Decentralized sliding-mode control laws for the bearing-based formation tracking problem

A sea-wave energy harvesting, articulated device is presented in this work. This hand-made, wooden device is made combining the coil windings of an array of three single transducers. Taking advantage of the sea waves sway, a linear oscillating motion is produced in each transducer generating an electric pulse. Magnetic fundamentals are used to deduce the electrical model of a single transducer, a solenoid-magnet device, and after the model of the whole harvesting array. The energy obtained is stored in a battery and is used to supply a stand-alone system pay-load, for instance a telecom relay or weather station. To maximize the harvested energy, an impedance matching circuit between the generator array and the system battery is required. Two dc-to-dc converters, a buck-boost hybrid cell and a Sepic converter are proposed as impedance adaptors. To achieve this purpose, sliding mode control laws are introduced to impose a loss free resistor behavior to the converters. Although some converters operating at discontinuous conduction mode, like the buck-boost converter, can exhibit also this loss free resistor behavior, they usually require a small input voltage variation range. By means of sliding mode control the loss free resistor behavior can be assured for any range of input voltage variation. After the theoretical analysis, several simulation and experimental results to compare both converters performance are given.

Download Full-text

Forced Sliding Mode Control for Chaotic Systems Synchronization

10.21203/rs.3.rs-1108040/v1 ◽

2021 ◽

Author(s):

Andrey A. Kuz'menko

Keyword(s):

Robust Control ◽

Sliding Mode Control ◽

Chaotic Systems ◽

Sliding Mode ◽

Engineering Problem ◽

Control Laws ◽

Mode Control ◽

Performance Indexes ◽

Chattering Effect ◽

Method Of Design

Abstract Synchronization of chaotic systems is considered to be a common engineering problem. However, the proposed laws of synchronization control do not always provide robustness towards the parametric perturbations. The purpose of this article is to show the use of synergy-cybernetic approach for the construction of robust law for Arneodo chaotic systems synchronization. As the main method of design of robust control, the method of design of control with forced sliding mode of the synergetic control theory is considered. To illustrate the effectiveness of the proposed law it's compared in this article with the classical sliding mode control. The distinctive features of suggested robust control law are the more good compensation of parametric perturbations (better performance indexes --- the root-mean-square error, average absolute value of error) without designing perturbation observers, the ability to exclude the chattering effect, less energy-consuming and a simpler analysis of the stability of a closed-loop system. Offered approach will allow a new consideration for the design of robust control laws for chaotic systems, taking into account the ideas of directed self-organization and robust control. It can be used for synchronization other chaotic systems.Mathematics Subject Classification (2020) 93B35 · 93B52 · 93C30 · 93D21 · 34H10

Download Full-text

Robust Control of Permanent Magnet Synchronous Motor: Synergetic Approach

Mekhatronika Avtomatizatsiya Upravlenie ◽

10.17587/mau.21.480-488 ◽

2020 ◽

Vol 21 (8) ◽

pp. 480-488

Author(s):

A. A. Kuz’menko

Keyword(s):

Robust Control ◽

Sliding Mode Control ◽

Permanent Magnet ◽

Sliding Mode ◽

System Stability ◽

Stability Conditions ◽

Rotor Speed ◽

Control Laws ◽

Mode Control ◽

The Stability

Permanent magnet synchronous motors (PMSM) are widely used in practice due to its high-energy efficiency, compactness, reliability and high regulation performance. When controlling a PMSM rotor speed, the main control principle is the principle of cascade control with PI-regulators, which includes an external control loop for speed and two internal loops for stator currents along the (d, q)-axes. There are attempts to eliminate the disadvantages of this principle using for the control laws synthesis of modern methods of nonlinear control such methods as linearization feedback, backstepping, predictive control, sliding mode control, methods of robust and adaptive control, fuzzy and neural network control, a combination of these methods etc. However, in most cases, the use of these methods are intended to by means of an appropriate method to synthesize a static or dynamic set points for the standard PI-controllers of rotor speed and currents. In this paper we propose to consider two approaches of synergetic control theory (SCT) to construct a robust control law of PMSM: a sliding mode control laws design by the SCT method with subsequent invariant manifolds aggregation and the principle of integral adaptation (PIA). These approaches implement vector control and are not guided by the standard structure of the principle of cascade regulation of PMSM. The proposed approaches simplify the stability analysis of the closed-loop system: stability conditions consist of stability conditions of functional equations of SCT and the stability conditions for finish decomposed system, which the dimension is substantially less than the dimension of the original system. From the results of the comparisons of synthesized the PMSM robust control laws, we can say that more preferable laws synthesized in accordance with the PIA. The theoretical positions of this paper are illustrated by the results of modeling, which are showing the fulfillment of the control tasks: the achievement of targets, robustness to the change of the PMSM load moment.

Download Full-text

Adaptive Sliding Mode Control Laws for Attitude Stabilization of Flexible Spacecraft With Inertia Uncertainty

IEEE Access ◽

10.1109/access.2018.2889492 ◽

2019 ◽

Vol 7 ◽

pp. 7159-7175 ◽

Cited By ~ 6

Author(s):

Ai-Guo Wu ◽

Rui-Qi Dong ◽

Ying Zhang ◽

Liang He

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Flexible Spacecraft ◽

Adaptive Sliding Mode Control ◽

Control Laws ◽

Attitude Stabilization ◽

Adaptive Sliding Mode ◽

Mode Control

Download Full-text

Fast convergence for tracking problem of nth degree system by sliding mode control

Proceedings of 35th IEEE Conference on Decision and Control ◽

10.1109/cdc.1996.577599 ◽

2002 ◽

Cited By ~ 5

Author(s):

W.J. Iglesias ◽

L. Xu ◽

O. Saito

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Fast Convergence ◽

Tracking Problem ◽

Mode Control

Download Full-text

Attitude Analysis and Robust Adaptive Backstepping Sliding Mode Control of Spacecrafts Orbiting Irregular Asteroids

Mathematical Problems in Engineering ◽

10.1155/2014/367163 ◽

2014 ◽

Vol 2014 ◽

pp. 1-15 ◽

Cited By ~ 11

Author(s):

Chunhui Liang ◽

Yuanchun Li

Keyword(s):

Stability Analysis ◽

Sliding Mode Control ◽

Sliding Mode ◽

Gravity Gradient ◽

Adaptive Backstepping ◽

Control Laws ◽

Attitude Stability ◽

Mode Control ◽

Backstepping Sliding Mode Control ◽

Robust Adaptive

Attitude stability analysis and robust control algorithms for spacecrafts orbiting irregular asteroids are investigated in the presence of model uncertainties and external disturbances. Rigid spacecraft nonlinear attitude models are considered and detailed attitude stability analysis of spacecraft subjected to the gravity gradient torque in an irregular central gravity field is included in retrograde orbits and direct orbits using linearized system model. The robust adaptive backstepping sliding mode control laws are designed to make the attitude of the spacecrafts stabilized and responded accurately to the expectation in the presence of disturbances and parametric uncertainties. Numerical simulations are included to illustrate the spacecraft performance obtained using the proposed control laws.

Download Full-text