Multirate Output Feedback Based Stochastic Sliding Mode Control

2016 ◽  
Vol 138 (12) ◽  
Author(s):  
A. J. Mehta ◽  
B. Bandyopadhyay
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Sliding Mode Controller ◽  
The Past ◽  
Mode Control ◽  
Noise Covariance ◽  
Bounded Uncertainty ◽  
The Stability

In this paper, a multirate output feedback (MROF) based discrete-time sliding mode control for the stochastic system with slowly varying bounded uncertainty is proposed. The states are estimated by the multirate Kalman filter and are used for designing the stochastic sliding mode controller which guarantee the stability under the bounded uncertainty and the uncertain noise covariance. The proposed algorithm has advantage of computational and implementation simplicity as it requires only the past output and input information. The stochastic sliding band (SSB) is also calculated which is found to be wider as compared to the state feedback case. Finally, the design procedure for stochastic sliding mode controller is demonstrated with an illustrative example.

Robust Decentralized Stabilization of Large-Scale Delay Systems Via Sliding Mode Control

1997 ◽  
Vol 119 (2) ◽  
pp. 307-312 ◽  
Author(s):  
Jun-Juh Yan ◽  
Jason Sheng-Hong Tsai ◽  
Fan-Chu Kung
Keyword(s):  
Sliding Mode Control ◽  
Large Scale ◽  
Sliding Mode ◽  
Delay Systems ◽  
Sliding Mode Controller ◽  
Stabilization Problem ◽  
Large Scale Systems ◽  
Decentralized Stabilization ◽  
Mode Control ◽  
The Stability

The present paper is concerned with the decentralized stabilization problem of large-scale systems with delays in the intercon-nections using sliding mode control. A robust stability condition of the sliding mode and a robust decentralized sliding mode controller are newly derived for large-scale delay systems. Also a proportional-integral sliding mode is designed to make it easy to assure the stability of dynamics in the sliding mode.

Sliding Mode Control With Sliding Perturbation Observer

1997 ◽  
Vol 119 (4) ◽  
pp. 657-665 ◽  
Author(s):  
Jairo Terra Moura ◽  
Hakan Elmali ◽  
Nejat Olgac
Keyword(s):  
Sliding Mode Control ◽  
State Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Variable Structure ◽  
Practical Applications ◽  
Mode Control ◽  
Full State Feedback ◽  
Modelling Uncertainties ◽  
The Stability

This work introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity called perturbation. The major contribution of this work comes as the development and design of a robust observer for the state and the perturbation which is integrated into a Variable Structure Controller (VSC) structure. The proposed observer combines the procedures of Sliding Observers (Slotine et al, 1987) with the idea of Perturbation Estimation (Elmali and Olgac, 1992). The result is what is called Sliding Perturbation Observer (SPO). The VSC follows the philosophy of Sliding Mode Control (SMC) (Slotine and Sastry, 1983). This combination of controller/observer gives rise to the new routine called Sliding Mode Control with Sliding Perturbation Observer (SMCSPO). The stability analysis shows how the algorithm parameters are scheduled in order to assure the sliding modes of both controller and observer. A simplified form of the general design procedure is also presented in order to ease the practical applications of SMCSPO. Simulations are presented for a two-link manipulator to verify the proposed approach. Experimental validation of the methodology is also performed on a PUMA 560 robot. A superior control performance is obtained over some full state feedback techniques such as SMC and Computed Torque Method.

Robust integral sliding mode control strategy under designed switching rules for uncertain switched linear systems via multiple Lyapunov functions

2019 ◽  
Vol 41 (12) ◽  
pp. 3536-3549 ◽  
Author(s):  
Xiaoyu Zhang
Keyword(s):  
Sliding Mode Control ◽  
Lyapunov Functions ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Multiple Lyapunov Functions ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
The Stability ◽  
Stable Matrix

This paper puts forward a switching rule stabilization design of the robust integral sliding mode control for uncertain switched systems. A kind of common robust integral sliding mode (CRISM) is firstly designed and the system matrices of subsystems under the sliding mode comprise a robust stable matrix set. The stability of the switched system (SS) under the sliding mode is then analyzed by multiple Lyapunov functions (MLF) method. Based on the presented design of CRISM, a sliding mode controller is devised so that the sliding mode can be reached. Finally, the correctness of the proposed method is verified through results of numerical and application simulations.

scholarly journals Output Feedback and Single-Phase Sliding Mode Control for Complex Interconnected Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Yao-Wen Tsai ◽  
Van Van Huynh
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Single Phase ◽  
Controller Design ◽  
Sliding Mode ◽  
Time Instant ◽  
Interconnected Systems ◽  
Initial Time ◽  
Mode Control ◽  
The Stability

This paper generalized a new sliding mode control (SMC) without reaching phase to solve two important problems in the stability of complex interconnected systems: (1) a decentralized controller that uses only output variables directly and (2) the stability of complex interconnected systems ensured for all time. A new sliding surface is firstly designed to construct a single-phase SMC in which the desired motion is determined from the initial time instant. A new lemma is secondly established for the controller design using only output variables. The proposed single-phase SMC and the decentralized output feedback controller ensure the robust stability of complex interconnected systems from the beginning to the end. One of the key features of the single phase SMC scheme is that reaching time, which is required in most of the existing two phases of SMC approaches to stabilize the interconnected systems, is removed. Finally, a numerical example is used to demonstrate the efficacy of the method.

Output Feedback Second-Order Sliding Mode Control for a Class of Nonlinear Systems With Non-Matched Uncertainties

2000 ◽  
Vol 123 (3) ◽  
pp. 317-323 ◽  
Author(s):  
Antonella Ferrara ◽  
Luisa Giac¸omini
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Output Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Second Order ◽  
Observation Error ◽  
Mode Control ◽  
Sliding Manifold ◽  
Second Order Sliding Mode

The problem of the design of an output feedback second-order sliding mode control for a class of nonlinear systems affine in the control law with non-matched uncertainties is considered in this paper. An observer-based backstepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a tracking control objective. The construction of the sliding manifold is performed so that the problem of steering the sliding quantity to zero in finite time turns out to be solvable locally through a second-order sliding mode control approach, as in the conventional matched uncertainty case, and the associated zero dynamics is minimum phase. On the other hand, the observer operates in first-order sliding mode, also fed by the control signal generated by the backstepping-second-order sliding mode algorithm. This signal presents the advantage of being continuous by virtue of the second-order sliding mode nature of the controller, enabling the fast convergence to zero of the observation error.

scholarly journals Dynamic output feedback sliding mode control for uncertain linear systems

2021 ◽  
pp. 014233122110507
Author(s):  
Jiehua Feng ◽  
Dongya Zhao ◽  
Xing-Gang Yan ◽  
Sarah K Spurgeon
Keyword(s):  
Sliding Mode Control ◽  
Linear Systems ◽  
Output Feedback ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Mode Control ◽  
Sliding Motion ◽  
System Output ◽  
The Stability ◽  
Uncertain Linear Systems

In this paper, a class of uncertain linear systems with unmatched disturbances is considered, where the nominal system representation is allowed to be non-minimum phase. A sliding surface is designed which is dependent on the system output, observed state, and estimated uncertain parameters. A linear coordinate transformation is introduced so that the stability analysis of the reduced-order sliding mode dynamics can be conveniently performed. A robust output feedback sliding mode control (OFSMC) is then designed to drive the considered system state to reach the sliding surface in finite time and maintain a sliding motion thereafter. A simulation example for a high incidence research model (HIRM) aircraft is used to demonstrate the effectiveness of the proposed method.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

scholarly journals Observer-based adaptive neural network backstepping sliding mode control for switched fractional order uncertain nonlinear systems with unmeasured states

2021 ◽  
pp. 002029402110211
Author(s):  
Tao Chen ◽  
Damin Cao ◽  
Jiaxin Yuan ◽  
Hui Yang
Keyword(s):  
Neural Network ◽  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Neural Network ◽  
Dynamic Surface ◽  
Mode Control ◽  
The Stability

This paper proposes an observer-based adaptive neural network backstepping sliding mode controller to ensure the stability of switched fractional order strict-feedback nonlinear systems in the presence of arbitrary switchings and unmeasured states. To avoid “explosion of complexity” and obtain fractional derivatives for virtual control functions continuously, the fractional order dynamic surface control (DSC) technology is introduced into the controller. An observer is used for states estimation of the fractional order systems. The sliding mode control technology is introduced to enhance robustness. The unknown nonlinear functions and uncertain disturbances are approximated by the radial basis function neural networks (RBFNNs). The stability of system is ensured by the constructed Lyapunov functions. The fractional adaptive laws are proposed to update uncertain parameters. The proposed controller can ensure convergence of the tracking error and all the states remain bounded in the closed-loop systems. Lastly, the feasibility of the proposed control method is proved by giving two examples.

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