Sliding mode observer-based fractional-order proportional–integral–derivative sliding mode control for electro-hydraulic servo systems

2020 ◽  
Vol 234 (10) ◽  
pp. 1887-1898 ◽  
Author(s):  
Cheng Cheng ◽  
Songyong Liu ◽  
Hongzhuang Wu
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Observer ◽  
Proportional Integral Derivative ◽  
Servo Systems ◽  
Proportional Integral ◽  
Mode Control ◽  
Hydraulic Servo

This paper proposes an observer-based sliding mode control method for electro-hydraulic servo systems with uncertain nonlinearities, external disturbances, and immeasurable states. The mathematical model is built based on the principle of electro-hydraulic servo systems. Owing to its highly robustness and finite time properties, the sliding mode observer is chosen and designed to estimate the velocity and the equivalent pressure online only using the position feedback. Then, in order to tackle the chattering problem of conventional sliding mode control and increase the control accuracy, a novel second-order sliding mode control scheme is proposed based on the fractional-order proportional–integral–derivative sliding surface and the state observer. The stability of the overall system is proved by Lyapunov theory. Finally, the detailed simulations are conducted, which include the comparative analysis of control performance with other methods and the study of observation performance.

A novel non-singular terminal sliding mode control combined with integral sliding surface for perturbed quadrotor

2021 ◽  
pp. 095965182110647
Author(s):  
Moussa Labbadi ◽  
Mohamed Djemai ◽  
Sahbi Boubaker
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Proportional Integral Derivative ◽  
Terminal Sliding Mode ◽  
Proportional Integral ◽  
Mode Control

In this article, a new dynamic non-singular terminal sliding mode control technique for a quadrotor system subjected to external disturbances is evaluated. The offered control approach is based on non-singular terminal sliding mode controller combined with proportional–integral–derivative sliding surface to improve the performance. The proposed controller is formulated using the Lyapunov theory which ensured the existence of the sliding mode surfaces in finite time. Furthermore, the chattering problem, caused by the switching position and attitude laws, has been reduced using the proposed controller. Moreover, a high-precision performance trajectory tracking can be obtained. The problem of the disturbances is addressed using the suggested controller. Simulation results show the feasibility and efficiency of the non-singular terminal sliding mode control-proportional–integral–derivative proposed approach.

scholarly journals Fractional Order Adaptive Fast Super-Twisting Sliding Mode Control for Steer-by-Wire Vehicles with Time-Delay Estimation

Electronics ◽  
2021 ◽  
Vol 10 (19) ◽  
pp. 2424
Author(s):  
Yong Yang ◽  
Yunbing Yan ◽  
Xiaowei Xu
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Delay Estimation ◽  
Mode Control ◽  
Model Free ◽  
Steer By Wire

It is difficult to model and determine the parameters of the steer-by-wire (SBW) system accurately, and the perturbation is variable with complex and changeable tire–road conditions. In order to improve the control performance of the vehicle SBW system, an adaptive fast super-twisting sliding mode control (AFST-SMC) scheme with time-delay estimation (TDE) is proposed. The proposed scheme uses TDE to acquire the lumped dynamics in a simple way and establishes a practical model-free structure. Then, a fractional order (FO) sliding mode surface and a fast super-twisting sliding mode control structure were designed on the basic super-twisting sliding mode to ensure fast convergence and high control accuracy. Since the uncertain boundary information of the actual system is unknown, a novel adaptive algorithm is proposed to regulate the control gain based on the control errors. Theoretical analysis concerning system stability is given based on the Lyapunov theory. Finally, the effectiveness of the method is verified through comparative experiments. The results show that the proposed TDE-AFST-FOSMC control scheme has the advantages of model-free, fast response and high accuracy.

scholarly journals Fractional-Order Sliding Mode Control of Overhead Cranes   

2020 ◽  
Vol 31 (1) ◽  
pp. 68-76
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Closed Loop ◽  
Control Structure ◽  
Adaptive System ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Closed Loop System ◽  
Control Approach ◽  
Mode Control

We constitute a control system for overhead crane with simultaneous motion of trolley and payload hoist to destinations and suppression of payload swing. Controller core made by sliding mode control (SMC) assures the robustness. This control structure is inflexible since using fixed gains. For overcoming this weakness, we integrate variable fractional-order derivative into SMC that leads to an adaptive system with adjustable parameters. We use Mittag–Leffler stability, an enhanced version of Lyapunov theory, to analyze the convergence of closed-loop system. Applying the controller to a practical crane shows the efficiency of proposed control approach. The controller works well and keeps the output responses consistent despite the large variation of crane parameters.

Adaptive constrained sliding mode control of uncertain nonlinear fractional-order input affine systems

2019 ◽  
Vol 26 (5-6) ◽  
pp. 318-330
Author(s):  
Tahmine V Moghaddam ◽  
Seyyed K Yadavar Nikravesh ◽  
Mohammad A Khosravi
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Nonlinear Function ◽  
Lyapunov Theory ◽  
Adaptive Sliding Mode Control ◽  
Mode Control ◽  
Adaptive Laws ◽  
Chattering Free ◽  
System States

This paper addresses asymptotic stabilization of uncertain nonlinear fractional-order systems with bounded inputs in the presence of model uncertainties and external disturbances. To develop the idea, it is assumed that the upper bound of perturbations is a nonlinear function of the pseudostates norm in which its coefficients are unknown and are obtained via proposed adaptive laws. The main contribution of this paper is to develop a new bounded fractional-order chattering free adaptive sliding mode control in which the system states converge to the sliding surface at a predefined finite time. The stability of the closed-loop system with the proposed control scheme is guaranteed by the Lyapunov theory. Furthermore, for more clarification, a comparison with the classical integer-order case is also presented; finally, some practical simulation results are provided to show the effectiveness of the proposed control algorithm.

Modeling and position control of a therapeutic exoskeleton targeting upper extremity rehabilitation

2016 ◽  
Vol 231 (23) ◽  
pp. 4360-4373 ◽  
Author(s):  
Qingcong Wu ◽  
Xingsong Wang ◽  
Fengpo Du ◽  
Ruru Xi
Keyword(s):  
Sliding Mode Control ◽  
Upper Extremity ◽  
Control Algorithm ◽  
Position Control ◽  
Sliding Mode ◽  
Proportional Integral Derivative ◽  
Fuzzy Sliding Mode Control ◽  
Proportional Integral ◽  
Mode Control ◽  
Fuzzy Sliding Mode

The applications of robotics and automation technology to the therapies of neuromuscular and orthopedic impairments have received increasing attention due to their promising prospects. In this paper, we present an actuated upper extremity exoskeleton aimed to facilitate the rehabilitation training of the disable patients. A modified sliding mode control strategy incorporating a proportional-integral-derivative sliding surface and a fuzzy hitting control law is developed to ensure robust and optimal position control performance. Dynamic modeling of the exoskeleton as well as the human arm is presented and then applied to the development of the fuzzy sliding mode control algorithm. A theoretical proof of the stability and convergence of the closed-loop system is presented using the Lyapunov theorem. Three typical real-time position control experiments are conducted with the aim of evaluating the effectiveness of the proposed control scheme. The performances of the fuzzy sliding mode control algorithm are compared to those of conventional proportional-integral-derivative controller and conventional sliding mode control algorithm. The experimental results indicate that the position control with fuzzy sliding mode control algorithm has a bandwidth about 4 Hz during operation. Furthermore, this control approach can guarantee the best control performances in term of tracking accuracy, response speed, and robustness against external disturbances.

scholarly journals A Novel Model-Free Intelligent Proportional-Integral Supertwisting Nonlinear Fractional-Order Sliding Mode Control of PMSM Speed Regulation System

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Peng Gao ◽  
Xiaodong Lv ◽  
Huimin Ouyang ◽  
Lei Mei ◽  
Guangming Zhang
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Control Strategy ◽  
Sliding Mode ◽  
Regulation System ◽  
Proportional Integral ◽  
Mode Control ◽  
Model Free ◽  
Speed Regulation ◽  
Novel Model

This study proposes a novel model-free intelligent proportional-integral supertwisting nonlinear fractional-order sliding mode control (MF-iPI-ST-NLFOSMC) strategy for permanent magnet synchronous motor (PMSM) speed regulation system. First of all, a model independent intelligent proportional-integral (iPI) control strategy is adopted for the motor speed regulation system. Next, a novel model-free supertwisting nonlinear fractional-order sliding mode control (ST-NLFOSMC) strategy is constructed based on the ultralocal model of PMSM. Meanwhile, a linear extended state observer (LESO) is used to estimate the unknown terms of the ultralocal model. Then, this study presents the novel hybrid MF-iPI-ST-NLFOSMC strategy which integrates the model-free ST-NLFOSMC strategy, the model-free iPI control strategy, and the LESO. Moreover, the stability of the proposed hybrid MF-iPI-ST-NLFOSMC strategy is proved by the Lyapunov stability theorem and fractional-order theory. Finally, the simulations and comparison results verify that the hybrid MF-iPI-ST-NLFOSMC strategy proposed in this paper has better performance than the other model-free controllers in terms of the static characteristic, dynamic characteristic, and robustness.

Self-tuning fuzzy nonsingular proportional-integral-derivative type fast terminal sliding mode control for robotic manipulator in the presence of backlash hysteresis

2021 ◽  
pp. 014233122110133
Author(s):  
Zeeshan Anjum ◽  
Hui Zhou ◽  
Yu Guo
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Proportional Integral Derivative ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Proportional Integral ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Self Tuning

The external disturbances and backlash hysteresis kind of nonlinearity present in the manipulator system can greatly affect the tracking performance of the system. In order to undo the effects of these external disturbances and backlash hysteresis, a robust controller is established based on the integration of self-tuning fuzzy nonsingular proportional-integral-derivative (PID) type fast terminal sliding mode control and time delay estimation (TDE). In this paper, TDE plays the part of estimating the unknown dynamics of the robotic manipulator and nonsingular PID type fast terminal sliding mode control in which the gains of PID are tuned using fuzzy logic system to get multiple beneficial characteristics, such as lower steady-state error, finite-time convergence and little chattering. In addition, the derivative of unknown dynamics that is considered to be bounded is dealt by utilizing the adaptive technique. Moreover, Lyapunov theorem is used to study the overall stability of the system. Finally, a comparative study in terms of trajectory tracking has been carried out between the proposed controller and other existing advanced control approaches using PUMA560 robot in order to verify the effectiveness of the proposed controller in the presence of external disturbances and bacsklash hysteresis.

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