Sliding Mode Control of Magnetic Levitation Vehicles

2007 ◽  
Vol 18-19 ◽  
pp. 79-86
Author(s):  
A.S. Kadalla ◽  
M.I. Onogu
Keyword(s):  
Sliding Mode Control ◽  
Computer Simulations ◽  
Magnetic Levitation ◽  
Sliding Mode ◽  
Air Gap ◽  
Sliding Mode Controller ◽  
Control Task ◽  
Precise Control ◽  
Mode Control ◽  
Parameter Variations

The problem of precise control of the air – gap of magnetic levitation vehicles is considered in this paper. A sliding mode controller is designed for the levitation control task. Robustness of the controller was investigated using computer simulations. The results show that the controller is robust to parameter variations of up to ±13% and can tolerate disturbances up to ±400N/Kg.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

Study on Sliding Mode Control in Bidirectional DC/DC Converter Based on State Space Averaging Method

2014 ◽  
Vol 678 ◽  
pp. 399-405
Author(s):  
Yan Mei
Keyword(s):  
Sliding Mode Control ◽  
State Space ◽  
Averaging Method ◽  
Sliding Mode ◽  
Good Stability ◽  
Sliding Mode Controller ◽  
Battery Charging ◽  
Mode Control ◽  
Logic Diagram

Bidirectional DC/DC converter is used for the battery charging and discharging. The sliding mode controller based on state space averaging algorithm is used for controlling bidirectional DC/DC converter. Two kinds of working modes, buck mode and boost mode, have been analyzed and three kinds of working states which are consisted by two working modes have been deeply discussed, and the automatic switch logic diagram when battery charging and discharging through the bidirectional DC/DC converter has been presented. Situation of system based on S1, S2 conducting alternately has been studied, and the simulations were also presented. According to the results, the characteristics of good stability and transient can be confirmed.

scholarly journals Sliding Mode Control of Uncertain Neutral Stochastic Systems with Multiple Delays

2008 ◽  
Vol 2008 ◽  
pp. 1-9 ◽  
Author(s):  
Dilan Chen ◽  
Weidong Zhang
Keyword(s):  
Sliding Mode Control ◽  
Stochastic Systems ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Multiple Delays ◽  
Sliding Mode Controller ◽  
Matrix Inequalities ◽  
Neutral Systems ◽  
Mode Control ◽  
Neutral Stochastic Systems

This paper is concerned with the sliding mode control for uncertain stochastic neutral systems with multiple delays. A switching surface is adopted first. Then, by means of linear matrix inequalities (LMIs), a sufficient condition is derived to ensure the global stochastic stability of the stochastic system in the sliding mode for all admissible uncertainties. The synthesized sliding mode controller guarantees the existence of the sliding mode.

Higher order sliding mode control for active suspension systems subject to actuator faults and disturbances

2018 ◽  
Vol 233 (2) ◽  
pp. 280-298 ◽  
Author(s):  
Jinwei Sun ◽  
JingYu Cong ◽  
Liang Gu ◽  
Mingming Dong
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
Second Order ◽  
Sliding Mode Controller ◽  
Actuator Faults ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Second Order Sliding Mode

As the possibility of faults in active suspension actuators are higher and more severe compared to other components, this study presents a fault-tolerant control approach based on the second-order sliding mode control method. The aim of the controller is to improve riding comfort, guarantee handling stability, and provide adequate suspension stroke in the presence of disturbances and actuator faults. A nonlinear full-vehicle suspension system and hydraulic actuator with nonlinear characteristics are adopted for accurate control. Firstly, a nonlinear sliding manifold based on a nonsingular fast terminal sliding mode controller is introduced to suppress the sprung mass heave, pitch, and roll motions arising from road disturbances. Secondly, a second-order sliding mode-based super twisting controller is utilized to track the desired forces generated by the nonsingular fast terminal sliding mode controller with actuator faults and uncertainties. The controllers are robust against disturbances, uncertainties, and faults. Moreover, the stability of the super twisting controller is proved by the strong Lyapunov functions. Finally, numerical simulations are performed to demonstrate the effectiveness of the controller. Four different conditions, random road profile, bump road excitation, single-wheel bump excitation, and partial faults are considered. The main contributions of this study are: (1) combination of the above algorithms to deal with actuator faults and improve active suspension performance; (2) the controller proposed in this study has a simple structure. Simulation results indicate that the nonsingular fast terminal sliding mode super twisting controller can guarantee the performance of the closed-loop system under both faulty and healthy conditions.

Fuzzy Sliding-Mode Control of a Variable Geometry Manipulator: Experimental Investigation

2000 ◽  
Author(s):  
J. Choi ◽  
C. W. de Silva ◽  
V. J. Modi ◽  
A. K. Misra
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Experimental Studies ◽  
Sliding Mode Controller ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Knowledge Based ◽  
Fuzzy Sliding Mode

Abstract This paper focuses a robust and knowledge-based control approach for multi-link robot manipulator systems. Based on the concepts of sliding-mode control and fuzzy logic control (FLC), a fuzzy sliding-mode controller has been developed in previous work. This controller possesses good robustness properties of sliding-mode control and the flexibility and ‘intelligent’ capabilities of knowledge-based control through the use of fuzzy logic. This paper presents experimental studies with fuzzy sliding-mode control as well as conventional sliding-mode control. The results show that the tracking error is guaranteed to converge to a specification in the presence of uncertainties. The performance of the fuzzy sliding-mode controller is found to be somewhat better than that of the conventional sliding-mode controller.

scholarly journals Super-twisting Control of Magnetic Levitation System

2020 ◽  
Vol 32 ◽  
pp. 01004
Author(s):  
Rupak Rokade ◽  
Deepti Khimani
Keyword(s):  
Sliding Mode Control ◽  
Magnetic Levitation ◽  
Sliding Mode ◽  
Second Order ◽  
Mode Control ◽  
Levitation System ◽  
Magnetic Levitation System ◽  
Twisting Control ◽  
Super Twisting Control ◽  
Second Order Sliding Mode

This article presents the implementation results of second order sliding mode control (SOSM) for magnetic levitation system. In practical systems, especially when the actuators are electro-mechanical, the conventional (first order) sliding mode control can not be used effectively as it exhibits chattering, which is highly undesirable. Therefore, for such systems, sliding mode control of higher order can be a suitable choice as the reduce the chattering significantly. In this article the super-twisting control, which isa second order sliding mode control, is designed and implemented for the experimental setup of Maglev system, Model 730 developed by ECP systems.

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