speed fluctuations for the PMSM control system. To this end, an extended state observer (ESO)-based continuous terminal sliding mode control method is proposed. The ESO is employed to estimate system disturbances and the estimation is employed by the speed controller as a feed-forward compensation for disturbances. Compared to the conventional sliding mode control method, the proposed composite sliding control method obtains a faster convergence and better tracking performance. Also, by feed-forward compensating system disturbances and tuning down the gain of the CTSMC law, the fluctuation of steady-state speed of the closed-loop system is reduced while the disturbance rejection capability of the PMSM system is still maintained. Simulation and experimental results are provided to demonstrate the superior properties of the proposed control method.

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Adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406220978269 ◽

2020 ◽

pp. 095440622097826

Author(s):

Huaizhen Wang ◽

Lijin Fang ◽

Menghui Hu ◽

Tangzhong Song ◽

Jiqian Xu

Keyword(s):

Sliding Mode Control ◽

Closed Loop ◽

Sliding Mode ◽

Robotic Manipulators ◽

Loop System ◽

Terminal Sliding Mode Control ◽

Closed Loop System ◽

Terminal Sliding Mode ◽

Mode Control ◽

Nonsingular Terminal Sliding Mode

In this paper, a novel adaptive funnel fast nonsingular terminal sliding mode control for robotic manipulators with dynamic uncertainties is proposed. A modified funnel variable is utilized to transform the tracking error fall within funnel boundary, which improves the transient and steady-state tracking performance of robotic manipulators. Based on the transformed error, a novel funnel fast nonsingular terminal sliding mode surface is developed and a sliding mode control law is designed to stabilize the closed-loop system and achieve high tracking precision. An adaptive update law combined with the sliding mode surface is designed to deal with uncertainties and external disturbances where their upper bounds are unknown in practical cases. The stability and finite time convergence of the closed-loop system are proved by Lyapunov stability theorem. Simulation results and discussions are presented to demonstrate the effectiveness and high-precision tracking control for robotic manipulators.

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