Sliding Mode Control

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Vadim I Utkin - One of the best experts on this subject based on the ideXlab platform.

Yong Feng - One of the best experts on this subject based on the ideXlab platform.

  • chattering free full order Sliding Mode Control
    2014
    Co-Authors: Yong Feng, Fengling Han
    Abstract:

    In conventional Sliding-Mode Control systems, the Sliding-Mode motion is of reduced order. Two main problems hindering the application of the Sliding-Mode Control are the singularity in terminal Sliding-Mode Control systems and the chattering in both the conventional linear Sliding-Mode and the terminal Sliding-Mode Control systems. This paper proposes a chattering-free full-order terminal-Sliding-Mode Control scheme. Since the derivatives of terms with fractional powers do not appear in the Control law, the Control singularities are avoided. A continuous Control strategy is developed to achieve the chattering free Sliding-Mode Control. During the ideal Sliding-Mode motion, the systems behave as a desirable full-order dynamics rather than a desirable reduced-order dynamics. A systematic design method of full-order Sliding-Mode Control for nonlinear systems is presented, which allows both the chattering and singularity problems to be resolved. Simulations validate the proposed chattering free full-order Sliding-Mode Control.

  • on nonsingular terminal Sliding Mode Control of nonlinear systems
    2013
    Co-Authors: Yong Feng, Xinghuo Yu
    Abstract:

    This paper proposes a method to overcome the singularity problem of terminal Sliding-Mode Control systems. The system behaviors in both the reaching phase and the ideal Sliding-Mode are analyzed. A global nonsingular terminal Sliding-Mode Control strategy for nonlinear systems is developed and it is shown that the proposed Control strategy can eliminate the singularity, while guaranteeing the finite-time reachability of the systems to the terminal Sliding-Mode surface and the finite-time convergence of the systems towards the origin along the terminal Sliding-Mode surface.

Faa-jeng Lin - One of the best experts on this subject based on the ideXlab platform.

  • Robust Nonsingular Terminal Sliding-Mode Control for Nonlinear Magnetic Bearing System
    2011
    Co-Authors: Syuan-yi Chen, Faa-jeng Lin
    Abstract:

    This study presents a robust nonsingular terminal Sliding-Mode Control (RNTSMC) system to achieve finite time tracking Control (FTTC) for the rotor position in the axial direction of a nonlinear thrust active magnetic bearing (TAMB) system. Compared with conventional Sliding-Mode Control (SMC) with linear Sliding surface, terminal Sliding-Mode Control (TSMC) with nonlinear terminal Sliding surface provides faster, finite time convergence, and higher Control precision. In this study, first, the operating principles and dynamic Model of the TAMB system using a linearized electromagnetic force Model are introduced. Then, the TSMC system is designed for the TAMB to achieve FTTC. Moreover, in order to overcome the singularity problem of the TSMC, a nonsingular terminal Sliding-Mode Control (NTSMC) system is proposed. Furthermore, since the Control characteristics of the TAMB are highly nonlinear and time-varying, the RNTSMC system with a recurrent Hermite neural network (RHNN) uncertainty estimator is proposed to improve the Control performance and increase the robustness of the TAMB Control system. Using the proposed RNTSMC system, the bound of the lumped uncertainty of the TAMB is not required to be known in advance. Finally, some experimental results for the tracking of various reference trajectories demonstrate the validity of the proposed RNTSMC for practical TAMB applications.

  • robust dynamic Sliding Mode Control using adaptive renn for magnetic levitation system
    2009
    Co-Authors: Faa-jeng Lin, Syuan-yi Chen, Kuokai Shyu
    Abstract:

    In this paper, a robust dynamic Sliding Mode Control system (RDSMC) using a recurrent Elman neural network (RENN) is proposed to Control the position of a levitated object of a magnetic levitation system considering the uncertainties. First, a dynamic Model of the magnetic levitation system is derived. Then, a proportional-integral-derivative (PID)-type Sliding-Mode Control system (SMC) is adopted for tracking of the reference trajectories. Moreover, a new PID-type dynamic Sliding-Mode Control system (DSMC) is proposed to reduce the chattering phenomenon. However, due to the hardware being limited and the uncertainty bound being unknown of the switching function for the DSMC, an RDSMC is proposed to improve the Control performance and further increase the robustness of the magnetic levitation system. In the RDSMC, an RENN estimator is used to estimate an unknown nonlinear function of lumped uncertainty online and replace the switching function in the hitting Control of the DSMC directly. The adaptive learning algorithms that trained the parameters of the RENN online are derived using Lyapunov stability theorem. Furthermore, a robust compensator is proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher order terms in Taylor series. Finally, some experimental results of tracking the various periodic trajectories demonstrate the validity of the proposed RDSMC for practical applications.

  • robust fuzzy neural network Sliding Mode Control for two axis motion Control system
    2006
    Co-Authors: Faa-jeng Lin, Pohung Shen
    Abstract:

    A robust fuzzy neural network (RFNN) Sliding-Mode Control based on computed torque Control design for a two-axis motion Control system is proposed in this paper. The two-axis motion Control system is an x-y table composed of two permanent-magnet linear synchronous motors. First, a single-axis motion dynamics with the introduction of a lumped uncertainty including cross-coupled interference between the two-axis mechanism is derived. Then, to improve the Control performance in reference contours tracking, the RFNN Sliding-Mode Control system is proposed to effectively approximate the equivalent Control of the Sliding-Mode Control method. Moreover, the motions at x-axis and y-axis are Controlled separately. Using the proposed Control, the motion tracking performance is significantly improved, and robustness to parameter variations, external disturbances, cross-coupled interference, and friction force can be obtained as well. Furthermore, the proposed Control algorithms are implemented in a TMS320C32 DSP-based Control computer. From the simulated and experimental results due to circle and four leaves reference contours, the dynamic behaviors of the proposed Control systems are robust with regard to uncertainties

Leonid Fridman - One of the best experts on this subject based on the ideXlab platform.

  • Stability notions and Lyapunov functions for Sliding Mode Control systems
    2014
    Co-Authors: Andrey Polyakov, Leonid Fridman
    Abstract:

    The paper surveys mathematical tools required for stability and convergence analysis of Modern Sliding Mode Control systems. Elements of Filippov theory of differential equations with discontinuous right-hand sides and its recent extensions are discussed. Stability notions (from Lyapunov stability (1982) to fixed-time stability (2012)) are observed. Concepts of generalized derivatives and non-smooth Lyapunov functions are considered. The generalized Lyapunov theorems for stability analysis and convergence time estimation are presented and supported by examples from Sliding Mode Control theory.

  • Sliding Mode Control and observation
    2013
    Co-Authors: Yuri B Shtessel, Christopher Edwards, Leonid Fridman, Arie Levant
    Abstract:

    The Sliding Mode Control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unModeled dynamics. Robust Control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace Control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical Sliding Mode Control techniques and progresses toward newly developed higher-order Sliding Mode Control and observation algorithms and their applications.The present volume addresses a range of Sliding Mode Control issues, including:*Conventional Sliding Mode Controller and observer design*Second-order Sliding Mode Controllers and differentiators*Frequency domain analysis of conventional and second-order Sliding Mode Controllers*Higher-order Sliding Mode Controllers and differentiators*Higher-order Sliding Mode observers *Sliding Mode disturbance observer based Control *Numerous applications, including reusable launch vehicle and satellite formation Control, blood glucose regulation, and car steering Control are used as case studiesSliding Mode Control and Observation is aimed at graduate students with a basic knowledge of classical Control theory and some knowledge of state-space methods and nonlinear systems, while being of interest to a wider audience of graduate students in electrical/mechanical/aerospace engineering and applied mathematics, as well as researchers in electrical, computer, chemical, civil, mechanical, aeronautical, and industrial engineering, applied mathematicians, Control engineers, and physicists. Sliding Mode Control and Observation provides the necessary tools for graduate students, researchers and engineers to robustly Control complex and uncertain nonlinear dynamical systems. Exercises provided at the end of each chapter make this an ideal text for an advanced coursetaught in Control theory.

  • variable gain super twisting Sliding Mode Control
    2012
    Co-Authors: T Gonzalez, Jaime A Moreno, Leonid Fridman
    Abstract:

    In this note, a novel, Lyapunov-based, variable-gain super-twisting algorithm (STA) is proposed. It ensures for linear time invariant systems the global, finite-time convergence to the desired Sliding surface, when the matched perturbations/uncertainties are Lipschitz-continuous functions of time, that are bounded, together with their derivatives, by known functions. The proposed algorithm has similar properties to the variable-gain first-order Sliding Mode Control, but it provides alleviation to the chattering phenomenon. The results are verified experimentally.

  • Modern Sliding Mode Control theory new perspectives and applications
    2008
    Co-Authors: G Bartolini, Leonid Fridman, Alessandro Pisano, Elio Usai
    Abstract:

    Part I Basic Theory.- Regularization of Second Order Sliding Mode Control Systems.- A comprehensive Analysis of Chattering in Second Order Sliding Mode Control Systems.- Analysis of Closed-Loop Performance and Frequency-Domain Design of Compensating Filters for Sliding Mode Control Systems.- Discontinuous Homogeneous Control.- Second-order Sliding Sector for Variable Structure Control.- On Euler's Discretization of Sliding Mode Control Systems with Relative Degree Restriction.- Part II Design Methods.- Circumventing the relative degree condition in Sliding Mode design.- HOSM driven output tracking in the nonminimum-phase causal nonlinear systems.- High Order Sliding Mode NeuroControl for Uncertain Nonlinear SISO Systems: Theory and Applications.- A Generalized PI Sliding Mode and PWM Control of Switched Fractional Systems.- Stabilization of nonholonomic uncertain systems via adaptive second order Sliding Mode Control.- Output Tracking with Discrete-Time Integral Sliding Mode Control.- Flatness, Backstepping and Sliding Mode Controllers for Nonlinear Systems.- Part III Observers and Fault Detection.- Observation and identification via high-order Sliding Modes.- High Order Sliding Mode Observers and Differentiators-Application to Fault Diagnosis Problem.- Vehicle Parameter and States Estimation via Sliding Mode Observers.- An alternative to the measurement of five-links biped robot absolute orientation: estimation based on high order Sliding Mode.- Part IV Applications.- Robust Orbital Stabilization of Pendubot: Algorithm Synthesis, Experimental Verification, and Application to Swing up and Balancing Control.- Higher Order SM Block-Control of Nonlinear Systems with UnModeled Actuators. Application to electric power systems and electrohydraulic servo-drives.- Blood Glucose Regulation Via Double Loop Higher Order Sliding Mode Control and Multiple Sampling Rate.- Contact force regulation in wire-actuated pantographs.

Yu Xinghuo - One of the best experts on this subject based on the ideXlab platform.

  • on the discrete time integral Sliding Mode Control
    2007
    Co-Authors: Khalid Abidi, Jianxin Xu, Yu Xinghuo
    Abstract:

    A new discrete-time integral Sliding-Mode Control (DISMC) scheme is proposed for sampled-data systems. The new Control scheme is characterized by a discrete-time integral Sliding manifold which inherits the desired properties of the continuous-time integral Sliding manifold, such as full order Sliding manifold with pole assignment, and elimination of the reaching phase. In particular, comparing with existing discrete-time Sliding-Mode Control, the new scheme is able to achieve more precise tracking performance. It will be shown in this work that, the new Control scheme achieves O(T2) steady-state error for state regulation with the widely adopted delay-based disturbance estimation. Another desirable feature is, the proposed DISMC prevents the generation of overlarge Control actions due to deadbeat response, which is usually inevitable due to the existence of poles at the origin for a reduced order Sliding manifold designed for sampled-data systems. Both the theoretical analysis and illustrative example demonstrate the validity of the proposed scheme

  • on the discrete time integral Sliding Mode Control
    2006
    Co-Authors: Khalid Abidi, Jianxin Xu, Yu Xinghuo
    Abstract:

    A new discrete-time integral Sliding Mode Control (DISMC) scheme is proposed for sampled-data systems. The new Control scheme is characterized by a discrete-time integral switching surface which inherits the desired properties of the continuous-time integral switching surface, such as full order Sliding manifold with eigenvalue assignment, and elimination of the reaching phase. In particular, comparing with existing discrete-time Sliding Mode Control, the new scheme is able to achieve more precise tracking performance. It is shown in this work that, the new Control scheme achieves O(T2) steadystate error for state regulation with the widely adopted delay-based disturbance estimation. Another desirable feature is, the proposed DISMC prevents the generation of overlarge Control actions, which are usually inevitable due to the deadbeat poles of a reduced order Sliding manifold designed for sampled-data systems. Both the theoretical analysis and illustrative example demonstrate the validity of the proposed scheme

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