scholarly journals Discrete-Time Fractional Order Integral Sliding Mode Control of an Antagonistic Actuator Driven by Pneumatic Artificial Muscles

2019 ◽  
Vol 9 (12) ◽  
pp. 2503 ◽  
Author(s):  
Quy-Thinh Dao ◽  
Manh-Linh Nguyen ◽  
Shin-ichiroh Yamamoto
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Discrete Time ◽  
Sliding Mode ◽  
Artificial Muscles ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Fractional Order Integral

Recently, pneumatic artificial muscles (PAMs), a lightweight and high-compliant actuator, have been increasingly used in assistive rehabilitation robots. PAM-based applications must overcome two inherent drawbacks. The first is the nonlinearity due to the compressibility of the air, and the second is the hysteresis due to its geometric construction. Because of these drawbacks, it is difficult to construct not only an accurate mathematical model but also a high-performance control scheme. In this paper, the discrete-time fractional order integral sliding mode control approach is investigated to deal with the drawbacks of PAMs. First, a discrete-time second order plus dead time mathematical model is chosen to approximate the characteristics of PAMs in the antagonistic configuration. Then, the fractional order integral sliding mode control approach is employed together with a disturbance observer to improve the trajectory tracking performance. The effectiveness of the proposed control method is verified in multi-scenario experiments using a physical actuator.

scholarly journals Discrete–Time Integral Sliding Mode Control with Disturbances Compensation and Reduced Chattering for Pv Grid–Connected Inverter

2015 ◽  
Vol 66 (2) ◽  
pp. 61-69 ◽  
Author(s):  
Santolo Meo ◽  
Vincenzo Sorrentino
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Time Integral ◽  
Grid Connected Inverter ◽  
Disturbances Compensation

Abstract In the paper a new discrete-time integral sliding mode control (DISMC) with disturbances compensation and reduced chattering for grid-connected inverter is proposed for active and reactive power regulation. Differently by many SMC proposed in literature that have a time-continuous formulation in spite have been implemented with digital processor, the proposed DISMC is fully formulated in discrete-time, taking into account the effects introduced by a microprocessor-based implementation. As will be demonstrated such approach consents to reduce the chattering about the sliding manifold within a boundary layer of O(T2) thickness instead of O(T) (being T the sampling period of the control algorithm). Moreover it introduces a correction of the control vector which eliminates the influence of modeling error and external disturbances improving stability and robustness of the controlled system. Constant converter switching frequency is achieved by using space vector modulation, which eases the design of the ac harmonic filter. In the paper, after a detailed formalization of the proposed control algorithm, several numerical and experimental results on a three-phase grid-connected inverter prototype are shown, proving the effectiveness of the control strategy.

A new continuous integral sliding mode control algorithm for inverted pendulum and 2-DOF helicopter nonlinear systems: Theory and experiment

2021 ◽  
pp. 095965182110480
Author(s):  
Satyanarayan Sadala ◽  
Balasaheb Patre ◽  
Divyesh Ginoya
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Discontinuous Function ◽  
Single Input Single Output ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Control Approach ◽  
Mode Control

This paper introduces a new continuous integral sliding mode control algorithm, where the discontinuous function of the super-twisting control law is replaced with a continuous disturbance observer for the substantial chattering attenuation. In the present integral sliding mode control, the discontinuous function generates chattering that is undesirable for several real-time applications. The proposed control strategy decreases the amplitude of the controller gain compared to the existing integral sliding mode controls, and as a consequence of this, the attenuation of chattering is achieved to a great extent. The efficacy of the proposed control algorithm is validated successfully on the single-input single-output Inverted Pendulum and 2-DOF Helicopter nonlinear coupled multi-input multi-output systems. The simulation and experimental results demonstrate the successful application of the proposed control approach to follow reference inputs and acquire robustness and stabilization of the system in the presence of limited matched perturbations and nonlinearities.

Power Flow Control in DC Microgrids Using an Integral Sliding Mode Control Approach

2021 ◽  
Author(s):  
Tabassum Haque ◽  
Tushar Kanti Roy ◽  
Farjana Faria ◽  
Most. Mahmuda Khatun ◽  
Tanmoy Sarkar ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Flow Control ◽  
Power Flow ◽  
Sliding Mode ◽  
Power Flow Control ◽  
Integral Sliding Mode Control ◽  
Dc Microgrids ◽  
Integral Sliding Mode ◽  
Control Approach ◽  
Mode Control
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