Complete synchronisation of supply chain system using adaptive integral sliding mode control method

This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model.

Download Full-text

Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System

Applied Sciences ◽

10.3390/app10155087 ◽

2020 ◽

Vol 10 (15) ◽

pp. 5087

Author(s):

Chien-Hong Lin ◽

Fu-Yuen Hsiao

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Balance Control ◽

Successful Implementation ◽

Integral Sliding Mode Control ◽

Integral Sliding Mode ◽

Proportional Integral ◽

Mode Control ◽

Vehicle System

A balance control method, the proportional-integral sliding mode control (PISMC), is proposed to control the tilt attitude of an experimental two-wheel vehicle system (TWVS). Based on our previous work of implementing a generalized PISMC to control a linearized dynamical system, this paper extends the algorithm to a wider range: First, the control design of a weighted-control system is proposed. Secondly, our algorithm was realized and verified in a TWVS using its original nonlinear model. Thirdly, a systematical way to tune parameters are presented. The robustness of the proposed algorithm is also discussed in this paper. The simulation results of this work validate that the PISMC has better robustness to counteract the external disturbances than the conventional sliding mode control (SMC) does. Additionally, the experimental results show that the PISMC is capable of autonomously balancing the TWVS more effectively than the conventional SMC. The successful implementation of our algorithm potentially extends the implementation of the PISMC to various nonlinear and emerging systems.

Download Full-text

INTEGRAL SLIDING MODE CONTROL FOR TRAJECTORY TRACKING CONTROL OF ROBOTIC MANIPULATORS USING AN ADAPTIVE TWISTING ALGORITHM

Journal of Science and Technology Issue on Information and Communications Technology ◽

10.31130/ict-ud.2019.88 ◽

2019 ◽

Vol 17 (12.2) ◽

pp. 42

Author(s):

Anh Tuan Vo ◽

Ngoc Hoai An Nguyen ◽

Duy Duong Pham

Keyword(s):

Sliding Mode Control ◽

Trajectory Tracking ◽

Tracking Control ◽

Control Method ◽

Sliding Mode ◽

Robotic Manipulators ◽

Trajectory Tracking Control ◽

Integral Sliding Mode Control ◽

Integral Sliding Mode ◽

Mode Control

This paper proposes an integral sliding mode for trajectory tracking control of robotic manipulators. Our proposed control method is developed on the foundation of the benefits in both integral sliding mode control and adaptive twisting control algorithm, such as high robustness, high accuracy, estimation ability, and chattering elimination. In this paper, the proposed integral sliding mode controller is designed with the elimination of the reaching phase to offer better trajectory tracking precision and to stabilize the robot system. To reduce the calculation burden along with chattering rejection, an adaptive twisting controller with only one simple adaptive rule is employed to estimate the upper-boundary values of the lumped uncertainties. Accordingly, the requirement of their prior knowledge is removed and then decrease the computation complexity. Consequently, this control method provides better trajectory tracking accuracy to handle the dynamic uncertainties and external disturbances more strongly. The system global stability of the control system is guaranteed by using Lyapunov criteria. Finally, simulated examples are performed to analyze the effectiveness of our control approach for position pathway tracking control of a 2-DOF parallel manipulator.

Download Full-text

An optimal integral sliding mode control strategy based on a pseudospectral method for a class of affine systems

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331215622809 ◽

2016 ◽

Vol 39 (6) ◽

pp. 872-882 ◽

Cited By ~ 3

Author(s):

Rongjie Liu ◽

Shihua Li

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Pseudospectral Method ◽

Control Constraints ◽

Affine Systems ◽

Integral Sliding Mode Control ◽

Integral Sliding Mode ◽

Mode Control ◽

And Control

This paper presents an optimal integral sliding mode control method based on a pseudospectral method for a class of affine systems with state and control constraints. First, a general form of an integral sliding mode is presented. Integral sliding mode control cannot deal with the problem of states and control constraints, nor can it satisfy the minimization of the cost function. The pseudospectral method has a high convergence speed and performs well in solving optimal control problems with general performance index, endpoint conditions and path constraints. In consideration of these advantages, an optimal integral sliding mode controller is determined by the pseudospectral method. Then, the stability analysis of optimal pseudospectral sliding mode method is discussed. Finally, numerical simulations show the effectiveness of the proposed method. An application example, consisting of an overhead crane system, is investigated to demonstrate the effectiveness and robustness of the proposed technique.

Download Full-text