Application of a Sliding Mode Observer for Dynamic Positioning of Ships

2001 ◽  
Author(s):  
Myung-Hyun Kim ◽  
Daniel J. Inman
Keyword(s):  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Nonlinear Observer ◽  
Control Law ◽  
Dynamic Positioning ◽  
Environmental Loads ◽  
Output Feedback Controller ◽  
And Control ◽  
The Mathematical Model ◽  
Robust Nonlinear Observer

Abstract A robust nonlinear observer, utilizing the sliding mode concept, is developed for the dynamic positioning of ships. The observer provides the estimates of linear velocities of the ship and bias from slowly varying environmental loads. It also niters out wave frequency motion to avoid wear of actuators and excessive fuel consumption. The main advantage of the proposed observer is in its robustness. In particular, the observer structure with a saturation function makes the proposed observer robust against neglected nonlinearities, disturbances and uncertainties. Since the mathematical model of DP ships is difficult to obtain and includes uncertainties and disturbances, it is very important for the observer to be robust. A nonlinear output feedback controller is derived based on the developed observer using the observer backstepping technique, and the global stability of the observer and control law is shown by Lyapunov stability theory. A set of simulations was carried out to investigate the performance of the proposed observer for dynamic positioning of a ship.

Discrete-Time Sliding Mode Controller With Time-Varying Band for Unfixed Sampling-Time Systems

2018 ◽  
Vol 140 (11) ◽  
Author(s):  
Chidentree Treesatayapun
Keyword(s):  
Discrete Time ◽  
Sliding Mode ◽  
Fuzzy Rule ◽  
Current Control ◽  
Sampling Time ◽  
Control Law ◽  
Time Varying ◽  
Control Effort ◽  
Time Systems ◽  
The Mathematical Model

An adaptive discrete-time controller is developed for a class of practical plants when the mathematical model is unknown and the sampling time is nonconstant or unfixed. The data-driven model is established by the set of plant's input–output data under the pseudo-partial derivative (PPD) which represents the change of output with respect to the change of control effort. The multi-input fuzzy rule emulated network (MiFREN) is utilized to estimate PPD with an online-learning phase to tune all adjustable parameters of MiFREN with the convergence analysis. The proposed control law is developed by the discrete-time sliding mode control (DSMC), and the time-varying band is established according to the unfixed sampling time and unknown boundaries of disturbances and uncertainties. The prototype of direct current-motor current control with uncontrolled-sampling time is constructed to validate the performance of the proposed controller.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

scholarly journals New Integrated Guidance and Control of Homing Missiles with an Impact Angle against a Ground Target

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Shengjiang Yang ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Impact Angle ◽  
Guidance And Control ◽  
Ground Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
The Impact

A new integrated guidance and control (IGC) law is investigated for a homing missile with an impact angle against a ground target. Firstly, a control-oriented model with impact angle error of the IGC system in the pitch plane is formulated by linear coordinate transformation according to the motion kinematics and missile dynamics model. Secondly, an IGC law is proposed to satisfy the impact angle constraint and to improve the rapidity of the guidance and control system by combining the sliding mode control method and nonlinear extended disturbance observer technique. Thirdly, stability of the closed-loop guidance and control system is proven based on the Lyapunov stability theory, and the relationship between the accuracy of the impact angle and the estimate errors of nonlinear disturbances is derived from stability of the sliding mode. Finally, simulation results confirm that the proposed IGC law can improve the performance of the missile guidance and control system against a ground target.

A Novel Control Method Using Nonlinear Observer for a XYθz Planar Actuator

2008 ◽  
Vol 381-382 ◽  
pp. 195-198 ◽  
Author(s):  
Yoshikazu Arai ◽  
S.Y. Dian ◽  
Wei Gao
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Experimental Results ◽  
Nonlinear Observer ◽  
Control Law ◽  
Dynamic Compensation ◽  
Modeling Uncertainties ◽  
Positioning Stage ◽  
Ultra Precision

In this study, a novel control law including a fine-tuned PID component to yield basic dynamic performance, and a component derived from the Sliding Mode Observer (SMO) to estimate and then compensate for modeling uncertainties and disturbances, has been introduced to planar actuator of an ultra-precision positioning stage. Experimental results are presented to verify the effectiveness of suggested dynamic compensation strategy and tracking performance of the non-contact planar actuator.

Dynamic Modeling and Control Techniques for a Quadrotor

2015 ◽  
pp. 408-454
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Adaptive Fast Terminal Sliding Mode Control for a Class of Uncertain Systems with Input Nonlinearity

2017 ◽  
Vol 21 (3) ◽  
pp. 518-526
Author(s):  
Linjie Xin ◽  
◽  
Qinglin Wang ◽  
Yuan Li ◽  
Jinhua She ◽  
...  
Keyword(s):  
Uncertain Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Mimo System ◽  
Dead Zone ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Terminal Sliding Mode ◽  
Input Nonlinearity ◽  
Single Output

This study investigates the terminal sliding mode (TSM) control for a class of first-order uncertain systems with dead-zone and saturation. First, a new adaptive TSM control law was proposed for the single-input and single-output (SISO) systems by employing an integral fast TSM. It achieves rejection for both system uncertainty and input nonlinearity. The global reaching condition of the sliding mode is guaranteed by the Lyapunov stability theory. The new control law possesses faster convergence than the linear sliding mode method, and the singularity problem of TSM is avoided. Then, the control law was extended for tracking control of a dynamic model of spacecraft which was a multi-input and multi-output (MIMO) system. Finally, the simulation results confirmed the effectiveness of the proposed control method.

scholarly journals A Robust Vibration Control of a Magnetorheological Damper Based Railway Suspension Using a Novel Adaptive Type 2 Fuzzy Sliding Mode Controller

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Sy Dung Nguyen ◽  
Dongsoo Jung ◽  
Seung-Bok Choi
Keyword(s):  
Vibration Control ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Magnetorheological Damper ◽  
Nonlinear Observer ◽  
Input Current ◽  
Sliding Mode Controller ◽  
Damping Force ◽  
Interval Type

This work proposes a novel adaptive type 2 fuzzy sliding controller (AT2FC) for vibration control of magnetorheological damper- (MRD-) based railway suspensions subjected to uncertainty and disturbance (UAD). The AT2FC is constituted of four main parts. The first one is a sliding mode controller (SMC) for specifying the main damping force supporting the suspension. This controller is designed via Lyapunov stability theory. The second one is an interpolation model based on an interval type 2 fuzzy logic system for determination of optimal parameters of the SMC. The third one is a nonlinear UAD observer to compensate for external disturbances. The fourth one is an inverse MRD model (T2F-I-MRD) for specifying the input current. In the operating process, an adaptively optimal structure deriving from the SMC is created (called the Ad-op-SMC) to adapt to the real status. Working as an actuator, the input current for MRD is then determined by the T2F-I-MRD to generate the required damping force which is estimated by the Ad-op-SMC and the nonlinear observer. It is shown that the obtained survey results reflect the AT2FC’s excellent vibration control performance compared with the other controllers.

scholarly journals Adaptive Global Sliding Mode Controller Design for Perturbed DC-DC Buck Converters

Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1249
Author(s):  
Saleh Mobayen ◽  
Farhad Bayat ◽  
Chun-Chi Lai ◽  
Asghar Taheri ◽  
Afef Fekih
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Buck Converter ◽  
Control Law ◽  
Control Input ◽  
Buck Converters ◽  
Tracking Accuracy ◽  
Control Approach ◽  
Efficient Suppression

This paper proposes a novel adaptive intelligent global sliding mode control for the tracking control of a DC-DC buck converter with time-varying uncertainties/disturbances. The proposed control law is formulated using a switching surface that eliminates the reaching phase and ensures the existence of the sliding action from the start. The control law is derived based on the Lyapunov stability theory. The effectiveness of the proposed approach is illustrated via high-fidelity simulations by means of Simscape simulation environment in MATLAB. Satisfactory tracking accuracy, efficient suppression of the chattering phenomenon in the control input, and high robustness against uncertainties/disturbances are among the attributes of the proposed control approach.

scholarly journals SMC Design for Flexible Link Manipulator in Presence of External Disturbances

2020 ◽  
Vol 8 (5) ◽  
pp. 4159-4163
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Nonlinear Observer ◽  
Sliding Mode Controller ◽  
Flexible Link ◽  
External Disturbances ◽  
Lagrange Method ◽  
Dynamics Modelling ◽  
Robust Nonlinear Observer ◽  
Large Work

A flexible link manipulator (FLM) has become the globally research topic over last two decades. It has various advantages such as light weight, high speed with low inertia, large work space and consumes less energy comparatively. However, this flexibility make system more complex. The FLM performance is measured in terms of accuracy of trajectory tracking with minimum oscillations. But in case of FLM, due to flexibility, oscillation and accuracy in trajectory has been increased. To overcome this problem, a robust nonlinear observer based sliding mode controller (SMC) has been used in this paper. Moreover, dynamics modelling of FLM has been developed using Lagrange Method. To enhance the tracking of FLM, integral sliding mode controller (i-SMC) has been designed. The effectiveness of these controller has been tested in presence of disturbances at each state and result obtained are demonstrated

Sign in / Sign up

Export Citation Format

Share Document