Adaptive Backstepping Sliding Mode Nonlinear Control for Buck DC/DC Switched Power Converter

This paper is aimed toward the development and evaluation of a novel active ankle foot orthosis (AAFO) based on shape memory alloy (SMA) actuators. This device intends to fill the gap in the existing research aimed at helping patients with drop foot muscle deficiencies as well as rehabilitation activities. To check the feasibility of this idea, a brief study is done on the dynamic behavior of ankle joint and then an SMA manipulator with a similar biological concept is used for experiment. Nonlinear behavior of SMA wires requires nonlinear control techniques such as Sliding Mode Controller (SMC) for tracking the desired ankle angle. Simulation results of three different techniques are compared (PID, SMC and SMC-PID) and finally the experimental result of a SMC-PID switching control is provided. This results shows that a switching control between simple PID and Sliding Mode Control can be a good alternative to follow the desired trajectory in slow walking cycles.

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SLIDING MODE OBSERVER DESIGN FOR ADAPTIVE BACKSTEPPING CONTROLLER

Advances in Variable Structure Systems ◽

10.1142/9789812792082_0039 ◽

2000 ◽

Author(s):

JAE-HYUK OH ◽

PEI-YUAN PENG ◽

YOUPING ZHANG

Keyword(s):

Sliding Mode ◽

Sliding Mode Observer ◽

Observer Design ◽

Adaptive Backstepping ◽

Backstepping Controller ◽

Adaptive Backstepping Controller

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Nonlinear Control for Bidirectional Power Converter in a dc Microgrid

IFAC Proceedings Volumes ◽

10.3182/20130904-3-fr-2041.00121 ◽

2013 ◽

Vol 46 (23) ◽

pp. 359-364 ◽

Cited By ~ 8

Author(s):

Eduardo Lenz ◽

Daniel J. Pagano

Keyword(s):

Nonlinear Control ◽

Power Converter ◽

Dc Microgrid

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Research on Adaptive Backstepping Global Sliding Control for CPS

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.846-847.134 ◽

2013 ◽

Vol 846-847 ◽

pp. 134-138

Author(s):

Jue Wang ◽

Fei Li ◽

Ye Huang ◽

Jian Hao Wang ◽

Hong Lin Zhang

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Flight Simulator ◽

Position Tracking ◽

Adaptive Backstepping ◽

Parameter Uncertainties ◽

Servo Systems ◽

Mode Control ◽

Global Sliding Mode Control ◽

Compensation Methods

The paper studies the problem of tracking control for flight simulator servo systems, one typical CPS, with parameter uncertainties and nonlinear friction compensation. Methods of adaptive global sliding mode control and backstepping control are respectively proposed to realize the control of virtual rotational speed and position tracking. Adaptive backstepping global sliding mode control strategy for flight simulator servo systems is proposed and its stability is analyzed. Simulation results show the effectiveness of the proposed method, which could achieve the precision position tracking performance and eliminate the chattering.

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