scholarly journals Output Feedback Tracking Sliding Mode Control for Systems with State- and Input-Dependent Disturbances

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 117
Author(s):  
Yi-Liang Yeh
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Sliding Mode ◽  
Estimation Error ◽  
External Disturbance ◽  
Control Input ◽  
System State ◽  
Control Approach ◽  
Mode Control ◽  
Feedback Tracking

In this paper, output feedback tracking sliding mode control was considered for uncertain multivariable linear systems. The uncertainties included external disturbance, the system state, and control input. A new property of the loop transfer recovery (LTR) observer was first established: the state estimation error of the LTR observer can be made arbitrarily small with respect to state- and input-dependent system uncertainties. Observer-based output feedback tracking sliding mode control using the LTR observer is presented. The proposed sliding mode control approach can maintain the boundedness of the system state and drive the system outputs arbitrarily close to the desired reference outputs; the degree of closeness was determined by a design parameter in the LTR observer. In the proposed approach, the most general and simple observer-based output feedback control formulation was used to achieve global tracking. Simulations with a two-degree-of-freedom (DOF) robotic manipulator application illustrated the claimed properties, and a peaking and chattering reduction technique was demonstrated to protect the actuator.

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1701-1727 ◽  
Author(s):  
Mohd Ariffanan Mohd Basri
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Control Approach ◽  
Mode Control ◽  
Aerial Robot ◽  
Six Dof

SUMMARYThe quadrotor aerial robot is a complex system and its dynamics involve nonlinearity, uncertainty, and coupling. In this paper, an adaptive backstepping sliding mode control (ABSMC) is presented for stabilizing, tracking, and position control of a quadrotor aerial robot subjected to external disturbances. The developed control structure integrates a backstepping and a sliding mode control approach. A sliding surface is introduced in a Lyapunov function of backstepping design in order to further improve robustness of the system. To attenuate a chattering problem, a saturation function is used to replace a discontinuous sign function. Moreover, to avoid a necessity for knowledge of a bound of external disturbance, an online adaptation law is derived. Particle swarm optimization (PSO) algorithm has been adopted to find parameters of the controller. Simulations using a dynamic model of a six degrees of freedom (DOF) quadrotor aerial robot show the effectiveness of the approach in performing stabilization and position control even in the presence of external disturbances.

scholarly journals Sliding mode control of biogas production by anaerobic digestion with addition of acetate

2019 ◽  
Vol 93 ◽  
pp. 03002
Author(s):  
Plamena Zlateva
Keyword(s):  
Anaerobic Digestion ◽  
Sliding Mode Control ◽  
Expert Knowledge ◽  
Sliding Mode ◽  
Biogas Production ◽  
External Disturbance ◽  
Control Input ◽  
State Variables ◽  
Mode Control ◽  
And Control

Biogas production by anaerobic digestion with addition of acetate is considered. Sliding mode control for regulation of the biogas flow rate using the addition of acetate as a control action is proposed. The control design is carried out with direct use of nonlinear model and expert knowledge. Chattering phenomena are avoided by realizing the sliding mode with respect to the control input derivative. The state variables, external disturbance, process output and control input are varied in the known intervals. The performance of the designed sliding mode control is investigated by varying the process set point and the uncertain process parameter, which reflecting the influence of the external disturbance. The excellent performance of presented control is proved through simulation investigations in MATLAB using Simulink.

scholarly journals A new hybrid robust sliding mode control for an underwater vehicle in dive plane

2019 ◽  
Vol 52 (7-8) ◽  
pp. 832-843
Author(s):  
Majid Yarahmadi ◽  
Zahra Tavanaei Sereshki
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Underwater Vehicle ◽  
Control Signal ◽  
Robust Tracking Control ◽  
Control Approach ◽  
Mode Control ◽  
Low Pass ◽  
A Chain

In this paper, a new hybrid robust tracking control for an underwater vehicle in dive plane via [Formula: see text] method and time-variant sliding mode control is designed. The proposed controller is composed of two control signals. One control signal is designed via time-variant sliding function based on time-variant rejection parameter, and the other control signal is designed based on [Formula: see text] control approach. The underwater vehicle dynamics are nonlinear uncertain dynamical equation with unknown external disturbances. Therefore, in this paper, an observation of the external disturbance with a time-variant gain parameter is designed. The proposed method eliminates the effects of uncertainties and chattering phenomenon. Also, the time-variant sliding function filters all the unmodeled frequencies and external noises, such as a chain of [Formula: see text] first-order adaptive low-pass filters. A new theorem, for facilitating the presented method, is proved. Finally, two examples for demonstrating the advantages of the proposed method are simulated.

Dynamic sliding mode-based attitude stabilisation control of satellites with angular velocity and control constraints

2018 ◽  
Vol 41 (4) ◽  
pp. 934-941 ◽  
Author(s):  
Chunmei Yu ◽  
Xun Xie
Keyword(s):  
Angular Velocity ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Convergence Time ◽  
Small Radius ◽  
Control Law ◽  
Control Approach ◽  
Mode Control ◽  
Dynamic Sliding Mode

This work presents a novel control approach to the attitude stabilisation problem of rigid satellites with external disturbance, control constraint, and angular velocity constraint. The controller is developed in the framework of dynamic sliding mode control. A dynamic sliding mode surface is preliminarily chosen, and then a structure-simple sliding mode control law is synthesised. It is proved that the proposed control law can successfully accomplish the attitude stabilisation manoeuvre. The attitude is exponentially stabilised, and the angular velocity is stabilised with an exponential rate to a ball with a small radius. In comparison with the static sliding mode surface-based controllers, the proposed approach can provide a fast convergence rate. The system convergence time can be shortened by dynamically updating the control parameters in the sliding mode. Simulation results are presented to examine the feasibility of the presented solution.

scholarly journals Speed Tracking and Synchronization of a Multimotor System Based on Fuzzy ADRC and Enhanced Adjacent Coupling Scheme

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Liang Tao ◽  
Qiang Chen ◽  
Yurong Nan ◽  
Fang Dong ◽  
Yan Jin
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Estimation ◽  
External Disturbance ◽  
Synchronization Control ◽  
Coupling Scheme ◽  
Coupling Coefficients ◽  
Control Approach ◽  
Mode Control ◽  
Speed Tracking

In this paper, a speed tracking and synchronization control approach is proposed for a multimotor system based on fuzzy active disturbance rejection control (FADRC) and enhanced adjacent coupling scheme. By employing fuzzy logic rules to adjust the coefficients of the extended state observer (ESO), FADRC is presented to guarantee the speed tracking performance and enhance the system robustness against external disturbance and parametric variations. Moreover, an enhanced adjacent coupling synchronization control strategy is proposed to simplify the structure of the speed synchronization controller through introducing coupling coefficients into the conventional adjacent coupling approach. Based on the proposed synchronization control scheme, an adaptive integral sliding mode control (AISMC) is investigated such that the chattering problem in conventional sliding mode control can be weakened by designing an adaptive estimation law of the control gain. Comparative simulations are carried out to prove the superiorities of the proposed method.

Discrete T–S fuzzy systems with time-varying delays: a new discrete sliding mode control approach

2017 ◽  
Vol 40 (7) ◽  
pp. 2332-2339 ◽  
Author(s):  
Yassine Ben Yazid ◽  
Driss Mehdi ◽  
Ahmed Said Nouri
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Delay Systems ◽  
Linear Matrix ◽  
Control Input ◽  
Common Input ◽  
Restrictive Assumption ◽  
Control Approach ◽  
Mode Control ◽  
Discrete Sliding Mode Control

The control of nonlinear systems has been the subject of extensive research. This interest is mainly due to its potential for real applications. In this paper, we investigated discrete sliding mode control for a class of nonlinear time-delay systems represented by T–S fuzzy models. In most existing fuzzy sliding mode control, a common input matrix is considered for all subsystems. This assumption is very restrictive. Therefore, we proposed a new sliding surface, which takes account of the system state and the control input in order to exclude the restrictive assumption. Furthermore, we have improved the latter sliding mode control scheme, by adding delayed states. Based on formulation of linear matrix inequalities, the parameters of the sliding function are obtained. Therefore, to further reduce the conservatism in the existing results, the Wirtinger-based integral inequality and Jensens inequality are employed. To show the applicability and effectiveness of the proposed controller design methodology, a numerical example is given for illustration.

scholarly journals Second-Order Super-Twisting Sliding Mode Control for Finite-Time Leader-Follower Consensus with Uncertain Nonlinear Multiagent Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Nan Liu ◽  
Rui Ling ◽  
Qin Huang ◽  
Zheren Zhu
Keyword(s):  
Sliding Mode Control ◽  
Multiagent Systems ◽  
Finite Time ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Second Order ◽  
Control Input ◽  
Control Approach ◽  
Mode Control ◽  
Consensus Tracking

Consensus tracking problem of the leader-follower multiagent systems is resolved via second-order super-twisting sliding mode control approach. The followers’ states can keep consistent with the leader’s states on sliding surfaces. The proposed approach can ensure the finite-time consensus if the directed graph of the nonlinear system has a directed path under the condition that leader’s control input is unavailable to any followers. It is proved by using the finite-time Lyapunov stability theory. Simulation results verify availability of the proposed approach.

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