Comparing Sliding-Mode Control and PID Approaches for Vehicle Stability Control

2014 ◽  
Vol 472 ◽  
pp. 321-326
Author(s):  
Da Wei Pi ◽  
Wei Dong ◽  
Xian Hui Wang
Keyword(s):  
Sliding Mode Control ◽  
Control Structure ◽  
Sliding Mode ◽  
Stability Control ◽  
Wheel Slip ◽  
Yaw Control ◽  
Mode Control ◽  
Operation Conditions ◽  
Vehicle Stability Control ◽  
Wide Range

In this paper, the problem of vehicle yaw control using differential braking is investigated. The proposed control structure employs the wheel slip controller to apply differential braking to generate the yaw moment calculated by the yaw controller. A fuzzy logic based target slip allocation method is also designed. Due to system uncertainties and wide range operation conditions, two different yaw controller which are based on sliding-mode control and PID control are designed, and their performances are compared by hardware in loop simulation. The obtained results show the effectiveness of the proposed control structure with both yaw controllers, but the sliding mode based yaw controller can be more robust.

scholarly journals Fractional-Order Sliding Mode Control of Overhead Cranes   

2020 ◽  
Vol 31 (1) ◽  
pp. 68-76
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Closed Loop ◽  
Control Structure ◽  
Adaptive System ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Closed Loop System ◽  
Control Approach ◽  
Mode Control

We constitute a control system for overhead crane with simultaneous motion of trolley and payload hoist to destinations and suppression of payload swing. Controller core made by sliding mode control (SMC) assures the robustness. This control structure is inflexible since using fixed gains. For overcoming this weakness, we integrate variable fractional-order derivative into SMC that leads to an adaptive system with adjustable parameters. We use Mittag–Leffler stability, an enhanced version of Lyapunov theory, to analyze the convergence of closed-loop system. Applying the controller to a practical crane shows the efficiency of proposed control approach. The controller works well and keeps the output responses consistent despite the large variation of crane parameters.

Practical Design of a Sliding Mode Controller for Pneumatic Actuators

1997 ◽  
Vol 119 (4) ◽  
pp. 666-674 ◽  
Author(s):  
Shunmugham R. Pandian ◽  
Yasuhiro Hayakawa ◽  
Yoshinori Kanazawa ◽  
Yoshiyuki Kamoyama ◽  
Sadao Kawamura
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Linear Time ◽  
Trajectory Control ◽  
Pneumatic Actuators ◽  
Actuator Dynamics ◽  
Control Approach ◽  
Mode Control ◽  
Wide Range ◽  
High Order Time

Pneumatic robot manipulators are characterized by high-order, time-variant actuator dynamics, nonlinearities due to compressibility of air, external disturbances such as static and Coulomb friction, and wide range of payload variations. Conventional PID controllers suffer from problems of gain tuning under these conditions. In this paper, a new control algorithm is proposed for the position and trajectory control of pneumatic actuators based on the sliding mode control approach. The stability of motion is proved for the case of a linear, time-invariant switching surface. A disadvantage of using sliding mode control for third- and higher-order mechanical systems is the need for acceleration feedback. In this paper, to overcome this difficulty we propose the use of differential pressure. The proposed controller is simple, easy to implement, and robust to payload and parametric variations. The effectiveness of the new scheme for position and trajectory control is illustrated by experiments on an industrial piston-driven cylindrical actuator with proportional valves.

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