scholarly journals Tracking control via sliding mode for heavy-haul trains with input saturation

2020 ◽  
pp. 002029402095245 ◽  
Author(s):  
Jing He ◽  
Xingxing Yang ◽  
Changfan Zhang ◽  
Jianhua Liu ◽  
Qian Zhang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Tracking Accuracy ◽  
Uncertain Disturbances ◽  
Heavy Haul ◽  
New Type ◽  
Heavy Haul Trains ◽  
Compensation Signal

To address the tracking control problem of heavy-haul trains (HHTs) with input saturation during operation, an anti-saturation sliding mode (SMES) control method based on dynamic auxiliary compensator (DAC) is presented. Firstly, an HHT model with nonlinear coupling and uncertain disturbances is built. Secondly, a new type of DAC is introduced to overcome the difficulty of traditional dynamic auxiliary compensator (TDAC) with a large upper bound on the compensation signal. Finally, an anti-saturation SMES control algorithm is designed to reduce the influence of input saturation on the tracking accuracy of each carriage. Simulation results verify the effectiveness of the algorithm in terms of tracking accuracy, anti-interference, and anti-saturation.

Mechanical design and robust tracking control of a class of antagonistic variable stiffness actuators based on the equivalent nonlinear torsion springs

2018 ◽  
Vol 232 (10) ◽  
pp. 1337-1355 ◽  
Author(s):  
Jishu Guo ◽  
Guohui Tian
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Variable Stiffness ◽  
Robust Tracking ◽  
Torsion Spring ◽  
Saturation Constraints ◽  
Variable Stiffness Actuator ◽  
Input Saturation Constraints

The novel conceptual model of the antagonistic variable stiffness actuator based on the equivalent nonlinear torsion spring and the friction damper is demonstrated. For the dynamic model of the antagonistic variable stiffness actuator in the presence of parametric uncertainties, unknown bounded friction torques, unknown bounded external disturbance, and input saturation constraints, using the coordinate transformation, the state space model of the antagonistic variable stiffness actuator with composite disturbances and input saturation constraints is transformed into an extended integral chain–type pseudo-linear system with input saturation constraints. Subsequently, a combination of the linear extended state observer, sliding mode control, and adaptive input saturation compensation law is adopted for the design of the robust tracking controller that simultaneously regulates the position and stiffness of the antagonistic equivalent nonlinear torsion spring-based variable stiffness actuator. Under the proposed controller, the semi-global uniformly ultimately bounded stability of the closed-loop system has been proved via Lyapunov stability analysis. Simulation studies demonstrate the effectiveness and the robustness of the proposed robust adaptive tracking control method for the antagonistic variable stiffness actuator.

Disturbance Adaptive Discrete-Time Sliding Control With Application to Engine Speed Control

1998 ◽  
Vol 123 (1) ◽  
pp. 1-9 ◽  
Author(s):  
Mooncheol Won ◽  
J. K. Hedrick
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Sliding Surface ◽  
Sliding Control ◽  
Error Dynamics

This paper presents a discrete-time adaptive sliding control method for SISO nonlinear systems with a bounded disturbance or unmodeled dynamics. Control and adaptation laws considering input saturation are obtained from approximately discretized nonlinear systems. The developed disturbance adaptation or estimation law is in a discrete-time form, and differs from that of conventional adaptive sliding mode control. The closed-loop poles of the feedback linearized sliding surface and the adaptation error dynamics can easily be placed. It can be shown that the adaptation error dynamics can be decoupled from sliding surface dynamics using the proposed scheme. The proposed control law is applied to speed tracking control of an automatic engine subject to unknown external loads. Simulation and experimental results verify the advantages of the proposed control law.

Electro-hydraulic position servo system based on sliding mode active disturbance rejection compound control

2021 ◽  
pp. 095440622110282
Author(s):  
Zhang He ◽  
Zhao Jiyun ◽  
Wang Yunfei ◽  
Zhang Zhonghai ◽  
Ding Haigang ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Sliding Mode ◽  
Servo System ◽  
Active Disturbance Rejection Control ◽  
Compound Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Uncertain Disturbances ◽  
Position Servo

This study proposes a compound control method based on sliding mode and active disturbance rejection control to address the difficulty of controlling the cutting head for boom-type roadheader with parameter changes and uncertain disturbances. The fastest discrete tracking differentiator and extended state observer based on the traditional active disturbance rejection control are designed. Additionally, the controller of the sliding mode and active disturbance rejection control is constructed. Theoretical analysis indicates that the proposed controller ensures asymptotic stability, despite the existing uncertain disturbances. Moreover, a system based on AMESim and MATLAB/Simulink Co-simulation model is developed to further verify the performance of proposed algorithm. Compared with traditional active disturbance rejection control, proportional-integral-derivative(PID) and sliding mode control, co-simulation results demonstrate that the sliding mode active disturbance rejection compound control improves the tracking accuracy and robustness of the position servo system.

Anti-windup reconfigurable control for dynamic positioning vessel with thruster faults

2020 ◽  
Vol 42 (16) ◽  
pp. 3216-3224
Author(s):  
Mingyang Li ◽  
Wenbo Xie ◽  
Jian Zhang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Control Process ◽  
Dynamic Positioning ◽  
Closed Loop System ◽  
Reconfigurable Control ◽  
Positioning Control ◽  
Dynamic Positioning System ◽  
System A

In this study, an anti-windup reconfigurable control method is developed for dynamic positioning vessel in the presence of thruster faults and input saturation. The designed reconfiguration block acting as a virtual thruster aims at hiding the faults from the nominal controller. Also, it is added into the closed-loop system between the nominal controller and the dynamic positioning system. A thruster saturation-failure fault matrix technique is proposed to regard the thruster saturation as thruster fault, meanwhile an auxiliary system is constructed to achieve extra compensation for the adverse effects induced by input saturation. Furthermore, an integral sliding mode control method is presented to accommodate the nonlinear items in the reconfiguration block. An adaptive technique is also employed to preserve robustness against the unknown uncertainties. Finally, a vessel dynamic positioning control process is adopted to evaluate the effectiveness of the proposed method.

Nonlinear and Machine-Learning-Based Station-Keeping Control of an Unmanned Surface Vehicle

2020 ◽  
Author(s):  
Armando J. Sinisterra ◽  
Alexandrea Barker ◽  
Siddhartha Verma ◽  
Manhar R. Dhanak
Keyword(s):  
Machine Learning ◽  
Tracking Control ◽  
Situational Awareness ◽  
Control Method ◽  
Sliding Mode ◽  
Control Technique ◽  
Station Keeping ◽  
Trajectory Tracking Control ◽  
Ongoing Work ◽  
Machine Learning Approach

Abstract This study is part of ongoing work on situational awareness and autonomy of a 16’ WAM-V USV. The objective of this work is to determine the potential and merits of application of two different station-keeping controllers for a fixed-pose motion control of the USV. The assessment includes performance and power consumption metrics tested under harsh environmental disturbances to evaluate the robustness of the control methods. The first is a nonlinear trajectory-tracking control method based on the sliding-mode control technique, while the second method uses a machine-learning approach based on Deep Reinforcement Learning. Results from both the approaches are compared for various case studies.

scholarly journals Consistent Total Traction Torque-Oriented Coordinated Control of Multimotors with Input Saturation for Heavy-Haul Locomotives

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Changfan Zhang ◽  
Qian Zhang ◽  
Jing He ◽  
Jianhua Liu ◽  
Xingxing Yang ◽  
...  
Keyword(s):  
Sliding Mode ◽  
Characteristic Curve ◽  
Input Saturation ◽  
Coordinated Control ◽  
Mode Switching ◽  
Control Input ◽  
Saturation Problem ◽  
Parameter Perturbations ◽  
Heavy Haul ◽  
Traction Characteristic

In the coordinated control of multiple motors for heavy-haul locomotives, the input value for a motor often exceeds its maximum allowable input value, resulting in the saturation problem. A traction total-amount coordinated tracking control (TACTC) strategy is proposed to address the input saturation of heavy-haul locomotives driven by multiple motors. This strategy reduces control input and suppresses input saturation. First, a multimotor traction model with uncertain parameter perturbations and external disturbances was established. Next, a sliding-mode disturbance observer (SMDO) was designed to reduce the sliding-mode switching gain, thereby decreasing the control input. An auxiliary anti-windup (AW) system was used to weaken the effect of input saturation on tracking performance. Then, the observed value and auxiliary state were fed back to the sliding-mode controller to design a TACTC protocol and ensure that the total amount of traction torque follows the desired traction characteristic curve. Finally, the Matlab/Simulink simulation and RT-Lab semiphysical experiment results show that the proposed strategy can effectively suppress the input saturation problem of multimotor coordinated control.

scholarly journals Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

2020 ◽  
Vol 10 (24) ◽  
pp. 9100
Author(s):  
Chenxu Li ◽  
Haobin Jiang ◽  
Shidian Ma ◽  
Shaokang Jiang ◽  
Yue Li
Keyword(s):  
Path Planning ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Vehicle Control ◽  
Path Tracking ◽  
Intelligent Vehicles ◽  
Parking System ◽  
Automatic Parking ◽  
Real Vehicle

As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.

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