A Bifurcated Gain Adaptation Strategy in Sliding Mode Control with Chattering Alleviation for High Fidelity Operations

In this contribution, a gain adaptation for sliding mode control (SMC) is proposed that uses both linear model predictive control (LMPC) and an estimator-based disturbance compensation. Its application is demonstrated with an electromagnetic actuator. The SMC is based on a second-order model of the electric actuator, a direct current (DC) drive, where the current dynamics and the dynamics of the motor angular velocity are addressed. The error dynamics of the SMC are stabilized by a moving horizon MPC and a Kalman filter (KF) that estimates a lumped disturbance variable. In the application under consideration, this lumped disturbance variable accounts for nonlinear friction as well as model uncertainty. Simulation results point out the benefits regarding a reduction of chattering and a high control accuracy.

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Sliding mode control with gain adaptation—Application to an electropneumatic actuator

Control Engineering Practice ◽

10.1016/j.conengprac.2012.04.012 ◽

2013 ◽

Vol 21 (5) ◽

pp. 679-688 ◽

Cited By ~ 94

Author(s):

Franck Plestan ◽

Yuri Shtessel ◽

Vincent Brégeault ◽

Alexander Poznyak

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Mode Control ◽

Gain Adaptation

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Disturbance observer-based higher order sliding mode control with switching gain adaptation

2016 14th International Workshop on Variable Structure Systems (VSS) ◽

10.1109/vss.2016.7506911 ◽

2016 ◽

Author(s):

Li Peng ◽

Ma Jianjun ◽

Yang Han ◽

Zheng Zhiqiang

Keyword(s):

Sliding Mode Control ◽

Disturbance Observer ◽

Sliding Mode ◽

Higher Order ◽

Mode Control ◽

Gain Adaptation

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On adaptive sliding mode control for improved quadrotor tracking

Journal of Vibration and Control ◽

10.1177/1077546317703541 ◽

2017 ◽

Vol 24 (14) ◽

pp. 3219-3230 ◽

Cited By ~ 16

Author(s):

Sudhir Nadda ◽

A Swarup

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Lyapunov Stability Theory ◽

Adaptive Method ◽

Adaptation Strategy ◽

Adaptive Sliding Mode Control ◽

Parameter Uncertainties ◽

External Disturbances ◽

Mode Control

The tracking control of a quadrotor has been considered in this paper. The application of sliding mode control provides robustness against parametric uncertainties, but it requires knowledge of the upper bounds of uncertainties. An adaptation strategy has been proposed to implement sliding mode control, which does not require the upper bound of the uncertainties. The adaptive control law is derived on the basis of Lyapunov stability theory, which guarantees the tracking performance. The adaptation can be tuned faster by proper tuning, and convergence with good tracking can be achieved. The proposed adaptive method has improved robustness and provided simpler implementation. Through an illustrative simulation example, the performance of the proposed control method is presented and also compared with classical sliding mode control from the literature. It is demonstrated that the performance of quadrotor altitude tracking and convergence has been considerably improved while maintaining stability, even in presence of external disturbances and parameter uncertainties.

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