scholarly journals Integral Sliding Mode Control for Helicopter via Disturbance Observer and Quantum Information Technique

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Qiang Qu ◽  
Fuyang Chen ◽  
Bin Jiang ◽  
Gang Tao
Keyword(s):  
Quantum Information ◽  
Disturbance Observer ◽  
Closed Loop ◽  
Sliding Mode ◽  
Closed Loop System ◽  
Parameter Uncertainties ◽  
Integral Sliding Mode ◽  
Control Scheme ◽  
Unknown Disturbance ◽  
Control Accuracy

A novel self-repairing control scheme is proposed for a helicopter with unknown disturbance. Firstly, a disturbance observer is introduced to observe the disturbance of the system, which can produce corresponding control signals according to the disturbance signals. Secondly, an integral sliding mode controller is designed to compensate the unobserved disturbance and uncertainties. All of the closed-loop poles can be arbitrarily placed and the output errors converge to zero effectively through the controller. Besides, a robust closed-loop system against disturbance and parameter uncertainties is achieved. In addition, quantum information technique is used to increase the self-repairing control accuracy of helicopter. Finally, simulation results demonstrate the effectiveness and feasibility of the proposed self-repairing control scheme.

Sliding Mode Control of a 2D Torsional MEMS Micromirror with Sidewall Electrodes

2013 ◽  
Vol 3 (1) ◽  
pp. 16-26
Author(s):  
Hui Chen ◽  
Manu Pallapa ◽  
Weijie Sun ◽  
Zhendong Sun ◽  
John T. W. Yeow
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Loop System ◽  
Closed Loop System ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Mode Control ◽  
Control Scheme ◽  
The Stability

This paper presents a sliding mode control scheme to improve the positioning performance of a 2-Degree-of-freedom (DOF) torsional MEMS micromirror with sidewall electrodes. The stability of closed-loop system is proved by Lyapunov stability theorem under the existence of bounded parameter uncertainties and external disturbances. Furthermore, the performance of the closed-loop system is illustrated by experimental and simulation results which verify that the feasibility and effectiveness of the proposed scheme. The results demonstrated that the torsional MEMS micromirror with the proposed sliding mode controller has a good transient response and tracking performance.

Tracking control of an underwater manipulator using fractional integral sliding mode and disturbance observer

2020 ◽  
pp. 1-12
Author(s):  
Lijun Han ◽  
Guoyuan Tang ◽  
Ruikun Xu ◽  
Hui Huang ◽  
De Xie
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Fractional Integral ◽  
Controller Design ◽  
Sliding Mode ◽  
Parameter Uncertainties ◽  
Integral Sliding Mode ◽  
Finite Time Stability ◽  
Mode Control ◽  
Underwater Manipulator

In this paper, a fractional integral sliding mode control (FISMC) strategy with a disturbance observer (DO) is proposed for the trajectory tracking problem of the underwater manipulator, under lumped disturbances namely parameter uncertainties and external disturbances. The modified fractional integral sliding mode surface (FISMS) is designed to guarantee the fast convergence of system states. The DO method and the second-order sliding mode control law are used in the controller design, in which the former is introduced to compensate the effect of the lumped disturbances. Also, a saturated function is selected to replace the sign function to attenuate the chattering phenomenon. The stability of the overall closed-loop system is proved via Lyapunov’s finite-time stability theory. Numerical simulations are performed on a 6 degree of freedom (DOF) underwater manipulator. Simulation results demonstrate that the proposed control scheme can achieve better tracking performance and stronger robustness against disturbances, by comparing with the DO-based PD control and the DO-based PID-type linear sliding mode control (SMC).

Composite hierarchical anti-disturbance control for stochastic systems with multiple disturbances

2017 ◽  
Vol 40 (6) ◽  
pp. 1950-1955 ◽  
Author(s):  
Shixiang Sun ◽  
Xinjiang Wei ◽  
Huifeng Zhang
Keyword(s):  
Disturbance Observer ◽  
Closed Loop ◽  
Stochastic Systems ◽  
Time Derivative ◽  
Closed Loop System ◽  
Stochastic Disturbance ◽  
Multiple Disturbances ◽  
Control Scheme ◽  
Bounded Disturbance ◽  
White Noises

A class of stochastic systems with multiple disturbances, which includes white noises and disturbances whose time derivative is bounded, is considered in this paper. To estimate the unknown bounded disturbance, a stochastic disturbance observer is proposed. Based on the observer, a disturbance observer-based disturbance control scheme is constructed such that the composite closed-loop system is asymptotically bounded. Finally, a simulation example is given to demonstrate the feasibility and effectiveness of the proposed scheme.

scholarly journals Integral sliding mode-based formation control of multiple unertain robots via nonlinear disturbane observer

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141667769 ◽  
Author(s):  
Dianwei Qian ◽  
Chengdong Li ◽  
Shiwen Tong ◽  
Lu Yu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Formation Control ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
Nonlinear Disturbance

This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader–follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov’s theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.

Disturbance observer-based control for a class of strict-feedback nonlinear systems with derivative-bounded disturbances

2020 ◽  
Vol 42 (14) ◽  
pp. 2601-2610
Author(s):  
Huifeng Zhang ◽  
Xinjiang Wei ◽  
Lingyan Zhang ◽  
Jian Han
Keyword(s):  
Stability Analysis ◽  
Nonlinear Systems ◽  
Disturbance Observer ◽  
Closed Loop ◽  
Closed Loop System ◽  
Nonlinear Disturbance Observer ◽  
Control Scheme ◽  
Bounded Disturbances ◽  
Nonlinear Disturbance ◽  
Strict Feedback

An anti-disturbance control problem is investigated in this paper. The disturbance observer plus back-stepping (DOPBS) control scheme is proposed for a class of strict-feedback nonlinear systems with derivative-bounded disturbances. A nonlinear disturbance observer is designed to estimate the derivative-bounded disturbances. By combining the disturbance observer with back-stepping method, the DOPBS controller is designed to reject and attenuate the disturbances. Stability analysis proves that all the signals in the the closed-loop system are uniformly ultimately bounded (UUB). Finally, simulation examples demonstrate the feasibility and effectiveness of the proposed approach compared with existing methods.

Closed-Loop Input Shaping Control of Vibration in Flexible Structures via Adaptive Sliding Mode Control

2012 ◽  
Vol 19 (2) ◽  
pp. 221-233 ◽  
Author(s):  
Ming-Chang Pai
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
Flexible Structures ◽  
Adaptive Sliding Mode Control ◽  
Input Shaping ◽  
Parameter Uncertainties ◽  
Residual Vibration ◽  
Shaping Technique ◽  
Control Scheme ◽  
Input Shaping Control

Input shaping technique is widely used in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping technique depends on the amplitudes and instants of impulse application. However, systems always have parameter uncertainties which can lead to performance degradation. In this paper, a closed-loop input shaping control scheme is developed for uncertain flexible structures. The algorithm is based on input shaping control and adaptive sliding mode control. The proposed scheme does not need a priori knowledge of upper bounds on the norm of the uncertainties, but estimates them by using the adaptation technique. This scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parameter uncertainties and external disturbances as well. Furthermore, it is shown that increasing the robustness to parameter uncertainties does not lengthen the duration of the impulse sequence. Simulation results demonstrate the efficacy of the proposed closed-loop input shaping control scheme.

scholarly journals Disturbance Observer-Based Continuous Finite-Time Sliding Mode Control against Matched and Mismatched Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Ngo Phong Nguyen ◽  
Hyondong Oh ◽  
Yoonsoo Kim ◽  
Jun Moon
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Closed Loop ◽  
Sliding Mode ◽  
Loop System ◽  
Time Varying ◽  
Time Stability ◽  
Closed Loop System ◽  
Finite Time Stability ◽  
Mismatched Disturbances

In this paper, we propose the disturbance observer-based continuous finite-time sliding mode controller (DOBCSMC) for input-affine nonlinear systems in which additive matched and mismatched disturbances exist. The objective is to show the robustness and disturbance attenuation performance of the closed-loop system with the proposed DOBCSMC subjected to general classes of matched and mismatched disturbances. The proposed DOBCSMC consists of three main features: (i) the nonlinear finite-time disturbance observer to obtain a fast and accurate estimation of matched and mismatched disturbances, (ii) the nonlinear sliding surface to ensure high precision in the steady-state phase of the controlled output, and (iii) the continuous supertwisting algorithm to guarantee finite-time convergence of the controlled output and reduce the chattering under the effect of matched and mismatched disturbances. It should be noted that the existing approaches cannot handle time-varying mismatched disturbances and/or cannot guarantee faster finite-time stability of the controlled output. We prove that the closed-loop system with the DOBCSMC guarantees both finite-time reachability to the sliding surface and finite-time stability of the controlled output to the origin. Various simulations are performed to demonstrate the effectiveness of the proposed DOBCSMC. In particular, the simulation results show that the DOBCSMC guarantees faster convergence of the closed-loop system to the origin, higher precision of the controlled output, and better robustness performance against various classes of (time-varying) matched and mismatched disturbances, compared with the existing approaches.

scholarly journals Sliding mode control for quadrotor with disturbance observer

2018 ◽  
Vol 10 (7) ◽  
pp. 168781401878233 ◽  
Author(s):  
Nigar Ahmed ◽  
Mou Chen
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Unstable State ◽  
Control Performance ◽  
Mode Control ◽  
Exogenous Disturbance ◽  
Control Scheme ◽  
Simulation Results ◽  
Unknown Disturbance

In this article, a sliding mode control scheme is proposed for a quadrotor in the presence of an exogenous disturbance. A nonlinear sliding mode surface is constructed based on the estimate output of a disturbance observer to reject the effect of the unknown disturbance in the quadrotor. The desired control performance is achieved by bringing the state from unstable state to stable ones. To show the effectiveness of the developed control scheme, simulation results are provided for illustration of the designed controller based on disturbance observer.

scholarly journals Sliding Mode Disturbance Observer-Based Fractional Second-Order Nonsingular Terminal Sliding Mode Control for PMSM Position Regulation System

2015 ◽  
Vol 2015 ◽  
pp. 1-14 ◽  
Author(s):  
Hong-Ru Li ◽  
Zhi-Bin Jiang ◽  
Nan Kang
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Closed Loop ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Closed Loop System ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode ◽  
Sliding Mode Disturbance Observer ◽  
Position Regulation

This paper investigates the position regulation problem of permanent magnet synchronous motor (PMSM) subject to parameter uncertainties and external disturbances. A novel fractional second-order nonsingular terminal sliding mode control (F2NTSMC) is proposed and the finite time stability of the closed-loop system is ensured. A sliding mode disturbance observer (SMDO) is developed to estimate and make feedforward compensation for the lumped disturbances of the PMSM system. Moreover, the finite-time convergence of estimation errors can be guaranteed. The control scheme combining F2NTSMC and SMDO can not only improve performance of the closed-loop system and attenuate disturbances, but also reduce chattering effectively. Simulation results show that the proposed control method can obtain satisfactory position tracking performance and strong robustness.

Robust Passivity-based Control scheme for 1.26 KW PEM Fuel Cell under temperature and load variations

2021 ◽  
pp. 1-10
Author(s):  
Abdelaziz Zaidi ◽  
Asma Charaabi ◽  
Oscar Barambones ◽  
Nadia Zanzouri
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
Load Resistance ◽  
Current Sensor ◽  
Closed Loop System ◽  
Load Variations ◽  
Load Variation ◽  
Incremental Value ◽  
Control Scheme ◽  
Control Schemes

Abstract The Model Based System Engineering (MBSE) is based on simplified mathematical models that reflects the dynamic behavior of the systems. These latter are most of time nonlinear and need control schemes taking in consideration exogenous perturbations. The main contribution of this paper is the design of a robust passivity based sliding mode control scheme for a 1.26 KW PEMFC. The uncertainties considered in this paper are temperature and load variation. The FC reference current is adapted in a linear transformation by introducing a temperature sensor. This information is present in most of commercial PEMFC and not used in the closed-loop system. Moreover, the proposed approach cancels the errors caused by the average approach modeling and the observer (the part which replaces current sensor). Robustness against load variation is assured via a proportional integral compensation of the incremental value of load resistance. The performance of the controller and the effectiveness of our approach is shown through the simulation with MATLAB-SIMULINK software.

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