Adaptive Second Order Sliding Mode Control: Application to Position and Force Control of Electro-Pneumatic Actuators

2012 ◽  
Author(s):  
Mohammed Taleb ◽  
Franck Plestan
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Limited Information ◽  
Pneumatic Actuators ◽  
Mode Control ◽  
Sliding Manifold ◽  
Set Up ◽  
Twisting Algorithm ◽  
Control Application ◽  
Pneumatic Cylinders

This paper presents an application of adaptive 2nd order sliding mode control. This control is based on twisting algorithm and ensures a finite time convergence to the sliding manifold σ = σ̇ = 0, σ being the sliding variable and defined from the control objectives. The control solution required a limited information about the uncertainties and the disturbances acting on the system. This control strategy is applied to an electropneumatic set-up. This bench consists of two rod coupled pneumatic cylinders: one cylinder is controlled on position and perturbed by the second cylinder which is force-controlled. The efficacy of this strategy is evaluated through some simulations.

Super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

2020 ◽  
Vol 235 (1) ◽  
pp. 43-54
Author(s):  
Jun Liu ◽  
Liang Gao ◽  
Junjie Zhang ◽  
Feng Yan
Keyword(s):  
Sliding Mode Control ◽  
Collision Avoidance ◽  
Sliding Mode ◽  
Mode Control ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Collision Avoidance System ◽  
Path Planner ◽  
Twisting Algorithm

Active collision avoidance system has received more and more attraction, which has the capability to avoid potential accidents and reduce driver burden. This paper proposes an active collision avoidance system which consists of a path planner and a coordinated lateral controller. In the path planner, cubic B-spline is developed to obtain collision-free trajectories to bypass the obstacle by steering. Based on this, a coordinated lateral dynamic control of autonomous ground vehicles is presented to improve the accuracy and robustness of path following and simultaneously ensure vehicle stability via active front steering and direct yaw moment control. Then, second-order sliding mode control, based on super-twisting algorithm, is applied to reduce lateral offset and heading angle deviation as much as possible and avoid chattering phenomenon of tradition sliding mode control. Meanwhile, a new form of sliding mode control based on improved reaching law is devoted to forcing the vehicle state sideslip angle and yaw rate to stability envelope with less chattering in the case of low road friction coefficient. Eventually, the effectiveness and robustness of active collision avoidance system against external disturbance and parametric uncertainties are confirmed through different test cases in the MATLAB/Simulink simulation platform.

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