Sliding Mode Controller with Nonlinear Sliding Surface for Two-Link Planar Manipulator

2018 ◽  
Vol 10 (2) ◽  
Author(s):  
Yu-Yang Kow ◽  
Jee-Hou Ho ◽  
Tong-Yuen Chai
Keyword(s):  
Sliding Mode ◽  
Higher Order ◽  
Time Dependent ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Lyapunov Theorem ◽  
Previous Approach ◽  
Rotating Surface ◽  
Sliding Manifold

The objective of this paper is to propose a method to control a two-link planar manipulator using a sliding mode controller with higher order sliding surface. Earlier approaches of varying sliding surface are time dependent and this may not yield optimal performance as the rotating surface does not depend on the dynamic states of the system. In this paper, the proposed control law alters the sliding surface based on the error states to drive the trajectory approaching the sliding phase quicker. A new sliding manifold is established and tuned until error decreases to zero. Stability is ensured through Lyapunov theorem and the trajectory is driven towards a designed sliding surface. The performance of the proposed controller is evaluated and compared against the conventional sliding mode controller as well as the previous approach of rotating sliding surface controller. Results showed that the proposed controller improved the respond speed and shortened the reaching phase. Although the chattering phenomenon remains, it enhanced the flexibility to adapt to the variation of system settings (e.g. torque limit).

Supersonic Missile Control with PI Sliding Mode Method

2011 ◽  
Vol 295-297 ◽  
pp. 1773-1776
Author(s):  
Qiang Ma ◽  
Yu Qiang Jin
Keyword(s):  
Sliding Mode ◽  
Adaptive Methods ◽  
Pi Control ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Mode Method

Comparing with traditional adaptive methods, a very simple PI sliding mode controller is designed for uncertain nonlinear missile systems with the help of two main assumptions which are also testified to be reasonable.The construction of PI control for sliding surface is novel and effective. Also, the proof of PI type control law is unique in this paper.

Higher Order Sliding Mode Control for the Tracking Trajectory - The Twisting Algorithm Applied to the Vehicle Model

2014 ◽  
Vol 875-877 ◽  
pp. 2014-2019
Author(s):  
Thierno Mamadou Pathe Diallo ◽  
Hong Sheng Li ◽  
Ning Hui He
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Higher Order ◽  
Control Law ◽  
Sliding Surface ◽  
Vehicle Model ◽  
Major Drawback ◽  
Mode Control ◽  
Twisting Algorithm ◽  
The Impact

In this paper a higher order sliding mode control based on the twisting algorithm is studied. The aim is to prove the impact of the choice of sliding surface in the design of the control law. The simulation results shows, a proper selection of the sliding surface in the design of the control law can eliminate or reduce the phenomenon of reluctance. The phenomenon of reluctance or chattering is a major drawback significant in sliding mode control because, although it is possible to filter the output of the process, it is likely to excite high frequency modes that have not been included in the model of the system. This can degrade performance and even lead to instability. For the design of the control law of vehicle model, two sliding surfaces are integrated; the first show a good tracking in the simulation result with disadvantage of the chattering presence in the control law while the second provide a good performance without chattering.

A new fractional sliding mode controller based on nonlinear fractional-order proportional integral derivative controller structure to synchronize fractional-order chaotic systems with uncertainty and disturbances

2021 ◽  
pp. 107754632098245
Author(s):  
Seyede Zeynab Mirrezapour ◽  
Assef Zare ◽  
Majid Hallaji
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Proportional Integral Derivative ◽  
Lyapunov Theorem ◽  
Control Approach ◽  
Proportional Integral ◽  
Bounded Disturbance

This study presents a new fractional sliding mode controller based on nonlinear fractional-order proportional integral derivative controllers to synchronize fractional-order chaotic systems with uncertainties and affected by disturbance. According to the proposed control approach, a new fractional order control law is presented which ensures robust and stable synchronization of chaotic systems in the presence of uncertainties of the master and slave systems and bounded disturbance according to Lyapunov theorem. The proposed sliding mode controller is used to synchronize two non-smooth chaotic jerk systems affected by disturbance and uncertainty. Simulation results verify effectiveness and robustness of the proposed control law.

Further enhancement on H∞ sliding mode control design for singular Markovian jump systems with partly known transition probabilities

2021 ◽  
pp. 107754632198920
Author(s):  
Zeinab Fallah ◽  
Mahdi Baradarannia ◽  
Hamed Kharrati ◽  
Farzad Hashemzadeh
Keyword(s):  
Transition Probabilities ◽  
Sliding Mode ◽  
Transition Probability ◽  
Transition Probability Matrix ◽  
Linear Matrix ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Markovian Jump ◽  
Markovian Jump System ◽  
Singular Markovian Jump Systems

This study considers the designing of the H ∞ sliding mode controller for a singular Markovian jump system described by discrete-time state-space realization. The system under investigation is subject to both matched and mismatched external disturbances, and the transition probability matrix of the underlying Markov chain is considered to be partly available. A new sufficient condition is developed in terms of linear matrix inequalities to determine the mode-dependent parameter of the proposed quasi-sliding surface such that the stochastic admissibility with a prescribed H ∞ performance of the sliding mode dynamics is guaranteed. Furthermore, the sliding mode controller is designed to assure that the state trajectories of the system will be driven onto the quasi-sliding surface and remain in there afterward. Finally, two numerical examples are given to illustrate the effectiveness of the proposed design algorithms.

scholarly journals Adaptive Multivariable Super-Twisting Sliding Mode Controller and Disturbance Observer Design for Hypersonic Vehicle

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Wenru Fan ◽  
Bailing Tian
Keyword(s):  
Disturbance Observer ◽  
Controller Design ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Observer Design ◽  
Sliding Mode Controller ◽  
Finite Time Convergence ◽  
Gain Adaptation ◽  
Chattering Reduction ◽  
Sliding Manifold

A multivariable super-twisting sliding mode controller and disturbance observer with gain adaptation, chattering reduction, and finite time convergence are proposed for a generic hypersonic vehicle where the boundary of aerodynamic uncertainties exists but is unknown. Firstly, an input-output linearization model is constructed for the purpose of controller design. Then, the sliding manifold is designed based on the homogeneity theory. Furthermore, an integrated adaptive multivariable super-twisting sliding mode controller and disturbance observer are designed in order to achieve the tracking for step changes in velocity and altitude. Finally, some simulation results are provided to verify the effectiveness of the proposed method.

scholarly journals Robust Position Control of PMSM Using Fractional-Order Sliding Mode Controller

2012 ◽  
Vol 2012 ◽  
pp. 1-33 ◽  
Author(s):  
Jiacai Huang ◽  
Hongsheng Li ◽  
YangQuan Chen ◽  
Qinghong Xu
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
The State ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
State Variables ◽  
Nonlinear Load ◽  
Special Case

A new robust fractional-order sliding mode controller (FOSMC) is proposed for the position control of a permanent magnet synchronous motor (PMSM). The sliding mode controller (SMC), which is insensitive to uncertainties and load disturbances, is studied widely in the application of PMSM drive. In the existing SMC method, the sliding surface is usually designed based on the integer-order integration or differentiation of the state variables, while in this proposed robust FOSMC algorithm, the sliding surface is designed based on the fractional-order calculus of the state variables. In fact, the conventional SMC method can be seen as a special case of the proposed FOSMC method. The performance and robustness of the proposed method are analyzed and tested for nonlinear load torque disturbances, and simulation results show that the proposed algorithm is more robust and effective than the conventional SMC method.

The Effects of Pressure Variation in Sliding Mode Controller with Optimized PID Sliding Surface

2017 ◽  
pp. 104-115 ◽  
Author(s):  
Chong Chee Soon ◽  
Rozaimi Ghazali ◽  
Hazriq Izzuan Zaafar ◽  
Sahazati Md. Rozali ◽  
Yahaya Md. Sam ◽  
...  
Keyword(s):  
Sliding Mode ◽  
Pressure Variation ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Pid Sliding Surface

scholarly journals Robust Control Design using Discrete Sliding Mode Control for Higher-Order Uncertain Systems

2020 ◽  
Vol 9 (3) ◽  
pp. 3055-3063
Keyword(s):  
Sliding Mode ◽  
Linear Time ◽  
Higher Order ◽  
Delay Systems ◽  
Phase System ◽  
Sliding Mode Controller ◽  
Error Performance ◽  
Process Output ◽  
Observer Model ◽  
Robust Control Design

This paper considers a tracking problem on discrete-time higher-order linear time-delay systems. The improved observer-model following sliding mode controller (OMF-SMC) is proposed. The combination uses a classical Luyenberger observer based controller to achieve predefined process output and sliding mode controller is added to assure the robustness despite of uncertainty and external disturbances. To show the effectiveness of proposed method, four error performance indices, maximum peak overshoot and settling time are considered rigorously. The simulations results on the non-oscillatory, moderate oscillatory, integrating, unstable and non-minimum phase system demonstrates that the proposed approach performs better compared with classical PID controller, continuous and discrete sliding mode controllers.

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