Continuous dynamic sliding mode control of converter-fed DC motor system with high order mismatched disturbance compensation

2020 ◽  
Vol 42 (14) ◽  
pp. 2812-2821 ◽  
Author(s):  
Arshad Rauf ◽  
Shihua Li ◽  
Rafal Madonski ◽  
Jun Yang
Keyword(s):  
High Performance ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
High Order ◽  
Engineering Practice ◽  
Sliding Mode Controller ◽  
Multiple Sources ◽  
Continuous Dynamic ◽  
Dynamic Sliding Mode

The combination of DC-DC buck power converters with DC motors for generating the so-called smooth start of drives has many advantages in engineering practice. Achieving high performance of such systems is, however, limited by the influence of disturbances/uncertainties of multiple sources. Some of the disturbances are mismatched, which makes them even more difficult to handle. Furthermore, the relatively high order of system dynamics makes the control design challenging. In this paper, a control structure with continuous dynamic sliding mode controller with a finite-time disturbance observer is proposed to address these practical issues. First, a special state transformation is applied, aggregating the acting disturbances/uncertainties in a sole perturbing term of the system expressed in new coordinates. Then, the observer estimates in real time the information about the lumped disturbances based on already available input/output signals and the obtained estimated signals (and their high order time-derivatives) are used to construct a sliding surface. Finally, the sliding mode controller is applied to achieve high performance of the resultant plant dynamics and to robustify the governing scheme against modelling discrepancies. The stability of the closed-loop system is proved here using Lyapunov stability theory and the efficiency of the proposed control method is validated through a multi-criteria numerical simulation.

scholarly journals Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot

2020 ◽  
Vol 10 (3) ◽  
pp. 413-420 ◽  
Author(s):  
Sara Gholipour ◽  
Heydar Toosian Shandiz ◽  
Mobin Alizadeh ◽  
Sara Minagar ◽  
Javad Kazemitabar
Keyword(s):  
Fractional Calculus ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Lyapunov Stability Theory ◽  
Mode Control ◽  
Control Scheme ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

Background & Objective: This paper considers the chattering problem of sliding mode control in the presence of delay in robot manipulator causing chaos in such electromechanical systems. Fractional calculus was used in order to produce a novel sliding mode to eliminate chatter. To realize the control of a class of chaotic systems in master-slave configuration, a novel fractional dynamic sliding mode control scheme is presented and examined on the delay based chaotic robot. Also, the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Results: Moreover, delayed robot motions are sorted out for qualitative and quantitative study. Finally, numerical simulations illustrate feasibility of the proposed control method. Conclusion: The control scheme is viable.

Control of a class of fractional-order systems with mismatched disturbances via fractional-order sliding mode controller

2020 ◽  
Vol 42 (13) ◽  
pp. 2423-2439
Author(s):  
Shabnam Pashaei ◽  
Mohammad Ali Badamchizadeh
Keyword(s):  
Fractional Order ◽  
Control Method ◽  
Sliding Mode ◽  
Estimation Error ◽  
Design Procedure ◽  
Lyapunov Stability Theory ◽  
Fast Response ◽  
Sliding Mode Controller ◽  
Fractional Order Systems ◽  
Mismatched Disturbances

This paper presents a new fractional-order sliding mode controller (FOSMC) for disturbance rejection and stabilization of a class of fractional-order systems with mismatched disturbances. To design this control strategy, firstly, a fractional-order extended disturbance observer (FOEDO) is proposed to estimate the matched and mismatched disturbances and their derivatives. Then, according to the design procedure of the sliding mode controller and based on the designed FOEDO, a proper sliding mode surface is proposed. Subsequently, the proposed FOSMC is designed to guarantee that the system states reach the sliding surface and stay on it forever. The stability of the controlled fractional-order systems is proved via fractional-order Lyapunov stability theory. The numerical examples are used to illustrate the effectiveness of the proposed fractional-order controller. The simulation results of the proposed FOSMC are compared with the results of some other researchers’ works to show the superiority of the proposed control method. The new approach displays some attractive features such as fast response, the chattering reduction, robust stability, less disturbance estimation error, the mismatched disturbance, noise rejection, and better control performance.

Design of an Adaptive Terminal Dynamic Sliding Mode Controller for Anti-Ship Missiles

2012 ◽  
Vol 187 ◽  
pp. 190-195 ◽  
Author(s):  
Peng Cheng He ◽  
Lin Sheng Jia ◽  
Yu Lin Wang ◽  
Wen Guang Zhang
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Stability Theory ◽  
Adaptive Method ◽  
Sliding Mode Controller ◽  
Overload Control ◽  
Output Tracking ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

Adaptive dynamic sliding mode control strategy for the overload control of anti-ship missiles using Lyapunov stability theory is proposed. By using a function augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time. In addition, an adaptive method is adopted to attenuate the uncertainties. The simulation shows validity of the proposed method.

Outer synchronization of general colored networks with different-dimensional node via sliding mode control

2018 ◽  
Vol 32 (31) ◽  
pp. 1850342 ◽  
Author(s):  
Shuang Liu ◽  
Qingyun Wang
Keyword(s):  
Lyapunov Stability ◽  
Stability Theory ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Controller ◽  
Network Systems ◽  
Colored Complex ◽  
System Parameters ◽  
Linear Subsystem

In this paper, a separated sliding mode strategy is proposed for the synchronization of network systems. To break the predicament caused by the inhomogeneity of nodes coupling in complex network, a colored network with different node systems and edges is given. According to the nonlinear subsystem of the colored complex networks, a separated sliding mode controller is designed, while for the linear subsystem, some appropriate system parameters are established to implement synchronization. Then, based on the Lyapunov stability theory, the performance of the sliding mode controller is appraised through the synchronization for the colored networks consisting of different-dimensional systems and nonidentical interactions. In the end, two simulation illustrations are employed to demonstrate the presented control method.

Fractional Dynamic Sliding Mode Control for uncertain chaotic systems Applied to a Chaotic Robot arm under dynamic load.

2020 ◽  
Vol 10 ◽  
Author(s):  
Sara Gholipour P ◽  
Sara Minagar ◽  
Javad Kazemitabar ◽  
Mobin Alizadeh
Keyword(s):  
Sliding Mode Control ◽  
Chaotic Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Qualitative And Quantitative ◽  
Mode Control ◽  
Quantitative Characteristics ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode ◽  
Qualitative And Quantitative Characteristics

Background: A novel type of control strategy is presented for control of chaotic systems particularly a chaotic robot in joint and workspace which is the result of applying fractional calculus to dynamic sliding mode control. Objectives: To guarantee the sliding mode condition, control law is introduced based on the Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Conclusion: Also, all of chaotic robot's qualitative and quantitative characteristics have been investigated. Numerical simulations indicate viability of our control method. Results: Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.

A novel robust finite-time tracking control of uncertain robotic manipulators with disturbances

2020 ◽  
pp. 107754632098244
Author(s):  
Hamid Razmjooei ◽  
Mohammad Hossein Shafiei ◽  
Elahe Abdi ◽  
Chenguang Yang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
State Variables ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Finite Time Boundedness

In this article, an innovative technique to design a robust finite-time state feedback controller for a class of uncertain robotic manipulators is proposed. This controller aims to converge the state variables of the system to a small bound around the origin in a finite time. The main innovation of this article is transforming the model of an uncertain robotic manipulator into a new time-varying form to achieve the finite-time boundedness criteria using asymptotic stability methods. First, based on prior knowledge about the upper bound of uncertainties and disturbances, an innovative finite-time sliding mode controller is designed. Then, the innovative finite-time sliding mode controller is developed for finite-time tracking of time-varying reference signals by the outputs of the system. Finally, the efficiency of the proposed control laws is illustrated for serial robotic manipulators with any number of links through numerical simulations, and it is compared with the nonsingular terminal sliding mode control method as one of the most powerful finite-time techniques.

Sign in / Sign up

Export Citation Format

Share Document