Adaptive Sliding Mode Controller Design for a Nonlinear Inverted Pendulum with Unknown Physical Parameters and its Experiment

2011 ◽  
Vol 128-129 ◽  
pp. 50-53
Author(s):  
Qing He ◽  
Jin Kun Liu
Keyword(s):  
Inverted Pendulum ◽  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Physical Parameters ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Adaptive Law ◽  
System Robustness ◽  
High Degree

In this paper, an adaptive sliding mode control (ASMC) method for a single inverted pendulum (IP) is proposed. The physical parameters are transformed into the model information, thus adaptive law for the IP can be designed with unknown physical parameters. By simulation and experiments, we found that the ASMC method can keep the IP in the upright position, with quick parameters adjustment and high degree of system robustness.

scholarly journals Integrated Uncertainty/Disturbance Suppression Based on Improved Adaptive Sliding Mode Controller for PMSM Drives

Energies ◽  
2021 ◽  
Vol 14 (20) ◽  
pp. 6538
Author(s):  
Mingfei Huang ◽  
Yongting Deng ◽  
Hongwen Li ◽  
Meng Shao ◽  
Jing Liu
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Torque Ripple ◽  
Adaptive Sliding Mode Control ◽  
Periodic Case ◽  
Permanent Magnet Synchronous Motors ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Adaptive Law ◽  
Resonant Controller

Permanent magnet synchronous motors (PMSMs) have attracted great attention in the field of electric drive system. However, the disturbances caused by parameter mismatching, model uncertainty, external load and torque ripple seriously weaken the control accuracy. The traditional adaptive sliding mode control (ASMC) methodology can address slow-varying uncertainties/disturbances whose frequencies are located at the bandwidth of the filter used to design the adaptive law well; however, it has been barely discussed with respect to the periodic situation. In this paper, we extend the ASMC arrangement to periodic case to suppress the torque ripple by using a series-structure resonant controller. Firstly, a typical SMC is designed to force the tracking error of speed to converge to zero and obtain a certain capacity to disturbance. Then, the improved adaptive law is incorporated to estimate the lumped disturbance and torque ripple. The improved adaptive law is enhanced by embedding the resonant controller, which can obtain a better estimating result for torque ripple with repetitive feature. Finally, simulation and experimental results with PI, SMC and proposed methods are compared to verify the effectiveness of the developed controller.

Air Hybrid Engine Torque Control Using Adaptive Sliding Mode Control

2010 ◽  
Author(s):  
Amir Fazeli ◽  
Meysar Zeinali ◽  
Amir Khajepour ◽  
Mohammad Pournazeri
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Mean Value ◽  
Torque Control ◽  
Disturbance Attenuation ◽  
Adaptive Sliding Mode Control ◽  
Engine Torque ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Chattering Effect

In this work, a new air hybrid engine configuration is introduced in which two throttles are used to manage the engine load in three modes of operation i.e. braking, air motor, and conventional mode. A Mean Value Model (MVM) of the engine is developed at braking mode and a new Adaptive Sliding Mode Controller (ASMC), recently proposed in the literature, is applied to control the engine torque at this mode. The results show that the controller performs remarkably well in terms of the robustness, tracking error convergence and disturbance attenuation. Chattering effect is also removed by utilizing the ASMC scheme.

scholarly journals Reduced-Order Antisynchronization of Chaotic Systems via Adaptive Sliding Mode Control

2013 ◽  
Vol 2013 ◽  
pp. 1-12
Author(s):  
Wafaa Jawaada ◽  
M. S. M. Noorani ◽  
M. Mossa Al-Sawalha ◽  
M. Abdul Majid
Keyword(s):  
Sliding Mode Control ◽  
Chaotic System ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Dynamical Evolution ◽  
Adaptive Sliding Mode Control ◽  
Reduced Order ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller

A novel reduced-order adaptive sliding mode controller is developed and experimented in this paper to antisynchronize two different chaotic systems with different order. Based upon the parameters modulation and the adaptive sliding mode control techniques, we show that dynamical evolution of third-order chaotic system can be antisynchronized with the projection of a fourth-order chaotic system even though their parameters are unknown. The techniques are successfully applied to two examples: firstly Lorenz (4th-order) and Lorenz (3rd-order) and secondly the hyperchaotic Lü (4th-order) and Chen (3rd-order). Theoretical analysis and numerical simulations are shown to verify the results.

Adaptive Sliding Mode Control of Piezoelectric Tube Actuator With Hysteresis, Creep and Coupling Effect

2010 ◽  
Author(s):  
S. H. Chung ◽  
Eric H. K. Fung
Keyword(s):  
Sliding Mode ◽  
Coupling Effect ◽  
Linear Part ◽  
Tracking Error ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Fe Model ◽  
Time Varying ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller

The piezoelectric tube actuator of Atomic Force Microscope (AFM) realizes rapid scanning in nano-scale. However, hysteresis, creep and coupling effect of piezoelectric tube actuator significantly limit the precision of AFM. In this paper, an adaptive sliding mode controller is proposed to minimize the tracking error due to the adverse effects. The piezoelectric tube actuator is characterized as a multiple-input-multiple-output (MIMO) nonlinear time-varying system because of hysteresis and creep. The controller is designed based on the reduced order nonlinear finite element (FE) model. Hysteresis is divided into a linear part and a bounded time-varying unknown part to reduce the bound of the uncertainties. The latter part together with creep and electrode dislocation is considered as bounded uncertainty. The controller gains of the equivalent control part are estimated through adaptive laws. The sliding mode observer is designed based on Walcott Zak observer for estimating the unmeasurable states. Lyapunov criterion is stated to guarantee the stability of the closed loop system. The simulation of the piezoelectric tube actuator with the adaptive sliding mode controller is performed under scanning operation. The result shows that the tracking errors are bounded in small values. Finally, the performance of the adaptive sliding mode controller is compared with the output feedback controller and the proportional-integral (PI) controller which is commonly adopted in AFM.

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