A sky-hook sliding mode semiactive control for commercial truck seat suspension

2020 ◽  
pp. 107754632094097
Author(s):  
Qiang Chen ◽  
Yong Zhang ◽  
Chengwei Zhu ◽  
Jinbo Wu ◽  
Ye Zhuang
Keyword(s):  
Nonlinear System ◽  
Phase Portrait ◽  
Control Method ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Magnetorheological Damper ◽  
Nonlinear Controller ◽  
Parameter Uncertainties ◽  
Seat Suspension

A semiactive seat suspension control method is proposed in this study and applied to attenuate the vibration of the commercial truck seat for enhancing its ride comfort. The semiactive seat suspension system with a magnetorheological damper behaves with undesirable nonlinear properties. The proposed controller is a typical nonlinear controller, which takes the ideal sky-hook controller as the reference model and forces the tracking error vector. The controller has achieved great performance of attenuating vibration and is robust to parameter uncertainties and external disturbances. The relaxation oscillation phenomenon and convergence were also analyzed by the contribution of the phase portrait. As the phase portrait depicted, the sky-hook controller, a weakly nonlinear system, could be approximated by the equivalent linear approximate model. However, the proposed controller, the sky-hook sliding mode controller, is a strongly nonlinear system, which could not be linearized by the regular perturbation theory, and the criterion is given by the phase portrait. The experiment results showed good agreement with the simulation results, and some other matters encountered were also analyzed in the process of application.

The Simulation Analysis of Semi-Active Suspension System in Vehicle Based on Sliding Mode Control with Varying Structure

2011 ◽  
Vol 216 ◽  
pp. 96-100
Author(s):  
Jing Jun Zhang ◽  
Wei Sha Han ◽  
Li Ya Cao ◽  
Rui Zhen Gao
Keyword(s):  
Control Method ◽  
Simulation Analysis ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Active Suspension ◽  
Suspension System ◽  
Sliding Mode Controller ◽  
Error Dynamics ◽  
Dynamic Quality

A sliding mode controller for semi-active suspension system of a quarter car is designed with sliding model varying structure control method. This controller chooses Skyhook as a reference model, and to force the tracking error dynamics between the reference model and the plant in an asymptotically stable sliding mode. An equal near rate is used to improve the dynamic quality of sliding mode motion. Simulation result shows that the stability of performance of the sliding-mode controller can effectively improve the driving smoothness and safety.

scholarly journals A Modified RBF Neuro-Sliding Mode Control Technique for a Grid Connected PMSG Based Variable Speed Wind Energy Conversion System

2018 ◽  
Vol 2018 ◽  
pp. 1-19
Author(s):  
Rostand Marc Douanla ◽  
Godpromesse Kenné ◽  
François Béceau Pelap ◽  
Armel Simo Fotso
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Control Technique ◽  
Nonlinear Controller ◽  
Parameter Uncertainties ◽  
Power Extraction ◽  
Mode Control ◽  
The Neural Network

A modified control scheme based on the combination of online trained neural network and sliding mode techniques is proposed to enhance maximum power extraction for a grid connected permanent magnet synchronous generator (PMSG) wind turbine system. The proposed control method does not need the knowledge of the uncertainty bounds nor the exact model of the nonlinear system. Since the neural network is trained online, the time to estimate good weights can affect the dynamic performance of the process during the startup phase. Therefore an appropriate way to smoothly and explicitly accelerate the neural network rate of convergence during the startup phase is proposed. Furthermore, a flexible grid side voltage source converter control structure which can handle both grid connected and standalone modes based on conventional proportional integral (PI) control method is presented. Simulations are done in Matlab/Simulink environment to verify the effectiveness and assess the performance of the proposed controller. The results analysis shows the superiority of the proposed RBF neuro-sliding mode controller compared to a nonlinear controller based on sliding mode control method when the system undergoes parameter uncertainties.

scholarly journals Neural Network Identification and Sliding Mode Control for Hysteresis Nonlinear System with Backlash-Like Model

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Ruiguo Liu ◽  
Xuehui Gao
Keyword(s):  
Neural Network ◽  
Nonlinear System ◽  
Sliding Mode Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Strategies ◽  
Tracking Error ◽  
Mode Control ◽  
Hysteresis Nonlinearity ◽  
System States

A new neural network sliding mode control (NNSMC) is proposed for backlash-like hysteresis nonlinear system in this paper. Firstly, only one neural network is designed to estimate the unknown system states and hysteresis section instead of multiscale neural network at former researches since that can save computation and simplify the controller design. Secondly, a new NNSMC is proposed for the hysteresis nonlinearity where it does not need tracking error transformation. Finally, the Lyapunov functions are adopted to guarantee the stabilities of the identification and control strategies semiglobally uniformly ultimately bounded (UUB). Two cases simulations are proved the effectiveness of the presented identification approach and the performance of the NNSMC.

scholarly journals Adaptive Sliding Mode Control Method for Z-Axis Vibrating Gyroscope Using Prescribed Performance Approach

2020 ◽  
Vol 10 (14) ◽  
pp. 4779 ◽  
Author(s):  
Cheng Lu ◽  
Liang Hua ◽  
Xinsong Zhang ◽  
Huiming Wang ◽  
Yunxiang Guo
Keyword(s):  
Sliding Mode Control ◽  
Error Bound ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Sliding Mode Control ◽  
Performance Control ◽  
Prescribed Performance ◽  
Adaptive Sliding Mode ◽  
Mode Control

This paper investigates one kind of high performance control methods for Micro-Electro-Mechanical-System (MEMS) gyroscopes using adaptive sliding mode control (ASMC) scheme with prescribed performance. Prescribed performance control (PPC) method is combined with conventional ASMC method to provide quantitative analysis of gyroscope tracking error performances in terms of specified tracking error bound and specified error convergence rate. The new derived adaptive prescribed performance sliding mode control (APPSMC) can maintain a satisfactory control performance which guarantees system tracking error, at any time, to be within a predefined error bound and the error convergences faster than the error bound. Besides, adaptive control (AC) technique is integrated with PPC to online tune controller parameters, which will converge to their true values at last. The stability of the control system is proved in the Lyapunov stability framework and simulation results on a Z-axis MEMS gyroscope is conducted to validate the effectiveness of the proposed control approach.

scholarly journals Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Yan Ren ◽  
Zhenghua Liu ◽  
Le Chang ◽  
Nuan Wen
Keyword(s):  
Robust Control ◽  
High Frequency ◽  
Disturbance Observer ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Servo System ◽  
Adaptive Sliding Mode ◽  
Main System

A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

The Model Reference Adaptive Control of the DC Electric Drive System

2014 ◽  
Vol 875-877 ◽  
pp. 2030-2035 ◽  
Author(s):  
Marian Gaiceanu ◽  
Cristian Eni ◽  
Mihaita Coman ◽  
Romeo Paduraru
Keyword(s):  
Adaptive Control ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Model Reference Adaptive Control ◽  
Drive System ◽  
Mode Switching ◽  
Sigmoid Function ◽  
Model Reference ◽  
Model Reference Adaptive

Due to the parametric and structural uncertainty of the DC drive system, an adaptive control method is necessary. Therefore, an original model reference adaptive control (MRAC) for DC drives is proposed in this paper. MRAC ensures on-line adjustment of the control parameters with DC machine parameter variation. The proposed adaptive control structure provides regulating advantages: asymptotic cancellation of the tracking error, fast and smooth evolution towards the origin of the phase plan due to a sliding mode switching k-sigmoid function. The reference model can be a real strictly positive function (the tracking error is also the identification error) as its order is relatively higher than one degree. For this reason, the synthesis of the adaptive control will use a different type of error called augmented or enhanced error. The DC machine with separate excitation is fed at a constant flux. This adaptive control law assures robustness to external perturbations and to unmodelled dynamics.

scholarly journals Adaptive Sliding Mode Control for a Class of Manipulator Systems with Output Constraint

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Guangshi Li
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Stability Theory ◽  
Adaptive Sliding Mode Control ◽  
Compact Set ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
System Output

In this paper, an adaptive sliding mode control method based on neural networks is presented for a class of manipulator systems. The main characteristic of the discussed system is that the output variable is required to keep within a constraint set. In order to ensure that the system output meets the time-varying constraint condition, the asymmetric barrier Lyapunov function is selected in the design process. According to Lyapunov stability theory, the stability of the closed-loop system is analyzed. It is demonstrated that all signals in the resulted system are bounded, the tracking error converges to a small compact set, and the system output limits in its constrained set. Finally, the simulation example is used to show the effectiveness of the presented control strategy.

scholarly journals Robust Control Design of Nonlinear System by Using Back-Stepping-GSA and Sliding Mode Technique

2018 ◽  
Vol 7 (4.33) ◽  
pp. 494
Author(s):  
Sahazati Md Rozali ◽  
Rozilawati Mohd Nor ◽  
Amar Faiz Zainal Abidin ◽  
Muhammad Kamarudin ◽  
Zairi Ismael Rizman
Keyword(s):  
Nonlinear System ◽  
Sliding Mode ◽  
Search Algorithm ◽  
External Disturbance ◽  
Tracking Error ◽  
Gravitational Search Algorithm ◽  
Sliding Mode Controller ◽  
Robust Control Design ◽  
Mode Technique ◽  
Sliding Mode Technique

This work presents the integration of two robust controllers such as back-stepping and sliding mode controller, which is designed for nonlinear system with external disturbance injected to its actuator. Gravitational Search Algorithm (GSA) is applied to the designed controller to optimize the control and reaching law parameters for the system. The dynamics of the system is developed by consider the external force as system’s nonlinearities. The tracking output and tracking error produced by combination of these two controllers is compared with the performance of classical sliding mode controller. Based on the results obtained, integration of these two controllers generates better performance than classical sliding mode controller based on its output and error.  

scholarly journals A control method for parallel inverters in Microgrid based on sliding mode and droop controls

2016 ◽  
Vol 19 (1) ◽  
pp. 40-50
Author(s):  
Hoa Thi Xuan Pham ◽  
Huy Minh Nguyen
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Harmonic Component ◽  
Voltage Control ◽  
Nonlinear Loads ◽  
Proportional Integral ◽  
Pr Controller ◽  
Islanded Microgrid

Robust control and flexible operation are the major objectives of islanded microgrid. A microgrid can have different configurations with linear loads and nonlinear loads. The harmonic current caused by nonlinear loads make Proportional Integral (PI) or Proportional Integral Derivative (PID) voltage controller far beyond excellent performance in case of microgrid operating in islanded mode. Additionally, the robustness of the PID closed loop system can not be guaranteed. The voltage control by using Proportional resonant (PR) controller are recommended. Although PR controller has the ability to sinusoidal signals. However, PR controller has a slight deviation of the frequency of selected harmonic component. This paper presents a Sliding Mode Control (SMC) for voltage control of parallel inverters operating in islanded microgrid. This controller can enhance the robustness of control system and reduced-state tracking error. The stability of the closed-system is verified by means of Lyapunov stability criterion. The control structure is based on the inner sliding mode closed-loop and the outer droop control loop. The main aim of this paper is to design inner controllers to enhance the dynamics of the microgrid. The results obtained from the simulation of Matlab.

scholarly journals Nonlinear adaptive sliding-mode control of the electronically controlled air suspension system

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141988152
Author(s):  
Bai Rui
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Parameter Uncertainties ◽  
Nonlinear Dynamical ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Air Suspension ◽  
Electronically Controlled Air Suspension

Recent years, electronically controlled air suspension has been widely used in vehicles to improve the riding comfort and the road holding ability. This article presents a new nonlinear adaptive sliding-mode control method for electronically controlled air suspension. A nonlinear dynamical model of electronically controlled air suspension is established, where the nonlinear dynamical characteristic of the air spring is considered. Based on the proposed nonlinear dynamic model, an adaptive sliding-mode control method is presented to stabilize the displacement of electronically controlled air suspension in the presence of parameter uncertainties. Parameter adaptive laws are designed to estimate the unknown parameters in electronically controlled air suspension. Stability analysis of the proposed nonlinear adaptive sliding-mode control method is given using Lyapunov stability theory. At last, the reliability of the proposed control method is evaluated by the computer simulation. Simulation research shows that the proposed control method can obtain the satisfactory control performance for electronically controlled air suspension.

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