scholarly journals An Enhanced Sliding Mode Speed Control for Induction Motor Drives

Actuators ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 18
Author(s):  
Fahimeh Shiravani ◽  
Patxi Alkorta ◽  
Jose Antonio Cortajarena ◽  
Oscar Barambones
Keyword(s):  
Induction Motor ◽  
Control Method ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Lyapunov Stability Theory ◽  
Sigmoid Function ◽  
Parameter Uncertainties ◽  
Integral Methods ◽  
Synchronous Reference Frame ◽  
Indirect Field Oriented Control

In this paper, an enhanced Integral Sliding Mode Control (ISMC) for mechanical speed of an Induction Motor (IM) is presented and experimentally validated. The design of the proposed controller has been done in the d-q synchronous reference frame and indirect Field Oriented Control (FOC). Global asymptotic speed tracking in the presence of model uncertainties and load torque variations has been guaranteed by using an enhanced ISMC surface. Moreover, this controller provides a faster speed convergence rate compared to the conventional ISMC and the Proportional Integral methods, and it eliminates the steady-state error. Furthermore, the chattering phenomenon is reduced by using a switching sigmoid function. The stability of the proposed controller under parameter uncertainties and load disturbances has been provided by using the Lyapunov stability theory. Finally, the performance of this control method is verified through numerical simulations and experimental tests, getting fast dynamics and good robustness for IM drives.

On adaptive sliding mode control for improved quadrotor tracking

2017 ◽  
Vol 24 (14) ◽  
pp. 3219-3230 ◽  
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.

A new reaching law for sliding mode observer of controllable excitation linear synchronous motor

2021 ◽  
pp. 014233122110320
Author(s):  
Xiaolei Shi ◽  
Yipeng Lan ◽  
Yunpeng Sun ◽  
Cheng Lei
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Angular Position ◽  
Lyapunov Stability Theory ◽  
Synchronous Motor ◽  
Position Estimation ◽  
Sliding Mode Observer ◽  
Sigmoid Function ◽  
Reaching Law ◽  
Linear Synchronous Motor

This paper presents a sliding mode observer (SMO) with new reaching law (NRL) for observing the real-time linear speed of a controllable excitation linear synchronous motor (CELSM). For the purpose of balancing the dilemma between the rapidity requirement of dynamic performance and the chattering reduction on sliding mode surface, the proposed SMO with NRL optimizes the reaching way of the conventional constant rate reaching law (CRRL) to the sliding mode surface by connecting the reaching process with system states and the sliding mode surface. The NRL is based on sigmoid function and power function, with proper options of exponential term and power term, the NRL is capable of eliminating the effect of chattering on accuracy of the angular position estimation and speed estimation. Compared with conventional CRRL, the SMO with NRL achieves suppressing the chattering phenomenon and tracking the transient process rapidly and accurately. The stability analysis is given to prove the convergence of the SMO through the Lyapunov stability theory. Simulation and experimental results show the effectiveness of the proposed NRL method.

A sky-hook sliding mode semiactive control for commercial truck seat suspension

2020 ◽  
pp. 107754632094097
Author(s):  
Qiang Chen ◽  
Yong Zhang ◽  
Chengwei Zhu ◽  
Jinbo Wu ◽  
Ye Zhuang
Keyword(s):  
Nonlinear System ◽  
Phase Portrait ◽  
Control Method ◽  
Reference Model ◽  
Sliding Mode ◽  
Tracking Error ◽  
Magnetorheological Damper ◽  
Nonlinear Controller ◽  
Parameter Uncertainties ◽  
Seat Suspension

A semiactive seat suspension control method is proposed in this study and applied to attenuate the vibration of the commercial truck seat for enhancing its ride comfort. The semiactive seat suspension system with a magnetorheological damper behaves with undesirable nonlinear properties. The proposed controller is a typical nonlinear controller, which takes the ideal sky-hook controller as the reference model and forces the tracking error vector. The controller has achieved great performance of attenuating vibration and is robust to parameter uncertainties and external disturbances. The relaxation oscillation phenomenon and convergence were also analyzed by the contribution of the phase portrait. As the phase portrait depicted, the sky-hook controller, a weakly nonlinear system, could be approximated by the equivalent linear approximate model. However, the proposed controller, the sky-hook sliding mode controller, is a strongly nonlinear system, which could not be linearized by the regular perturbation theory, and the criterion is given by the phase portrait. The experiment results showed good agreement with the simulation results, and some other matters encountered were also analyzed in the process of application.

scholarly journals New Integrated Guidance and Control of Homing Missiles with an Impact Angle against a Ground Target

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Shengjiang Yang ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Impact Angle ◽  
Guidance And Control ◽  
Ground Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
The Impact

A new integrated guidance and control (IGC) law is investigated for a homing missile with an impact angle against a ground target. Firstly, a control-oriented model with impact angle error of the IGC system in the pitch plane is formulated by linear coordinate transformation according to the motion kinematics and missile dynamics model. Secondly, an IGC law is proposed to satisfy the impact angle constraint and to improve the rapidity of the guidance and control system by combining the sliding mode control method and nonlinear extended disturbance observer technique. Thirdly, stability of the closed-loop guidance and control system is proven based on the Lyapunov stability theory, and the relationship between the accuracy of the impact angle and the estimate errors of nonlinear disturbances is derived from stability of the sliding mode. Finally, simulation results confirm that the proposed IGC law can improve the performance of the missile guidance and control system against a ground target.

scholarly journals Observer-Based Sliding Mode Control for Stabilization of a Dynamic System with Delayed Output Feedback

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Bo Wang ◽  
Peng Shi ◽  
Hamid Reza Karimi ◽  
Cheng Chew Lim
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Delay System ◽  
Linear Matrix ◽  
Mode Control ◽  
Inequality Technique ◽  
Integral Sliding Surface

This paper considers the sliding mode control problem for a kind of dynamic delay system. First by utilizing Lyapunov stability theory and a linear matrix inequality technique, an observer based on delayed output feedback is constructed. Then, an integral sliding surface is presented to realize the sliding mode control for the system with the more available stability condition. Finally, some numerical simulations are implemented to demonstrate the validity of the proposed control method.

scholarly journals Adaptive Sliding Mode Control for a Class of Manipulator Systems with Output Constraint

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Guangshi Li
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Stability Theory ◽  
Adaptive Sliding Mode Control ◽  
Compact Set ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
System Output

In this paper, an adaptive sliding mode control method based on neural networks is presented for a class of manipulator systems. The main characteristic of the discussed system is that the output variable is required to keep within a constraint set. In order to ensure that the system output meets the time-varying constraint condition, the asymmetric barrier Lyapunov function is selected in the design process. According to Lyapunov stability theory, the stability of the closed-loop system is analyzed. It is demonstrated that all signals in the resulted system are bounded, the tracking error converges to a small compact set, and the system output limits in its constrained set. Finally, the simulation example is used to show the effectiveness of the presented control strategy.

scholarly journals Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot

2020 ◽  
Vol 10 (3) ◽  
pp. 413-420 ◽  
Author(s):  
Sara Gholipour ◽  
Heydar Toosian Shandiz ◽  
Mobin Alizadeh ◽  
Sara Minagar ◽  
Javad Kazemitabar
Keyword(s):  
Fractional Calculus ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Lyapunov Stability Theory ◽  
Mode Control ◽  
Control Scheme ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

Background & Objective: This paper considers the chattering problem of sliding mode control in the presence of delay in robot manipulator causing chaos in such electromechanical systems. Fractional calculus was used in order to produce a novel sliding mode to eliminate chatter. To realize the control of a class of chaotic systems in master-slave configuration, a novel fractional dynamic sliding mode control scheme is presented and examined on the delay based chaotic robot. Also, the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Results: Moreover, delayed robot motions are sorted out for qualitative and quantitative study. Finally, numerical simulations illustrate feasibility of the proposed control method. Conclusion: The control scheme is viable.

scholarly journals Discrete Sliding Mode Speed Control of Induction Motor Using Time-Varying Switching Line

Electronics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 185 ◽  
Author(s):  
Grzegorz Tarchała ◽  
Teresa Orłowska-Kowalska
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Power Converter ◽  
Discrete Version ◽  
Time Varying ◽  
Mode Control ◽  
Switching Line

Sliding mode control (SMC) of electric drives constitutes a very popular control method for nonlinear multivariable and time-varying systems, e.g., induction motor (IM) drives. Nowadays, IM are the most popular electrical machines (EM) applied in many industrial applications as motion control devices, including electrical and hybrid vehicles. Nowadays, the control systems of EM are mostly realized using digital techniques (microprocessors and microcontrollers). Therefore, all control algorithms should be discretized or the whole control system should be designed in the discrete-time domain. This paper deals with a discrete-time sliding mode control (DSMC) for IM drives. The discrete algorithms for sliding mode control of the motor speed and rotor flux are derived in detail and next tested in simulation research. The simulation tests include the discrete nature of the power converter supplying the IM and present excellent performance of the developed control structure. To obtain the rotor speed regulation invariant to external disturbances, like load torque or inertia, especially during the reaching phase of the switching line, the discrete version of a time-varying switching line was introduced. It is shown that the assumed dynamics of the IM flux and speed is achieved and the proposed control algorithm can be realized using commonly available microcontrollers. The paper is illustrated with comprehensive simulation results for 1.5 kW IM drive, which are verified by experimental tests.

scholarly journals Nonlinear adaptive sliding-mode control of the electronically controlled air suspension system

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141988152
Author(s):  
Bai Rui
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Parameter Uncertainties ◽  
Nonlinear Dynamical ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Air Suspension ◽  
Electronically Controlled Air Suspension

Recent years, electronically controlled air suspension has been widely used in vehicles to improve the riding comfort and the road holding ability. This article presents a new nonlinear adaptive sliding-mode control method for electronically controlled air suspension. A nonlinear dynamical model of electronically controlled air suspension is established, where the nonlinear dynamical characteristic of the air spring is considered. Based on the proposed nonlinear dynamic model, an adaptive sliding-mode control method is presented to stabilize the displacement of electronically controlled air suspension in the presence of parameter uncertainties. Parameter adaptive laws are designed to estimate the unknown parameters in electronically controlled air suspension. Stability analysis of the proposed nonlinear adaptive sliding-mode control method is given using Lyapunov stability theory. At last, the reliability of the proposed control method is evaluated by the computer simulation. Simulation research shows that the proposed control method can obtain the satisfactory control performance for electronically controlled air suspension.

Adaptive Fast Terminal Sliding Mode Control for a Class of Uncertain Systems with Input Nonlinearity

2017 ◽  
Vol 21 (3) ◽  
pp. 518-526
Author(s):  
Linjie Xin ◽  
◽  
Qinglin Wang ◽  
Yuan Li ◽  
Jinhua She ◽  
...  
Keyword(s):  
Uncertain Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Mimo System ◽  
Dead Zone ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Terminal Sliding Mode ◽  
Input Nonlinearity ◽  
Single Output

This study investigates the terminal sliding mode (TSM) control for a class of first-order uncertain systems with dead-zone and saturation. First, a new adaptive TSM control law was proposed for the single-input and single-output (SISO) systems by employing an integral fast TSM. It achieves rejection for both system uncertainty and input nonlinearity. The global reaching condition of the sliding mode is guaranteed by the Lyapunov stability theory. The new control law possesses faster convergence than the linear sliding mode method, and the singularity problem of TSM is avoided. Then, the control law was extended for tracking control of a dynamic model of spacecraft which was a multi-input and multi-output (MIMO) system. Finally, the simulation results confirmed the effectiveness of the proposed control method.

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