Application of Robust Chattering-Reduction Sliding Mode Control Techniques for Position Control of a Vector-Controlled Induction Machine with Non-Linear Friction Dynamics

2005 ◽  
Vol 219 (8) ◽  
pp. 577-590
Author(s):  
K B Goh ◽  
M W Dunnigan ◽  
B W Williams
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Induction Machine ◽  
Control Algorithms ◽  
Mode Control ◽  
Non Linear ◽  
Linear Friction ◽  
Linear Induction Machine ◽  
Friction Dynamics

Sliding mode control (SMC) methods possess several advantageous properties such as robustness against parameter variation, disturbance rejection, straightforward design, and are simple to implement. In this paper, a sliding mode control algorithm (which considers the non-linear friction dynamics) based on an equivalent control technique is designed and implemented on a non-linear induction machine system with non-linear friction dynamics such as Coulomb, windage, Stribeck, and static friction. The chattering phenomenon, which is inherent in the standard sliding mode algorithm, is discussed, as well as the techniques to reduce the chattering effect. A sixth-order non-linear induction machine model is employed for simulation analysis. The developed control algorithms are then tested for position control of a practical vector-controlled induction machine, in three different operating conditions (nominal load, high inertial load, and rotor resistance mismatch). The controller performance results are compared practically with several different sliding mode control algorithms as well as with a fixed-gain controller test.

scholarly journals Modeling and robust control algorithms for a linear belt driven system

2018 ◽  
Vol 8 (1) ◽  
pp. 142-153
Author(s):  
Vu Trieu Minh ◽  
Mart Tamre ◽  
Even Sekhri
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Algorithms ◽  
Robust Controller ◽  
Reference Tracking ◽  
Precise Position ◽  
Control Approach ◽  
Mode Control

AbstractThis paper proposes the mathematical modeling and robust control algorithms for linear belt system with the help of sliding mode control approach. Due to the elasticity of the belt, the presence of frictions, and the un-modeled dynamics, conventional controllers cannot provide precise position control of carriage. Dealing with this kind of system, a robust controller is needed and the chattering-free sliding mode control (SMC) approach is used to design the robust controller. A belt stretching estimator is also incorporated into the control law. Simulations show that the system is free from chattering and robust to disturbances. The reference tracking position is performed with the minimal errors to an extent that can be considered negligible. The time for reaching the reference tracking position is very fast. The system is safe for all mechanical and electrical devices.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

Conditional integrator sliding mode control of an unmanned quadrotor helicopter

2021 ◽  
pp. 095965182110498
Author(s):  
Yohan Díaz-Méndez ◽  
Leandro Diniz de Jesus ◽  
Marcelo Santiago de Sousa ◽  
Sebastião Simões Cunha ◽  
Alexandre Brandão Ramos
Keyword(s):  
Sliding Mode Control ◽  
Transient Response ◽  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Control Problems ◽  
Control Activity ◽  
Mode Control

Sliding mode control (SMC) is a widely used control law for quadrotor regulation and tracking control problems. The purpose of this article is to solve the tracking problem of quadrotors using a relatively novel nonlinear control law based on SMC that makes use of a conditional integrator. It is demonstrated by a motivation example that the proposed control law can improve the transient response and chattering shortcomings of the previous approaches of similar SMC based controllers. The adopted Newton–Euler model of quadrotor dynamics and controller design is treated separately in two subsystems: attitude and position control loops. The stability of the control technique is demonstrated by Lyapunov’s analysis and the effectiveness and performance of the proposed method are compared with a similar integral law, also based on SMC, and validated by tracking control problems using numerical simulations. Simulations were developed in the presence of external disturbances in order to evaluate the controller robustness. The effectiveness of the proposed controller was verified by performance indexes, demonstrating less accumulated tracking errors and control activity and improvement in the transient response and disturbance rejection when compared to a conventional integrator sliding mode controller.

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