scholarly journals Tuning and Feasibility Analysis of Classical First-Order MIMO Non-Linear Sliding Mode Control Design for Industrial Applications

Machines ◽  
2019 ◽  
Vol 7 (1) ◽  
pp. 10 ◽  
Author(s):  
Alessandro Palmieri ◽  
Renato Procopio ◽  
Andrea Bonfiglio ◽  
Massimo Brignone ◽  
Marco Invernizzi ◽  
...  
Keyword(s):  
Feedback Linearization ◽  
Sliding Mode ◽  
Parameter Tuning ◽  
Industrial Applications ◽  
Single Input Single Output ◽  
First Order ◽  
Control Techniques ◽  
Single Output ◽  
System A ◽  
Single Input

Model-based control techniques have been gaining more and more interest these days. These complex control systems are mostly based on theories, such as feedback linearization, model predictive control, adaptive and robust control. In this paper the latter approach is investigated, in particular, sliding mode (SM) control is analyzed. While several works on the description and application of SM control on single-input single-output systems can easily be found, its application on multi-input multi-output systems is not examined in depth at the same level. Hence, this work aims at formalizing some theoretical complements about the necessary conditions for the feasibility of the SM control for multi-input-multi-output systems. Furthermore, in order to obtain the desired performance from the control system, a method for parameter tuning is proposed in the particular case in which the relative degree of the controlled channels is equal to one. Finally, a simple control problem example is shown with the aim of stressing the benefits derived from the application of the theoretical complements described here.

scholarly journals Adaptive Moving Sliding Mode Control for SISO Systems: Application to an Electropneumatic System

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Assil Ayadi ◽  
Soufien Hajji ◽  
Mohamed Smaoui ◽  
Abdessattar Chaari
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sliding Surface ◽  
External Disturbances ◽  
Single Input Single Output ◽  
Mode Control ◽  
Single Output ◽  
Single Input ◽  
Electropneumatic System ◽  
Siso Systems

This paper aims to propose and develop an adaptive moving sliding mode controller (AMSMC) that can be applied for nonlinear single-input single-output (SISO) systems with external disturbances. The main contribution of this framework consists to overcome the chattering phenomenon problem. The discontinuous term of the classic sliding mode control is replaced by an adaptive term. Moreover, a moving sliding surface is proposed to have better tracking and to guarantee robustness to the external disturbances. The parameters of the sliding surface and the adaptive law are deduced based on Lyapunov stability analysis. An experimental application of electropneumatic system is treated to validate the theoretical results.

scholarly journals Sliding Mode Control Design for a Class of SISO Systems with Uncertain Sliding Surface

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Guofeng Wang ◽  
Kai Zheng ◽  
Xingcheng Wang ◽  
Shuanghe Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Single Input Single Output ◽  
Mode Control ◽  
Single Output ◽  
Single Input ◽  
Phase Design ◽  
Invariant Transformation ◽  
Siso Systems

The problem of designing a sliding mode controller with uncertain sliding surface for a class of uncertain single-input-single-output systems is studied. The design case is handled by using the invariant transformation first in order to separate the sliding mode and the reaching mode of the sliding mode control system. It is shown that the sliding mode design needs not to consider the uncertainties of the sliding surface, which can be handled in the reaching phase design. The results generalize the robust design of the reaching phase such that one specific reaching phase design may agree with several sliding surfaces.

scholarly journals Robust Observer for a Class of Nonlinear SISO Dynamical Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
David Rosas ◽  
Joaquin Alvarez ◽  
Patricia Rosas ◽  
Raul Rascon
Keyword(s):  
Dynamic Systems ◽  
Sliding Mode ◽  
Observer Design ◽  
Parameter Uncertainties ◽  
Single Input Single Output ◽  
Single Output ◽  
Equivalent Control ◽  
Bounded Disturbances ◽  
Single Input ◽  
Second Order Sliding Mode

A procedure to design an asymptotically stable second-order sliding mode observer for a class of single input single output (SISO) nonlinear systems in normal form is presented. The observer converges to the system state in spite of the existence of bounded disturbances and parameter uncertainties affecting the system dynamics. At the same time, the observer estimates the disturbances without the use of an additional filter to recover the equivalent control. The observer design is modular; each module of the observer is applied to each equation of state of the plant. Because of this, the proposed observer can be applied to a broader class of dynamic systems. The performance of the observer is illustrated in numerical and experimental form.

On Fuzzy Sliding Control for a Robot Manipulator

2013 ◽  
Vol 834-836 ◽  
pp. 1251-1255
Author(s):  
Pu Hua Tang ◽  
Yu Yong Lei
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Small Extent ◽  
Fuzzy Rules ◽  
Single Input Single Output ◽  
Sliding Control ◽  
Single Output ◽  
Single Input ◽  
Rising Time

A fuzzy sliding control for the motion of the robot manipulator is proposed. The quasi-sliding mode control (QSMC) was added to the fuzzy control. Therefore the system inputs and fuzzy rules can be reduced in fuzzy sliding control. Then the system will be a Single Input Single Output (SISO) system and it has only five fuzzy rules. This makes design process much more simple. The simulation results show that by employing proposed controller to the position control of a three-axis robot manipulator, the overshoot was drastically reduced. Also fast rising time and a small extent of steady-state error can be obtained.

Active Vibration Isolation of Metrology Frames; A Modal Decoupled Control Design

2005 ◽  
Vol 127 (3) ◽  
pp. 223-233 ◽  
Author(s):  
Marcel Heertjes ◽  
Koen de Graaff ◽  
Jan-Gerard van der Toorn
Keyword(s):  
Vibration Isolation ◽  
Isolation System ◽  
Single Input Single Output ◽  
Single Output ◽  
System A ◽  
Active Vibration ◽  
Single Input ◽  
And Performance ◽  
Six Degree Of Freedom ◽  
Active Vibration Isolation

For a six degree-of-freedom active vibration isolation system, a control strategy based on modal decoupling is proposed. This has the advantage of controlling the modal directions on a centralized single-input single-output basis. As a consequence, stability and performance can be imposed in each of the modal directions separately. An experimental demonstration is given using a dummy metrology frame. That is, a 1600 kg payload mass supported by three combined pneumatic and Lorentz controlled isolators. With this setup, two unstable modal directions resulting from a high center of gravity are stabilized without compromising performance in any of the remaining directions. In fact, performance in the remaining directions is enhanced using manual loop shaping.

Model-free sliding mode control, theory and application

2018 ◽  
Vol 232 (10) ◽  
pp. 1292-1301
Author(s):  
Nahid Ebrahimi ◽  
Sadjaad Ozgoli ◽  
Amin Ramezani
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Optimization Procedure ◽  
Experimental Tests ◽  
Single Input Single Output ◽  
Model Free ◽  
Single Output ◽  
Single Input ◽  
New Perspective ◽  
The Cost

In this article, a novel data-driven sliding mode controller for a single-input single-output nonlinear system is designed from a new perspective. The proposed controller is model-free, that is, it is based on just input and output data. Therefore, it is suitable for systems with unknown models. The approach to design the controller is based on an optimization procedure. First, a linear regression estimation is assumed to exist for the system behavior. Then an optimal controller is designed for this estimated model. The cost function is proposed in a way that minimization of it, could guarantee that the sliding function and its first derivative converge to zero. Based on rigorous theoretical analysis, boundedness of the tracking error is then proved. Uncertainty is then considered and the control law is modified to cope with it. To demonstrate the validity and the performance of the proposed method in different situations, different computer simulations and experimental tests have been provided. Results show the effectiveness of the proposed method for different systems in different situations.

scholarly journals Robustness analysis of nonlinear systems subject to state feedback linearization

2009 ◽  
Vol 20 (4) ◽  
pp. 482-489 ◽  
Author(s):  
Eduardo Rath Rohr ◽  
Luís Fernando Alves Pereira ◽  
Daniel Ferreira Coutinho
Keyword(s):  
Nonlinear Systems ◽  
Feedback Linearization ◽  
State Feedback ◽  
Robustness Analysis ◽  
Linear Matrix ◽  
Single Input Single Output ◽  
Single Output ◽  
Robust Stability Analysis ◽  
Single Input ◽  
The Stability

This paper presents a methodology to the robust stability analysis of a class of single-input/single-output nonlinear systems subject to state feedback linearization. The proposed approach allows the analysis of systems whose nonlinearities can be represented in the rational (and polynomial) form. Through a suitable system representation, the stability conditions are described in terms of linear matrix inequalities, which is known to have a convex (numerical) solution. The method is illustrated via a numerical example.

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