A new sliding mode-based learning control scheme

The main purpose of the paper is to control chaotic oscillation in a complex seven-dimensional power system model. Firstly, in view that there are many assumptions in the design process of existing adaptive controllers, an adaptive sliding mode control scheme is proposed for the controlled system based on equivalence principle by combining fixed-time control and adaptive control with sliding mode control. The prominent advantage of the proposed adaptive sliding mode control scheme lies in that its design process breaks through many existing assumption conditions. Then, chaotic oscillation behavior of a seven-dimensional power system is analyzed by using bifurcation and phase diagrams, and the proposed strategy is adopted to control chaotic oscillation in the power system. Finally, the effectiveness and robustness of the designed adaptive sliding mode chaos controllers are verified by simulation.

Download Full-text

A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Actuators ◽

10.3390/act10030054 ◽

2021 ◽

Vol 10 (3) ◽

pp. 54

Author(s):

Minh-Thien Tran ◽

Dong-Hun Lee ◽

Soumayya Chakir ◽

Young-Bok Kim

Keyword(s):

Time Delay ◽

Sliding Mode Control ◽

Unmanned Aerial Vehicle ◽

Sliding Mode ◽

Time Delay Estimation ◽

Delay Estimation ◽

Mode Control ◽

Ducted Fan ◽

Control Scheme ◽

Aerial Vehicle

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

Download Full-text

A Parameter Independent Stator Current Space-Vector Reference Frame-Based Sensorless IPMSM Drive Using Sliding Mode Control

Energies ◽

10.3390/en14092365 ◽

2021 ◽

Vol 14 (9) ◽

pp. 2365

Author(s):

Mohammadreza Moradian ◽

Jafar Soltani ◽

Mohamed Benbouzid ◽

Abbas Najjar-Khodabakhsh

Keyword(s):

Sliding Mode Control ◽

Reference Frame ◽

Sliding Mode ◽

Rotor Speed ◽

Space Vector ◽

Stator Current ◽

Mode Control ◽

Control Scheme ◽

Stator Flux ◽

Stator Resistance

In this paper, a sliding mode control is presented for direct torque and stator flux control of interior permanent magnet synchronous motor in a rotor speed sensorless drive system. The control scheme is developed in a specific synchronous rotating reference frame (X-Y) in which the stator current space vector coincides with the direct (X) axis. For this control technique no need to have any knowledge of machine parameters such as stator two-axis inductances, rotor permanent magnets flux linkage, and even the rotor initial position. However, the on-line actual stator resistance value is required to estimate the stator flux components in the stator stationary two-axis reference frame. In this control strategy, two simple methods are described for estimating the rotor speed and stator resistance. Some simulation and experimental results are presented to support the validity and effectiveness of the proposed control scheme.

Download Full-text

Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

Transactions of the Institute of Measurement and Control ◽

10.1177/01423312211031396 ◽

2021 ◽

pp. 014233122110313

Author(s):

Afef Hfaiedh ◽

Ahmed Chemori ◽

Afef Abdelkrim

Keyword(s):

Real Time ◽

Error Control ◽

Degrees Of Freedom ◽

Sliding Mode ◽

Mechanical Systems ◽

Class I ◽

Control Input ◽

Underactuated Mechanical Systems ◽

Control Scheme ◽

And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

Download Full-text

Integration of PD-type Iterative Learning Control with Adaptive Sliding Mode Control

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2020.12.1717 ◽

2020 ◽

Vol 53 (2) ◽

pp. 6213-6218

Author(s):

Armin Norouzi ◽

Charles Robert Koch

Keyword(s):

Sliding Mode Control ◽

Iterative Learning Control ◽

Sliding Mode ◽

Learning Control ◽

Iterative Learning ◽

Adaptive Sliding Mode Control ◽

Adaptive Sliding Mode ◽

Mode Control

Download Full-text

A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/09544100211013617 ◽

2021 ◽

pp. 095441002110136

Author(s):

Nasim Ullah ◽

Irfan Sami ◽

Wang Shaoping ◽

Hamid Mukhtar ◽

Xingjian Wang ◽

...

Keyword(s):

Robust Control ◽

Fractional Order ◽

Sliding Mode ◽

Adaptive Robust Control ◽

Computationally Efficient ◽

Control Scheme ◽

Control Schemes ◽

Adaptive Laws ◽

Unknown Disturbances ◽

The Stability

This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

Download Full-text

A PWM-based Sliding Mode Control Scheme for Isolated Solar Photovoltaic Systems

Journal of The Institution of Engineers (India) Series B ◽

10.1007/s40031-021-00649-8 ◽

2021 ◽

Author(s):

K. Aseem ◽

S. Selva Kumar

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Photovoltaic Systems ◽

Solar Photovoltaic ◽

Mode Control ◽

Control Scheme

Download Full-text

Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Energies ◽

10.3390/en13226041 ◽

2020 ◽

Vol 13 (22) ◽

pp. 6041

Author(s):

Fredy A. Valenzuela ◽

Reymundo Ramírez ◽

Fermín Martínez ◽

Onofre A. Morfín ◽

Carlos E. Castañeda

Keyword(s):

Controller Design ◽

Sliding Mode ◽

Dc Motor ◽

Experimental Results ◽

Resistive Load ◽

Velocity Control ◽

Velocity Sensor ◽

Control Scheme ◽

Mechanical Sensors ◽

Twisting Algorithm

A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

Download Full-text