Journal ArticleDOI
Chattering reduction of sliding mode control by low-pass filtering the control signal
Ming-Lei Tseng,Min-Shin Chen +1 more
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TLDR
In this paper, a low-pass filtering of the control signal is proposed to reduce the chattering in sliding mode control in noise-free environments and outperforms the boundary layer design in noisy environments.Abstract:
The conventional approach to reducing control signal chattering in sliding mode control is to use the boundary layer design. However, when there is high-level measurement noise, the boundary layer design becomes ineffective in chattering reduction. This paper, therefore, proposes a new design for chattering reduction by low-pass filtering the control signal. The new design is non-trivial since it requires estimation of the sliding variable via a disturbance estimator. The new sliding mode control has the same performance as the boundary layer design in noise-free environments, and outperforms the boundary layer design in noisy environments. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Societyread more
Citations
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Journal ArticleDOI
A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators
TL;DR: A new adaptive sliding-mode control scheme that uses the time-delay estimation (TDE) technique, then applies the scheme to robot manipulators and shows that the tracking errors of the proposed ASMC scheme are guaranteed to be uniformly ultimately bounded (UUB) with arbitrarily small bound.
Journal ArticleDOI
On adaptive sliding mode control without switching gain overestimation
TL;DR: In this paper, the adaptive sliding mode control (ASMC) design for a class of nonlinear systems with bounded uncertain parameters is analyzed and two effective methodologies for ASMC design are presented.
Journal ArticleDOI
Battery power loss compensated fractional order sliding mode control of a quadrotor uav
TL;DR: In this paper, the fractional order control of a lightweight quadrotor under loss in the battery voltage is considered and the attitude control is achieved via fractional-order sliding mode control (FSMC) scheme.
Journal ArticleDOI
A boundary layer sliding mode control design for chatter reduction using uncertainty and disturbance estimator
TL;DR: In this article, a new boundary layer sliding mode control design for chatter reduction is proposed, which uses a discontinuous control outside the boundary layer and switches over to uncertainty and disturbance estimator (UDE) based control inside.
Journal ArticleDOI
Development and Experimental Evaluation of a Sensorless Speed Control of SPIM Using Adaptive Sliding Mode-MRAS Strategy
TL;DR: In this paper, a second-order sliding mode controller is proposed to drive the rotor speed and the stator currents of a single phase induction motor drive based on the adaptive super twisting algorithm.
References
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Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.
Journal ArticleDOI
Variable structure systems with sliding modes
TL;DR: Design and analysis forVariable structure systems are surveyed in this paper and it is shown that advantageous properties result from changing structures according to this switching logic.
Journal ArticleDOI
Variable structure control: a survey
John Y. Hung,W. Gao,J.C. Hung +2 more
TL;DR: A tutorial account of variable structure control with sliding mode is presented, introducing in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach.
Journal ArticleDOI
Tracking control of non-linear systems using sliding surfaces with application to robot manipulators
TL;DR: In this paper, the authors present a methodology of feedback control to achieve accurate tracking for a class of nonlinear time-varying systems in the presence of disturbances and parameter variations.
Journal ArticleDOI
Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
Martin Corless,George Leitmann +1 more
TL;DR: In this article, a class of state feedback controls is proposed in order to guarantee uniform ultimate boundedness of every system response within an arbitrarily small neighborhood of the zero state, and these feedback controls are continuous functions of the state.