Adaptive Sliding Mode Control of the Linear Drive System

2013 ◽  
Vol 397-400 ◽  
pp. 1155-1159
Author(s):  
Wei Bing Wang
Keyword(s):  
Sliding Mode ◽  
Dynamic Stiffness ◽  
Low Frequency ◽  
Drive System ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Adaptive Sliding Mode ◽  
Motor Current ◽  
Adaptive Sliding Mode Controller ◽  
Linear Drive System

An adaptive sliding mode controller (ASMC) is designed for the linear drive system. The control law is expressed as a function of the disturbance which is predicted from the motor current and the active damping of the measured structural modes. Accurate prediction of the disturbance is used to actively compensate the low frequency machine tool structural modes which are within the control bandwidth. Compared with the cascaded controller (CC), the designed ASMC not only has greater control bandwidth, stronger anti-disturbance and robustness, but also improves the dynamic stiffness of the linear drive system significantly.

scholarly journals A fuzzy adaptive sliding mode controller for uncertain nonlinear multi motor systems

2018 ◽  
Vol 161 ◽  
pp. 02013
Author(s):  
Tran Xuan Tinh ◽  
Pham Tuan Thanh ◽  
Tran Van Tuyen ◽  
Nguyen Van Tien ◽  
Dao Phuong Nam
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller ◽  
Pressure Meter ◽  
Fuzzy Adaptive

Multi-motor drive systems are nonlinear, multi-input multi-output (MIMO) and strong-coupling complicated system, including the effect of friction and elastic, backlash. They have been widely used in many modern industries. The control law for this dive system much depend on the determining of the tension being hard to obtain this tension in practice based on a load cell or a pressure meter due to the accuracy of sensors or external disturbance. An emerging proposed technique in the control law is the use of adaptive sliding mode control scheme to stabilize closed system. However, the control system would be affected by chattering phenomenon. In order to eliminate this term, fuzzy technique is proposed by adjusting equivalent coefficients. The theory analysis and simulation results point out the good performance of the proposed fuzzy adaptive sliding mode control for the drive system.

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.

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.

Adaptive Control of Systems with Time Varying Delay: A Sliding Mode Approach

2014 ◽  
Vol 668-669 ◽  
pp. 428-436
Author(s):  
Fa Xiang Xie ◽  
Bo Hai Ji
Keyword(s):  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Linear Matrix ◽  
Multiple Delays ◽  
Time Varying ◽  
Adaptive Sliding Mode ◽  
Time Varying Delay ◽  
Adaptive Sliding Mode Controller ◽  
System States ◽  
And Control

This paper concerns the design of robust controller for a linear system with time-varying state and input delay. The new adaptive sliding mode control algorithm of the system with multiple delays in system states and control inputs are proposed. The delay dependent conditions of the closed loop system are formulated and the equivalent gain of the adaptive sliding mode controller is obtained in the form of linear matrix inequalities (LMI). Finally, simulation results of a numerical example based on a practical inverted pendulum shows both the feasibility and efficiency of the proposed controller.

scholarly journals Control of Chaos in Rate-Dependent Friction-Induced Vibration Using Adaptive Sliding Mode Control and Impulse Damper

2013 ◽  
Vol 2013 ◽  
pp. 1-8
Author(s):  
Ehsan Maani Miandoab ◽  
Aghil Yousefi-Koma ◽  
Saeed Hashemnia
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Adaptive Sliding Mode ◽  
Chaotic Vibration ◽  
Mode Control ◽  
Rate Dependent

Two different control methods, namely, adaptive sliding mode control and impulse damper, are used to control the chaotic vibration of a block on a belt system due to the rate-dependent friction. In the first method, using the sliding mode control technique and based on the Lyapunov stability theory, a sliding surface is determined, and an adaptive control law is established which stabilizes the chaotic response of the system. In the second control method, the vibration of this system is controlled by an impulse damper. In this method, an impulsive force is applied to the system by expanding and contracting the PZT stack according to efficient control law. Numerical simulations demonstrate the effectiveness of both methods in controlling the chaotic vibration of the system. It is shown that the settling time of the controlled system using impulse damper is less than that one controlled by adaptive sliding mode control; however, it needs more control effort.

Fuzzy Adaptive Sliding Mode Control Based on Fuzzy Compensation for Ammunition Auto-Loading Robot

2013 ◽  
Vol 816-817 ◽  
pp. 363-366
Author(s):  
Yu Feng Li ◽  
Kui Wu Li ◽  
Yu Tian Pan ◽  
Bao Quan Guo
Keyword(s):  
Control System ◽  
Fuzzy Systems ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Disturbance Compensation ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Simulation Results ◽  
Fuzzy Adaptive

A new fuzzy adaptive sliding mode controller based on fuzzy compensation for robot is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties to distinguish different disturbance compensation terms and approximate each of them respectively. By analyzing and comparing the simulation results, it is obviously shown that the control system can lighten the effect on the control system caused by different disturbance factors and eliminate the system chattering than that of traditional SMC.

Adaptive Sliding Mode Control With Sliding Mode Observer Design for a MEMS Vibratory Gyroscope

2007 ◽  
Author(s):  
J. Fei ◽  
C. Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Observer Design ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Mems Gyroscope ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller

This paper presents a novel adaptive sliding mode control with a sliding mode observer for a MEMS gyroscope. The proposed adaptive sliding mode controller with a sliding mode observer which reconstructs the unmeasured states can estimate the angular velocity and the linear damping and stiffness coefficients of the gyroscope despite parameter variations and external disturbance. An adaptive sliding mode controller with a proportional and integral sliding surface is derived and the stability condition of the closed-loop system is established. The numerical simulation for the MEMS gyroscope model is performed to verify the effectiveness of the proposed adaptive sliding mode control with sliding mode observer.

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