scholarly journals Adaptive Moving Sliding Mode Control for SISO Systems: Application to an Electropneumatic System

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Assil Ayadi ◽  
Soufien Hajji ◽  
Mohamed Smaoui ◽  
Abdessattar Chaari
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sliding Surface ◽  
External Disturbances ◽  
Single Input Single Output ◽  
Mode Control ◽  
Single Output ◽  
Single Input ◽  
Electropneumatic System ◽  
Siso Systems

This paper aims to propose and develop an adaptive moving sliding mode controller (AMSMC) that can be applied for nonlinear single-input single-output (SISO) systems with external disturbances. The main contribution of this framework consists to overcome the chattering phenomenon problem. The discontinuous term of the classic sliding mode control is replaced by an adaptive term. Moreover, a moving sliding surface is proposed to have better tracking and to guarantee robustness to the external disturbances. The parameters of the sliding surface and the adaptive law are deduced based on Lyapunov stability analysis. An experimental application of electropneumatic system is treated to validate the theoretical results.

scholarly journals Sliding Mode Control Design for a Class of SISO Systems with Uncertain Sliding Surface

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Guofeng Wang ◽  
Kai Zheng ◽  
Xingcheng Wang ◽  
Shuanghe Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Single Input Single Output ◽  
Mode Control ◽  
Single Output ◽  
Single Input ◽  
Phase Design ◽  
Invariant Transformation ◽  
Siso Systems

The problem of designing a sliding mode controller with uncertain sliding surface for a class of uncertain single-input-single-output systems is studied. The design case is handled by using the invariant transformation first in order to separate the sliding mode and the reaching mode of the sliding mode control system. It is shown that the sliding mode design needs not to consider the uncertainties of the sliding surface, which can be handled in the reaching phase design. The results generalize the robust design of the reaching phase such that one specific reaching phase design may agree with several sliding surfaces.

scholarly journals New Time-Varying Sliding Surface for Switching Type Quasi-Sliding Mode Control

Energies ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 3811
Author(s):  
Katarzyna Adamiak ◽  
Andrzej Bartoszewicz
Keyword(s):  
Sliding Mode Control ◽  
Continuous Time ◽  
Sliding Mode ◽  
Representative Point ◽  
Time Varying ◽  
Sliding Surface ◽  
External Disturbances ◽  
Mode Control ◽  
Switching Type ◽  
Time Systems

This study considers the problem of energetical efficiency in switching type sliding mode control of discrete-time systems. The aim of this work is to reduce the quasi-sliding mode band-width and, as follows, the necessary control input, through an application of a new type of time-varying sliding hyperplane in quasi-sliding mode control of sampled time systems. Although time-varying sliding hyperplanes are well known to provide insensitivity to matched external disturbances and uncertainties of the model in the whole range of motion for continuous-time systems, their application in the discrete-time case has never been studied in detail. Therefore, this paper proposes a sliding surface, which crosses the system’s representative point at the initial step and then shifts in the state space according to the pre-generated demand profile of the sliding variable. Next, a controller for a real perturbed plant is designed so that it drives the system’s representative point to its reference position on the sliding plane in each step. Therefore, the impact of external disturbances on the system’s trajectory is minimized, which leads to a reduction of the necessary control effort. Moreover, thanks to a new reaching law applied in the reference profile generator, the sliding surface shift in each step is strictly limited and a switching type of motion occurs. Finally, under the assumption of boundedness and smoothness of continuous-time disturbance, a compensation scheme is added. It is proved that this control strategy reduces the quasi-sliding mode band-width from O(T) to O(T3) order from the very beginning of the regulation process. Moreover, it is shown that the maximum state variable errors become of O(T3) order as well. These achievements directly reduce the energy consumption in the closed-loop system, which is nowadays one of the crucial factors in control engineering.

A Variable-Gain Discrete Sliding Mode Control Strategy With PID-Type Sliding Surface for an Ultra-Precision Wafer Stage

2016 ◽  
Author(s):  
Min Li ◽  
Yu Zhu ◽  
Kaiming Yang ◽  
Chuxiong Hu ◽  
Haihua Mu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Frequency Noise ◽  
Main Concern ◽  
Sliding Surface ◽  
External Disturbances ◽  
Variable Gain ◽  
Mode Control ◽  
Ultra Precision ◽  
Discrete Sliding Mode Control

The ultra-precision wafer stage is an important mechatronic unit in a wafer scanner for manufacturing integrated circuits while its motion control is still the main concern. To overcome the performance-limiting trade-offs of fixed-gain discrete sliding mode control (DSMC), a novel variable-gain DSMC strategy with PID-type sliding surface is proposed for an ultra-precision wafer stage. Specially, PID-type sliding surface is employed to avoid the steady-state error induced by external disturbances. Via the exponential reaching law approach, DSMC with PID-type sliding surface is synthesized. Variable-gain control methodology is newly introduced into DSMC, and the control gain varies with the trajectory phase that the wafer stage is in and the tracking error magnitude. Performance assessment on a developed wafer stage validates that with nano-scale tracking accuracy the proposed strategy not only improves the low-frequency tracking ability without the amplification of high-frequency noise, but also possesses the excellent robustness to external disturbances.

Fast Terminal Sliding Mode Control for the Ship Steering Problem

2013 ◽  
Vol 433-435 ◽  
pp. 1078-1085 ◽  
Author(s):  
Alick O. Vweza ◽  
Deok Jin Lee ◽  
Dong Pyo Hong ◽  
Kil To Chong
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Ship Steering ◽  
Steering Mechanism ◽  
Rudder Angle

In this paper we propose the application of a robust terminal sliding mode control with fast sliding surface to the ship control problem, which consists of leading the ship along the desired course via automatic changes in the rudder blade deflections. In spite of its robustness to system parameter variations and external disturbances, normal terminal sliding mode control (NTSMC) has a limitation of shattering the input rudder angle command particularly when the ship steering mechanism has a big time constant. Through comparative simulations, we show that the proposed controller with fast sliding surface outperforms NTSMC controller in reducing the chattering in the input signal and the initial swing of the rudder angle in the presence of external disturbances and model uncertainties.

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