Chattering Alleviation Technique for Sliding Mode Controller Using Limited Difference Notch Filter Output

2021 ◽  
Vol 58 (5) ◽  
pp. 79-86
Author(s):  
Yeong-Ho Shin ◽  
Doo-Hee Jung
Keyword(s):  
Sliding Mode ◽  
Notch Filter ◽  
Sliding Mode Controller ◽  
Filter Output

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.

A Novel Control Scheme for PWM Boost Converter based on Sliding Mode Control using Particle Swarm Optimization

2020 ◽  
Vol 14 ◽  
Author(s):  
Gang Liu ◽  
Dong Qiu ◽  
Xiuru Wang ◽  
Ke Zhang ◽  
Huafeng Huang ◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Steady State ◽  
Sliding Mode ◽  
Particle Swarm ◽  
Mathematic Model ◽  
Absolute Error ◽  
Boost Converter ◽  
Sliding Mode Controller ◽  
Swarm Optimization ◽  
Steady State Performance

Background: The PWM Boost converter is a strongly nonlinear discrete system, especially when the input voltage or load varies widely, therefore, tuning the control parameters of which is a challenge work. Objective: In order to overcome the issues, particle swarm optimization (PSO) is employed for tuning the parameters of a sliding mode controller of a boost converter. Methods: Based on the analysis of the Boost converter model and its non-linear characteristics, a mathematic model of a boost converter with a sliding mode controller is built firstly. Then, the parameters of the Boost controller are adjusted based on the integrated time and absolute error (ITAE), integral square error (ISE) and integrated absolute error (IAE) indexes by PSO. Results: Simulation verification was performed, and the results show that the controllers tuned by the three indexes all have excellent robust stability. Conclusion: The controllers tuned by ITAE and ISE indexes have excellent steady-state performance, but the overshoot is large during the startup. The controller tuned by IAE index has better startup performance and slightly worse steady-state performance.

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