scholarly journals HIGHER-ORDER SLIDING MODE DYNAMICS DESIGN FOR A CLASS OF SINGLE-INPUT LINEAR SYSTEMS

2020 ◽  
Vol 19 (2) ◽  
pp. 103
Author(s):  
Boban Veselić
Keyword(s):  
Linear Systems ◽  
Sliding Mode ◽  
Higher Order ◽  
System Matrix ◽  
Sliding Manifold ◽  
Single Input ◽  
Digital Simulations ◽  
Specific Sliding ◽  
Sliding Mode Dynamics ◽  
Mode Order

The paper considers a higher-order sliding mode dynamics design in a class of single-input linear systems having the invertible system matrix. The proposed sliding manifold selection method simultaneously provides a necessary relative degree of the sliding variable for a specific sliding mode order and the desired system dynamics after establishing that sliding mode. It is shown that the found unique solution satisfies these requirements. The theoretically obtained result is validated through a numerical example and illustrated by digital simulations.

Higher-order sliding mode based lateral guidance for unmanned aerial vehicles

2015 ◽  
Vol 39 (5) ◽  
pp. 715-727 ◽  
Author(s):  
Syed Ussama Ali ◽  
Raza Samar ◽  
M Zamurad Shah ◽  
Aamer I Bhatti ◽  
Khalid Munawar
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Sliding Mode ◽  
Higher Order ◽  
Logic Design ◽  
Control Loop ◽  
Bank Angle ◽  
Roll Control ◽  
Loop Design ◽  
Aerial Vehicles ◽  
Sliding Manifold

A nonlinear sliding mode based scheme is developed for lateral guidance of unmanned aerial vehicles. The guidance and control system is considered as an inner and outer loop design problem, the outer guidance loop generates commands for the inner control loop to follow. Control loop dynamics is considered during derivation of the guidance logic, along with saturation constraints on the guidance commands. A nonlinear sliding manifold is selected for guidance logic design, the guidance loop generates bank angle commands for the inner roll control loop to follow. The real twisting algorithm, a higher order sliding mode algorithm is used for guidance logic design. Existence of the sliding mode along with boundedness of the guidance command is proved to ensure that controls are not saturated for large track errors. The proposed logic also contains an element of anticipatory or feed-forward control, which enables tight tracking for sharply curving paths. Efficacy of the proposed method is verified by flight testing on a scaled YAK-54 unmanned aerial vehicle. Flight results demonstrate robustness and effectiveness of the proposed guidance scheme in the presence of disturbances.

Boundary Layer Eigenvalues in SISO Discrete-Time Sliding Mode Control with Observer

2006 ◽  
Vol 128 (3) ◽  
pp. 729-730
Author(s):  
Hanz Richter ◽  
Eduardo A. Misawa
Keyword(s):  
Boundary Layer ◽  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
System Matrix ◽  
Mode Control ◽  
Sliding Manifold ◽  
Error Dynamics ◽  
Linear State

A result that allows us to specify the sliding manifold in observer-based discrete-time sliding mode control is presented. Selection of coefficients is done by analyzing the tracking error dynamics inside the boundary layer, where the closed-loop system has a linear state feedback configuration, rather than assuming that ideal sliding occurs. The result facilitates assignment of eigenvalues for the system matrix which defines such linear dynamics.

Fault detection based on higher-order sliding mode observer for a class of switched linear systems

2015 ◽  
Vol 9 (15) ◽  
pp. 2249-2256 ◽  
Author(s):  
Jeremy Van Gorp ◽  
Kalyana Chakravarthy Veluvolu ◽  
Mohamed Djemai ◽  
Michael Defoort
Keyword(s):  
Fault Detection ◽  
Linear Systems ◽  
Sliding Mode ◽  
Higher Order ◽  
Sliding Mode Observer ◽  
Switched Linear Systems

Sliding Mode Controller with Nonlinear Sliding Surface for Two-Link Planar Manipulator

2018 ◽  
Vol 10 (2) ◽  
Author(s):  
Yu-Yang Kow ◽  
Jee-Hou Ho ◽  
Tong-Yuen Chai
Keyword(s):  
Sliding Mode ◽  
Higher Order ◽  
Time Dependent ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Lyapunov Theorem ◽  
Previous Approach ◽  
Rotating Surface ◽  
Sliding Manifold

The objective of this paper is to propose a method to control a two-link planar manipulator using a sliding mode controller with higher order sliding surface. Earlier approaches of varying sliding surface are time dependent and this may not yield optimal performance as the rotating surface does not depend on the dynamic states of the system. In this paper, the proposed control law alters the sliding surface based on the error states to drive the trajectory approaching the sliding phase quicker. A new sliding manifold is established and tuned until error decreases to zero. Stability is ensured through Lyapunov theorem and the trajectory is driven towards a designed sliding surface. The performance of the proposed controller is evaluated and compared against the conventional sliding mode controller as well as the previous approach of rotating sliding surface controller. Results showed that the proposed controller improved the respond speed and shortened the reaching phase. Although the chattering phenomenon remains, it enhanced the flexibility to adapt to the variation of system settings (e.g. torque limit).

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