An Improvement of PISS Integral Sliding Mode Control of Supersonic Missiles

2012 ◽  
Vol 155-156 ◽  
pp. 1223-1226
Author(s):  
Guo Qiang Liang ◽  
Jun Wei Lei ◽  
Xian Jun Shi
Keyword(s):  
Sliding Mode ◽  
Simplified Model ◽  
Sliding Mode Controller ◽  
Integral Type ◽  
Sign Function ◽  
Integral Sliding Mode ◽  
System A ◽  
Missile System ◽  
Mode A ◽  
Control Integration

Considering the pitch channel simplified model of supersonic missile system, a integral type of sliding surface is constructed with the error of overload and the integration of error and the angle speed signal. Base on the linear sliding mode, a simple PS adaptive integral sliding mode controller is designed In order to improve the performance of the proposed method, two improvements also proposed. Finally, a hybrid PISS adaptive control is formed which contains proportion control, integration control, the sign function and soft function.

scholarly journals Characterization and Designing Integral Sliding Mode Controller for 2-Link Robot System with Coulomb Friction

2020 ◽  
Vol 23 (3) ◽  
pp. 249-259
Author(s):  
Dena Hameed Tu'ma ◽  
Ahmed K. Hammoudi
Keyword(s):  
Nonlinear System ◽  
Coulomb Friction ◽  
Sliding Mode ◽  
Good Method ◽  
Settling Time ◽  
Sliding Mode Controller ◽  
Robot System ◽  
Sign Function ◽  
Integral Sliding Mode ◽  
Two Phases

The indemnification of uncertainty and disturbance which is added to non-linear systems by an Integral Sliding Mode Controller (ISMC) design. the key target of this paper is designing a sturdy controller to observe the performance of a 2-link robot. The nonlinearity in mechanical systems is a shared issue that the researchers are facing in formulating control systems for it. The best solution to this problem is a design Sliding Mode Controller (SMC) for controlling a nonlinear system. In the current paper, 2-link robot is studied which suffering from disturbances and parameter uncertainty and coulomb friction as additional to friction inertia of the system for each link. firstly, Classical Sliding Mode Controller (CSMC) is designed and then Integral Sliding Mode Controller (ISMC). As known, CSMC includes two phases: reaching phase and sliding phase. SMC is suffering from the known phenomenon as "chattering" which is supposed as a critical case and unsuitable characteristic. chattering is described as a curvy movement span the switching surface. In the current study, the chattering is attenuated by employing a saturation function alternative of a sign function. Although SMC can be considered as a good way of controlling nonlinear systems. Where it continues to suffer from the long settling time as undesired features. ISMC is a good method can be employed for reducing the settling time and controlling a nonlinear system. ISMC is easy, robust execution and supposes as an active and strong technique. The most significant advantage in ISMC designing, the reaching phase is canceled that considered a major part of designing classical SMC. The 2 link Robot system was used for proving the performance of CSMC and ISMC algorithms. The outcomes received from the simulations utilizing the ISMC and CSMC which fulfilled asymptotic stability for the system. In comparative between CSMC and ISMC. ISMC is better than CSMC in the good performance of tracking the desired position with less time.  Finally, MATLAB2019a software package has relied upon this work.

Decentralized Proportional-Integral Sliding Mode Tracking Control for a Class of Nonlinear Interconnected Uncertain System

2012 ◽  
Author(s):  
Mohamad Noh Ahmad ◽  
Johari H. S. Osman ◽  
Mohd. Ruddin A. Ghani
Keyword(s):  
Large Scale ◽  
Sliding Mode ◽  
Mathematical Proof ◽  
Uncertain System ◽  
Sliding Mode Controller ◽  
Matching Conditions ◽  
Integral Sliding Mode ◽  
Proportional Integral ◽  
System A ◽  
The Stability

Kertas kerja ini membincangkan pengawal ragam gelangsar ternyahpusat untuk sistem dalam kategori takpasti, tak lelurus tersaling hubung. Andaian yang dipakai dalam kertas kerja ini ialah loji yang hendak dikawal dianggap sebagai suatu sistem yang diwakili oleh subsistem–subsistem yang tersaling hubung di antara satu sama lain dan dinamik setempat untuk setiap subsistem pula diwakili oleh nilai nominalnya di samping ketakpastian berparameter terbatas. Di samping itu, dinamik untuk saling hubungan di antara subsistem juga diandaikan sebagai diwakili dengan cara yang serupa dan syarat padanan (matching conditions) benar untuk semua subsistem. Suatu pengawal ragam gelangsar ternyahpusat yang robust telah berjaya dihasilkan supaya untuk setiap subsistem, trajektori sebenar sistem akan menjejak trajektori yang dikehendaki menggunakan hanya mklumat dari pemboleh ubah keadaan setempat. Ragam gelangsar berkadaran–kamiran (Pi) sengaja dipilih untuk memastikan kestabilan dinamik keseluruhan sistem terjamin (meliputi fasa menjangkau dan fasa menggelangsar). Pembuktian secara matematik pengawal yang dicadangkan turut diketengahkan dalam kertas kerja ini dan keputusannya pula diperiksa benar tidaknya melalui satu kajian kes. Kata kunci: Sistem skala besar; Kawalan ragam gelangsar ternyahpusat; Pengawal menjejak; Ketakpastian terpadan A decentralized sliding mode controller for a class of nonlinear interconnected uncertain systems is presented in this paper. It is assumed that the plant to be controlled is represented by interconnected sub–systems and the local dynamics of each sub–system is represented by its nominal and bounded parametric uncertainties. It is also assumed that the interconnection dynamics is also represented in the same manner and it is further assumed that the matching conditions hold for every sub–system. A robust decentralized sliding mode controller is derived such that for each sub–system, the actual trajectory tracks the desired trajectory using only the local states information. The Proportional–Integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Mathematical proof of the proposed controller is presented and the results are verified using a case study. Key words: Large scale system; Decentralized sliding mode control; Tracking controller; Matched uncertainties

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

Robust Nonlinear Double Integral Sliding Mode Controller Design for Mitigating SSR in DFIG-Based Wind Farms

2021 ◽  
Author(s):  
Farjana Faria ◽  
Tushar Kanti Roy ◽  
Most. Mahmuda Khatun ◽  
Tanmoy Sarkar ◽  
Tabassum Haque ◽  
...  
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Wind Farms ◽  
Sliding Mode Controller ◽  
Double Integral ◽  
Integral Sliding Mode

An optimized double-integral-sliding-mode-controller for a PV microgrid

2021 ◽  
Vol 40 (5) ◽  
pp. 1011-1031
Author(s):  
Swati Sucharita Pradhan ◽  
Raseswari Pradhan ◽  
Bidyadhar Subudhi
Keyword(s):  
Sliding Mode ◽  
Water Evaporation ◽  
Sliding Mode Controller ◽  
Double Integral ◽  
Reference Tracking ◽  
Content Type ◽  
Integral Sliding Mode ◽  
Highly Nonlinear ◽  
System Output ◽  
Linear Controllers

Purpose The dynamics of the PV microgrid (PVMG) system are highly nonlinear and uncertain in nature. It is encountered with parametric uncertainties and disturbances. This system cannot be controlled properly by conventional linear controllers. H− controller and sliding mode controller (SMC) may capable of controlling it with ease. Due to its inherent dynamics, SMC introduces unwanted chattering into the system output waveforms. This paper aims to propose a controller to reduce this chattering. Design/methodology/approach This paper presents redesign of the SMC by modifying its sliding surface and tuning its parameters by employing water-evaporation-optimization (WEO) based metaheuristic algorithm. Findings By using this proposed water-evaporation-optimization algorithm-double integral sliding mode controller (WEOA-DISMC), the chattering magnitude is diminished greatly. Further, to examine which controller between H8 controller and proposed WEOA-DISMC performs better in both normal and uncertain situations, a comparative analysis has been made in this paper. The considered comparison parameters are reference tracking, disturbance rejection and robust stability. Originality/value WEO tuned DISMC for PVMG system is the contribution.

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