Sliding mode control based on passive nonlinear observer for dynamic positioning vessels

2011 ◽  
Author(s):  
Guoqing Xia ◽  
Xingchao Shao
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Nonlinear Observer ◽  
Dynamic Positioning ◽  
Mode Control

Nonlinear observer based sliding mode control and oxygen fraction estimation for diesel engine

2017 ◽  
Vol 40 (7) ◽  
pp. 2227-2239 ◽  
Author(s):  
Haoping Wang ◽  
Qiankun Qu ◽  
Yang Tian
Keyword(s):  
Diesel Engine ◽  
Sliding Mode Control ◽  
Oxygen Concentration ◽  
Control Method ◽  
Sliding Mode ◽  
Observer Design ◽  
Nonlinear Observer ◽  
Linear Matrix ◽  
Model Based ◽  
Mode Control

In this paper, a nonlinear observer based sliding mode control (NOSMC) approach for air-path and a model-based observer for oxygen concentration in the diesel engine equipped with a variable geometry turbocharger and exhaust gas recirculation is introduced. We propose a less conservative observer design technique for Lipschitz nonlinear systems using Ricatti equations. The observer gains are obtained by solving the linear matrix inequality (LMI). Then a robust nonlinear control method, sliding mode control is applied for the states of intake and exhaust manifold pressure and compressor mass flow rate for the sake of the minimization of emissions. The proposed NOSMC controller is applied on a mean value model of turbocharged diesel engine. Besides this, a model-based observer is developed to estimate the oxygen concentration in the intake and exhaust manifolds owing to its significance in reducing emissions of diesel engines. The validation and efficiency of the proposed method are demonstrated by AMESim and Matlab/Simulink co-simulation results.

scholarly journals Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-23 ◽  
Author(s):  
Guoqiang Zhu ◽  
Sen Wang ◽  
Lingfang Sun ◽  
Weichun Ge ◽  
Xiuyu Zhang
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Process ◽  
Nonlinear Observer ◽  
Dynamic Surface ◽  
Mode Control ◽  
Control Scheme

In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.

Adaptive nonlinear observer–based sliding mode control of robotic manipulator for handling an unknown payload

2020 ◽  
pp. 095965182096946
Author(s):  
Guiying Li ◽  
Shuyang Wang ◽  
Zhigang Yu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Design Procedure ◽  
Nonlinear Observer ◽  
Control Synthesis ◽  
Unknown Constant ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Nonlinear Disturbance

This article presents the control synthesis of robotic manipulators with an unknown constant payload. A novel nonlinear disturbance observer with an adaptive scheme is designed to estimate the external force induced by the unknown constant payload. A general design procedure for designing the gain of the nonlinear observer is developed rather than the time-consuming trials and error to choose proper gain. The nonlinear observer gain is designed using an adaptive technique to extend the applicability of the disturbance observer. The stability of the proposed observer is established using Lyapunov method under certain conditions. The proposed nonlinear disturbance observer will be integrated with the sliding mode control to substantially alleviate the chattering problem. Also, simulation results are presented to verify the effectiveness of the proposed methods.

Dynamic Sliding Mode Control of Air-to-Fuel Ratio in Internal Combustion Engines Using the Hybrid Extended Kalman Filter

2012 ◽  
Vol 433-440 ◽  
pp. 2092-2098 ◽  
Author(s):  
Majid Zohari ◽  
Mohamadreza Ahmadi ◽  
Hamed Mojallali
Keyword(s):  
Kalman Filter ◽  
Sliding Mode Control ◽  
Extended Kalman Filter ◽  
Sliding Mode ◽  
Nonlinear Observer ◽  
Superior Performance ◽  
Fuel Ratio ◽  
Mode Control ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

The large modeling uncertainties and the nonlinearities associated with air manifold and fuel injection in spark ignition (SI) engines has given rise to difficulties in the task of designing an adequate controller for air-to-fuel ratio (AFR) control. Although sliding mode control approaches has been suggested, the inescapable time-delay between control action and measurement update results in chattering. This paper proposes the implementation of a nonlinear observer based control scheme incorporating the hybrid extended Kalman filter (HEKF) and the dynamic sliding mode control (DSMC). The results established upon the proposed methodology are given which demonstrate superior performance in terms of reducing the chattering magnitude.

Experimental Analysis of Higher-Order Sliding Mode Control Applied to Dynamic Positioning Systems

2013 ◽  
Author(s):  
Tadeu F. de Sousa ◽  
Eduardo A. Tannuri
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Real Time ◽  
Sliding Mode ◽  
Higher Order ◽  
Scale Model ◽  
Dynamic Positioning ◽  
Control Techniques ◽  
Mode Control ◽  
Position Signal

The control algorithm normally used in Dynamic Positioning (DP) Systems is based on linear control theory (proportional-derivative or linear quadratic MIMO controller), coupled to an Extended Kalman Filter (EKF) to estimate the environmental forces and wave filtering. Such controllers and estimators have problems of performance and stability related to large variations of loading (for tankers for example) or environmental conditions. The adjustment of controller gains and parameters of EKF is a complex process. Therefore, other techniques are being applied. An investigation into the area of control of mechanical systems was made, carrying out theoretical and experimental studies involving nonlinear robust control techniques applied to dynamic positioning of floating vessels. Two robust control techniques were applied and compared: first order sliding mode control (SMC) and higher order sliding mode control (HOSM). It is known that the main drawback of SMC is the presence of high-frequency oscillations called chattering. This undesirable effect can be eliminated by using HOSM. In order to ascertain the performance of the controller under the DP system, time-domain simulations were done. Furthermore, the technique of sliding mode requires higher order derivatives of the vessel’s position signal. Therefore was developed an exact real-time differentiator, a mathematical technique used to obtain the signal derived from the position signal in real time. To validate the simulated controller, experimental tests were performed considering a small-scale model of a DP tanker. The results confirmed the robustness of the HOSM controller, the good performance of the differentiator and the elimination of the chattering problem.

SLIDING MODE CONTROL APPLIED TO OFFSHORE DYNAMIC POSITIONING SYSTEMS

2009 ◽  
Vol 42 (18) ◽  
pp. 237-242 ◽  
Author(s):  
Adriana C. Agostinho ◽  
Lázaro Moratelli ◽  
Eduardo A. Tannuri ◽  
Hélio Mitio Morishita
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Positioning ◽  
Positioning Systems ◽  
Mode Control

A Nonlinear Sliding Surface in Sliding Mode Control to Reduce Vibrations of a Three-Link Flexible Manipulator

2017 ◽  
Vol 139 (5) ◽  
Author(s):  
Francesco Ripamonti ◽  
Lorenzo Orsini ◽  
Ferruccio Resta
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Operating Conditions ◽  
Nonlinear Observer ◽  
Flexible Manipulator ◽  
Engineering Practice ◽  
Sliding Surface ◽  
Mode Control ◽  
Highly Nonlinear

Many mechanical systems often show nonlinear behavior related to particular operating conditions or to the nonlinear characteristic of the elements (springs, dampers, etc.) making up the system. In these cases, common engineering practice is to linearize the equation of motion around a particular operating point and to design a linear controller. Although this approach is simple, its main disadvantage is that stability properties and validity of the controller are only local. For these reasons, over the last decades, nonlinear control techniques have been investigated more and more in order to improve control performance. In particular, in this paper, sliding mode control (SMC) technique, which is based on the model of the system (model-based), is considered because of its easy implementation, especially on simple mechanical systems, and the considerable robustness of the controller even under significant model uncertainties. This technique is analyzed numerically with respect to the pendulum system to better understand the influence of the control action on the system dynamics. A nonlinear sliding surface is also considered, recalling the terminal sliding mode (TSM) control already analyzed in the scientific literature. This sliding surface is characterized for the numerical system, and then it is applied experimentally in order to control a highly nonlinear system, consisting of a three-link flexible manipulator. For this system, a nonlinear modal model is developed, and a nonlinear observer is designed. Finally, results of experimental tests on the manipulator are reported, in order to compare the performances of the linear embedded control and the sliding mode controllers with the linear and nonlinear sliding surface.

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