scholarly journals Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance using Optimal Sliding Mode Controller

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Reta Degefa
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Sliding Mode ◽  
System Stability ◽  
Control Technique ◽  
Sliding Mode Controller ◽  
Closed Loop System ◽  
Stability Performance ◽  
Highly Nonlinear ◽  
Unstable Position

In this paper, a two-link manipulator system stability performance is designed and analyzed using Optimal control technique. The manipulator system is highly nonlinear and unstable. The system is modelled using Lagrangian equation and linearized in upward unstable position. The closed loop system is designed using optimal sliding mode controller. The system is compared with a known PID controller with an impulse applied and disturbance torques and a promising results has been obtained.

scholarly journals Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance Using Optimal Sliding Mode Controller

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Reta Degefa
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Sliding Mode ◽  
System Stability ◽  
Control Technique ◽  
Sliding Mode Controller ◽  
Closed Loop System ◽  
Stability Performance ◽  
Highly Nonlinear ◽  
Unstable Position

In this paper, a two-link manipulator system stability performance is designed and analyzed using Optimal control technique. The manipulator system is highly nonlinear and unstable. The system is modelled using Lagrangian equation and linearized in upward unstable position. The closed loop system is designed using optimal sliding mode controller. The system is compared with a known PID controller with an impulse applied and disturbance torques and a promising results has been obtained.

scholarly journals Comparison of Disturbance Compensators for a Discrete-Time System with Parameter Uncertainty

2020 ◽  
Vol 10 (18) ◽  
pp. 6219
Author(s):  
Zhongyi Guo ◽  
Haifeng Ma ◽  
Qinghua Song
Keyword(s):  
Discrete Time ◽  
Parameter Uncertainty ◽  
Closed Loop ◽  
Sliding Mode ◽  
External Disturbance ◽  
Comparative Investigation ◽  
Industrial Applications ◽  
System Stability ◽  
Discrete Time System ◽  
Closed Loop System

The control design for many industrial applications requires compensation for parameter uncertainty and external disturbance. Reported in many previous works, the parameter uncertainty and external disturbance are combined as a lumped disturbance, which is assumed to be smooth and bounded. However, for a discrete-time sliding mode control (DSMC) system, the above assumption may not hold. Here, the parameter uncertainty, along with its compensation in the DSMC system, are reconsidered and reevaluated. The influence of parameter uncertainty on the closed-loop system stability is first addressed. Then, the comparative investigation of the performance of six state-of-the-art disturbance compensators for parameter uncertainty compensation is conducted. Simulation results show that none of these compensators can effectively observe and compensate for the parameter uncertainty.

scholarly journals High Efficient Solar Integrated an Isolated Dc-Dc Full-Bridge Converter for Electric Vehicle Battery Charging Application

2020 ◽  
Vol 9 (4) ◽  
pp. 432-437
Keyword(s):  
Electric Vehicle ◽  
Closed Loop ◽  
Open Loop ◽  
Loop System ◽  
System Stability ◽  
Control Technique ◽  
Closed Loop System ◽  
Conductance Method ◽  
High Efficient ◽  
Electric Vehicle Battery

In this paper, the power from a solar PV panel 20VDC, 12.5ADC is used for charging an electric vehicle battery (12V, 7Ah) with the help of an isolated dc-dc converter in an efficient manner. The power rating maintained in the system is around (200-250) W. The parasitic circuit analysis is carried out theoretically. The zero voltage transition (ZVT) technique is implemented at the inverter stage and an isolation transformer (1:1) is used for source-load isolation purposes. In order to achieve ZVT, a proper design procedure is followed and a pulse triggering technique is carried out at the switching element. The designed values of the parasitic elements are used in the Simulink tool. The open loop and closed loop system of the proposed converter are simulated in MATLAB Simulink package. In the open loop system, an irradiation analysis carried out similarly closed loop has reference voltage variation analysis in order to verify the system stability at the various operating condition. The problem of transients in open loop output is rectified in the closed loop operation. The MPP and PI control technique is initiated in the closed loop system for better performance. The MPP technique used is incremental conductance method for tracking maximum power from the PV array.

Multi Observer-Based Sliding Mode Load Frequency Control With Input Delay Estimation

2021 ◽  
Vol 1 (4) ◽  
Author(s):  
Ark Dev ◽  
David Fernando Novella Rodríguez ◽  
Sumant Anand ◽  
Mrinal Kanti Sarkar
Keyword(s):  
Power Systems ◽  
Closed Loop ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Loop System ◽  
Load Frequency Control ◽  
System Stability ◽  
Input Delay ◽  
Delay Estimation ◽  
Closed Loop System

Abstract The letter proposes frequency stability in power systems with input delay. A closed loop system can be oscillatory or even unstable without the exact knowledge of delay. Therefore, it is desirable to design a control scheme which is based on the estimation of unknown delay. The proposed design consists of an infinite dimensional observer with an adaptive time delay estimation and a sliding mode controller (SMC). The merit of the proposed concept lies in the fact that the unknown delay is valued by just estimating the smallest delay segment. The controller input is obtained from a set of sequential observers that predicts the system states and ensures asymptotic stability of the closed loop system with input delay estimation. The existence of sliding mode and the closed loop system stability is proved thanks to the Lyapunov and Lyapunov–Krasovskii candidate functionals, respectively. Simulation results confirm the effectiveness of the proposed design.

scholarly journals High performance DC/DC buck converter using sliding mode controller

2019 ◽  
Vol 10 (4) ◽  
pp. 1806
Author(s):  
Mustafa Abbas Fadel Al-Qaisi ◽  
Mohanad A. Shehab ◽  
Ammar Al-Gizi ◽  
Mohammed Al-Saadi
Keyword(s):  
Electromagnetic Interference ◽  
High Performance ◽  
Pulse Width Modulation ◽  
Sliding Mode ◽  
Maximum Output Power ◽  
Buck Converter ◽  
System Stability ◽  
Control Technique ◽  
Sliding Mode Controller ◽  
Maximum Output

<span>This paper investigated the performance of the sliding mode control technique for dc/dc converter using frequency response method. The applications of the step down type switching regulator) buck converter (are found in the devices that use batteries as power source like laptop, cell phones, electric vehicle, and recently, it  has also been used in the renewable energy processing, as a maximum output power can be achieved at higher efficiency. In order to optimize the efficiency and for convenient power management, the issues like power on transients, the effect of load variation, Switching and Electromagnetic interference (EMI) losses has to be overcome for which controllers are used. In the proposed method, pulse width modulation (PWM) based on proportional-integral-derivative sliding mode voltage controller (PID SMVC) is designed for a buck converter and the response for appropriate control parameters has been obtained. The system stability has been examined and analyzed from the performance characteristics, which shows clearly that the buck converter controlled by the sliding mode controller has fast dynamic response and it’s very efficient for various applications.</span>

Sliding Mode Control for Uncertain Markov Switched Systems

2015 ◽  
Vol 740 ◽  
pp. 278-282
Author(s):  
Zhao Lan He ◽  
Zong Ze Liu ◽  
Xian Xian Tang
Keyword(s):  
Sliding Mode Control ◽  
Switched Systems ◽  
Closed Loop ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Sufficient Condition ◽  
Closed Loop System ◽  
Standard Type ◽  
Mode Control ◽  
Sliding Mode Dynamics

This Paper deals with the sliding mode control of a class of uncertain Markov switched systems. By using linear transformation, the system is transformed into standard type. A sufficient condition of the existence of a sliding mode dynamics is derived, and an explicit parameterization of desired sliding surface is also given. A sliding mode controller is then designed to guarantee exponential stability of the overall switched closed-loop system. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed approaches.

Vibration Control of Rotor Systems With Noncollocated Sensor/Actuator by Experimental Design

1995 ◽  
Author(s):  
S. M. Yang ◽  
G. J. Sheu ◽  
C. D. Yang
Keyword(s):  
Experimental Design ◽  
Closed Loop ◽  
Loop System ◽  
System Stability ◽  
Control Technique ◽  
Design Parameters ◽  
Closed Loop System ◽  
Rotor Systems ◽  
Sensor Actuator ◽  
Operation Speed

Abstract This paper presents a controller design methodology for vibration suppression of rotor systems in noncollocated sensor/actuator configuration. The methodology combines the experimental design method of quality engineering and the active damping control technique such that their advantages in implementation feasibility and performance-robustness can be integrated together. Compared with LQ-based design, the controller order is smaller and it is applicable to systems in an operation speed range. In addition, neither preselected sensor/actuator location nor state measurement/estimation is needed. By using the locations of sensor/actuator and the feedback gains as design parameters, the controller is shown to achieve the best possible system performance while maintaining the closed loop system stability. Analyses also show that, contrary to common believe, the performance of a closed loop system with noncollocated sensor/actuator can be superior to that with a collocated one.

scholarly journals Composite Learning Sliding Mode Control of Flexible-Link Manipulator

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-6 ◽  
Author(s):  
Bin Xu ◽  
Pengchao Zhang
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Adaptive Design ◽  
Sliding Mode ◽  
System Stability ◽  
The Novel ◽  
Flexible Link ◽  
Closed Loop System ◽  
Simulation Test ◽  
Mode Control

This paper studies the control of a flexible-link manipulator with uncertainty. The fast and slow dynamics are derived based on the singular perturbation (SP) theory. The sliding mode control is proposed while the adaptive design is developed using neural networks (NNs) and disturbance observer (DOB) where the novel update laws for NN and DOB are designed. The closed-loop system stability is guaranteed via Lyapunov analysis. The effectiveness of the proposed method is verified via simulation test.

Sign in / Sign up

Export Citation Format

Share Document