scholarly journals Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Energies ◽  
2020 ◽  
Vol 13 (22) ◽  
pp. 6041
Author(s):  
Fredy A. Valenzuela ◽  
Reymundo Ramírez ◽  
Fermín Martínez ◽  
Onofre A. Morfín ◽  
Carlos E. Castañeda
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Dc Motor ◽  
Experimental Results ◽  
Resistive Load ◽  
Velocity Control ◽  
Velocity Sensor ◽  
Control Scheme ◽  
Mechanical Sensors ◽  
Twisting Algorithm

A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

Robust Multimode Flight Framework Based on Sliding Mode Control for a Rotary UAV

Robotica ◽  
2020 ◽  
pp. 1-19
Author(s):  
Abraham Villanueva ◽  
Luis F. Luque-Vega ◽  
Luis E. González-Jiménez ◽  
Carlos A. Arellano-Muro
Keyword(s):  
Flight Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Fire Detection ◽  
External Disturbances ◽  
Complete Control ◽  
Flight Mode ◽  
Control Scheme ◽  
The Stability ◽  
Twisting Algorithm

SUMMARY This work presents a multimode flight framework control scheme for a quadrotor based on the super twisting algorithm. The controller design stages for six flight control modes are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is shown in a 3D simulation environment considering a forest fire detection task, which takes into account external disturbances.

Adaptive Decentralized Vibration Control of a Cable-Stayed Bridge in the Presence of Seismic Excitation

1999 ◽  
Author(s):  
Ningsu Luo ◽  
Jose Rodellar ◽  
Manuel De la Sen ◽  
Josep Vehi
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
A Priori ◽  
Seismic Excitation ◽  
Upper And Lower Bounds ◽  
Nonlinear Mathematical Model ◽  
Scaled Model ◽  
Cable Stayed Bridge ◽  
Sliding Motion ◽  
Control Scheme

Abstract In this paper, an adaptive decentralized controller is presented to attenuate the transversal vibration of a flexible cable-stayed bridge induced by seismic excitation, in which only local sensor information has been used to generate the control signal that is sent to the actuator. The dynamic behavior of the beam structure is characterized by a nonlinear mathematical model with interconnection terms, which was obtained by using technique of finite element. The controller design is made based on the principle of sliding mode such that a priori knowledge on the exact value of system parameters, structural disturbances and the seismic excitation is not required. In particular, it is assumed that the upper and lower bounds for the seismic excitation are also unknown. The closed-loop robust stability has been achieved through the generation of a sliding motion in the system. Numerical simulation is done to illustrate the effectiveness of the proposed control scheme for a scaled model of the bridge subject to the Taft earthquake.

scholarly journals Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-23 ◽  
Author(s):  
Guoqiang Zhu ◽  
Sen Wang ◽  
Lingfang Sun ◽  
Weichun Ge ◽  
Xiuyu Zhang
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Process ◽  
Nonlinear Observer ◽  
Dynamic Surface ◽  
Mode Control ◽  
Control Scheme

In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.

scholarly journals Gliding-Guided Projectile Attitude Tracking Controller Design Based on Improved Adaptive Twisting Sliding Mode Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wenguang Zhang ◽  
Wenjun Yi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Closed Loop System ◽  
Finite Time Convergence ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Chattering Attenuation ◽  
Attitude Tracking Control

The finite-time attitude tracking control for gliding-guided projectile with unmatched and matched disturbance is investigated. An adaptive variable observer is used to provide estimation for the unmeasured state which contains unmatched disturbance. Then, an improved adaptive twisting sliding mode algorithm is proposed to compensate for the matched disturbance dynamically with better transient quality. Finally, a proof of the finite-time convergence of the closed-loop system under the disturbance observer and the adaptive twisting sliding mode-based controller is derived using the Lyapunov technique. This attitude tracking control scheme does not require any information on the bounds of uncertainties. Simulation results demonstrate that the proposed method which is able to acquire the minimum possible values of the control gains guaranteeing the finite-time convergence performs well in chattering attenuation and tracking precision.

scholarly journals Robust Synchronization of Incommensurate Fractional-Order Chaotic Systems via Second-Order Sliding Mode Technique

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Hua Chen ◽  
Wen Chen ◽  
Binwu Zhang ◽  
Haitao Cao
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Second Order ◽  
External Disturbances ◽  
Globally Asymptotically Stable ◽  
Control Scheme ◽  
Chattering Free ◽  
Second Order Sliding Mode

A second-order sliding mode (SOSM) controller is proposed to synchronize a class of incommensurate fractional-order chaotic systems with model uncertainties and external disturbances. Based on the chattering free SOSM control scheme, it can be rigorously proved that the dynamics of the synchronization error is globally asymptotically stable by using the Lyapunov stability theorem. Finally, numerical examples are provided to illustrate the effectiveness of the proposed controller design approach.

scholarly journals Using Adaptive Second Order Sliding Mode to Improve Power Control of a Counter-Rotating Wind Turbine under Grid Disturbances

2020 ◽  
Vol 22 (6) ◽  
pp. 427-434
Author(s):  
Adil Yahdou ◽  
Abdelkadir Belhadj Djilali ◽  
Zinelaabidine Boudjema ◽  
Fayçal Mehedi
Keyword(s):  
Power Control ◽  
Wind Turbine ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Control Scheme ◽  
Doubly Fed ◽  
Twisting Algorithm ◽  
Unbalanced Network ◽  
Second Order Sliding Mode

This work presents a new control strategy for counter-rotating wind turbine (CRWT) driven doubly-fed induction generator (DFIG) under grid disturbances, such as unbalanced network voltage scenarios. The proposed strategy based on the power control used dynamic gains second order sliding mode control (SOSMC). The power control of a DFIG by SOSMC widely based on the super-twisting (ST) algorithm with invariable parameters and sign functions. The proposed control method consists in using dynamic-parameters ST algorithm that ensures a better result than a conventional strategy. The proposed control scheme used 2 sliding surfaces such as reactive and active powers to control them. Also, the sign functions are replaced by saturation (sat) functions in order to minimize the chattering problems. Simulation results depicted in this research article have confirmed the good usefulness and effectiveness of the proposed adaptive super-twisting algorithm of the CRWT system during grid disturbances.

scholarly journals Speed Regulation Control for an Integrated Motor-Transmission System under External Disturbances

2020 ◽  
Vol 11 (3) ◽  
pp. 53
Author(s):  
Wei Huang ◽  
Jianfeng Huang ◽  
Chengliang Yin
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Motor Speed ◽  
External Disturbances ◽  
Speed Regulation ◽  
Speed Tracking ◽  
Powertrain System ◽  
Control Scheme ◽  
Combined Control ◽  
Practical Engineering

Precise motor speed regulation control is essential to achieve a good gear shifting quality of the integrated motor-transmission (IMT) system, in which the relative speed between outgoing shaft and the gearwheel to be engaged can be eliminated directly through regulation of the motor speed. The speed regulation control confronts the difficulty that there exist external disturbances on the motor shaft, like the unknown load torque arised from bearing friction, oil shearing and oil churning, etc. To deal with these disturbances, a robust speed regulation controller combined a nominal proportional control and integral sliding mode control is proposed. The former is designed to achieve a good speed tracking performance and the latter provides functionality of disturbances rejection. The effects of different controller parameters for the robust controller design are assessed via simulations. Moreover, to verify the effectiveness of the combined control scheme in practical engineering use, experiments are carried out on a test bench with a real IMT powertrain system. Results indicate that the proposed approach can attain a rapid and smooth speed regulation process with a simple controller structure and good robustness.

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