Design of Sliding Mode Controller with Actuator Saturation
01 Jan 2013-Lecture Notes in Control and Information Sciences (Springer, Berlin, Heidelberg)-pp 207-219
TL;DR: This chapter discusses two methods of designing a sliding surface in the face of an actuator saturation constraint for a class of nonlinear uncertain systems based on the low gain approach proposed by Lin et al.
Abstract: This chapter discusses two methods of designing a sliding surface in the face of an actuator saturation constraint for a class of nonlinear uncertain systems. The first approach uses an ARE based approach to design the sliding surface and the second approach uses the parametric Lyapunov equation to design the surface. These methods are based on the low gain approach proposed by Lin et al. The design methods give a surface matrix as a function of the designed parameter. This parameter can be modulated to reduce the control amplitude which ensures that the control limits are respected in a region of the state space. This region can be made sufficiently large by choosing appropriate values of the design parameter.
Citations
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TL;DR: A sliding mode control scheme for the autopilot system of a ship is presented, which also incorporates actuator saturation, and the proposed controller is more efficient as compared to the traditional and saturation function methods.
Abstract: In this article, a sliding mode control scheme for the autopilot system of a ship is presented, which also incorporates actuator saturation. Under the designed controller, the actuator doesn’t ente...
33 citations
Cites background or methods from "Design of Sliding Mode Controller w..."
...The sliding mode surface is designed as s 1⁄4 Se (29)...
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...V 1⁄4 1 2 s(2) (58) By substituting values from equation (29), we have...
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...Substituting equation (30) into equation (29) yields Table 2....
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...By taking derivative on both sides of equation (29) gives...
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TL;DR: The proposed controller ensures global finite-time convergence to the sliding surface by means of a control signal that is Lipschitz continuous (i.e., has finite gain) and is bounded by a given actuator limit.
Abstract: In this article, a Lipschitz continuous sliding mode controller (LCSMC) is proposed to stabilize an integrator chain with a saturated control input, Lipschitz continuous perturbations, and an unknown control coefficient. The proposed controller ensures global finite-time convergence to the sliding surface by means of a control signal that is Lipschitz continuous (i.e., has finite gain) and is bounded by a given actuator limit. Stability conditions for the controller's tuning parameters are derived and the effectiveness of the approach is demonstrated in the course of a numerical simulation.
14 citations
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TL;DR: In this paper , a U-control-based composite nonlinear feedback (U-CNF) design procedure is proposed, where two controllers, in terms of double dynamic inversion, are designed separately, stabilising and cancelling the nonlinearities and dynamics (convert the plant into an identity matrix) in the inner closed-loop, and then improving the system transient response by specifying a second-order linear system with a monotonic nonlinear function to smoothly tune the damping ratio.
Abstract: This study proposes a U-control–based Composite Nonlinear Feedback (U-CNF) design procedure. This U-CNF control establishes a double feedback loop framework for generalisation and simplification in designing the CNF control systems. Two controllers, in terms of double dynamic inversion, are designed separately, (1) to stabilise and cancel the nonlinearities and dynamics (convert the plant into an identity matrix) in the inner closed-loop, and then (2) to improve the system transient response by specifying a second-order linear system with a monotonic nonlinear function to smoothly tune the damping ratio. Accordingly, the conventional CNF characteristics in a concise pathway are achieved. The properties show, under proper conditions, the U-CNF control is plant model-free control, applicable to nonaffine nonlinear dynamic systems, and robust against model uncertainty and external disturbance. For the initial bench tests of the first-time proposed U-CNF configuration, the simulated case studies are provided with a transparent procedure to demonstrate the consistency with the analytical results in the numerical computations and to present guidance for applications.
8 citations
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01 Jan 2020TL;DR: In this article, the robust control of input and state-constrained nonlinear systems is discussed from the perspective of sliding-mode control, and some of them are briefly discussed, in particular cases providing also commented examples.
Abstract: In this chapter, the robust control of input and state-constrained nonlinear systems is discussed from the perspective of sliding-mode control. The proposals currently available in the literature are summarized and some of them are briefly discussed, in particular cases providing also commented examples.
6 citations
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01 Jan 2018TL;DR: A MIMO autopilot control for a marine vessel has been designed such that it can perform well in the presence of input saturation and external disturbances and a method based upon fuzzy logic is presented to tackle input saturation.
Abstract: In this article, a MIMO autopilot control for a marine vessel has been designed such that it can perform well in the presence of input saturation and external disturbances. In order to tackle input saturation, a method based upon fuzzy logic is presented. Fuzzy logic ensures that the control input doesn't enter saturation mode. A disturbance observer (DO) has been used to estimate the external disturbance and remove its effects from the system. All these methods are amalgamated with a backstepping control scheme. The stability of the disturbance observer based backstepping control with anti-saturation via fuzzy logic has been proved via Lyapunov stability criteria. For validation of the proposed controller, numerical simulation is performed on a model ship named Cybership II. In addition, the simulation results of the proposed controller are compared with the traditional backstepping and PID controllers. The effectiveness of the proposed control methodology can be inferred from these results.
6 citations
Cites methods from "Design of Sliding Mode Controller w..."
...Two different methods were explained to overcome saturation with a SMC in [2]....
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References
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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.
Abstract: Variable structure systems consist of a set of continuous subsystems together with suitable switching logic. Advantageous properties result from changing structures according to this switching logic. Design and analysis for this class of systems are surveyed in this paper.
5,076 citations
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TL;DR: In this paper, the optimal control of linear systems with respect to quadratic performance criteria over an infinite time interval is treated, and the integrand of the performance criterion is allowed to be fully quadratically in the control and the state without necessarily satisfying the definiteness conditions which are usually assumed in the standard regulator problem.
Abstract: The optimal control of linear systems with respect to quadratic performance criteria over an infinite time interval is treated. Both the case in which the terminal state is free and that in which the terminal state is constrained to be zero are treated. The integrand of the performance criterion is allowed to be fully quadratic in the control and the state without necessarily satisfying the definiteness conditions which are usually assumed in the standard regulator problem. Frequency-domain and time-domain conditions for the existence of solutions are derived. The algebraic Riccati equation is then examined, and a complete classification of all its solutions is presented. It is finally shown how the optimal control problems introduced in the beginning of the paper may be solved analytically via the algebraic Riccati equation.
1,436 citations
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TL;DR: A simple and low-computational-cost modulation technique for multilevel cascaded H-bridge converters based on geometrical considerations considering a unidimensional control region to determine the switching sequence and the corresponding switching times is presented.
Abstract: Multilevel cascaded H-bridge converters have found industrial application in the medium-voltage high-power range. In this paper, a generalized modulation technique for this type of converter based on a multidimensional control region is presented. Using the multidimensional control region, it is shown that all previous modulation techniques are particularized versions of the proposed method. Several possible solutions to develop a specific implementation of the modulation method are addressed in order to show the potential possibilities and the flexibility of the proposed technique. In addition, a feedforward version of this technique is also introduced to determine the switching sequence and the switching times, avoiding low harmonic distortion with unbalanced dc voltages. Experimental results are shown in order to validate the proposed concepts.
941 citations
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01 Jan 1976
TL;DR: This book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts and this is not only this control systems of variable structure.
Abstract: Downloading the book in this website lists can give you more advantages. It will show you the best book collections and completed collections. So many books can be found in this website. So, this is not only this control systems of variable structure. However, this book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts. This is simple, read the soft file of the book and you get it.
775 citations
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TL;DR: This note proposes an alternative approach to low gain feedback design based on the solution of a parametric Lyapunov equation, which possesses the advantages of both the eigenstructure assignment approach and the ARE-based approach.
Abstract: Low gain feedback has found several applications in constrained control systems, robust control and nonlinear control. Low gain feedback refers to a family of stabilizing state feedback gains that are parameterized in a scalar and go to zero as the scalar decreases to zero. Such feedback gains can be constructed either by an eigenstructure assignment algorithm or through the solution of a parametric algebraic Riccati equation (ARE). The eigenstructure assignment approach leads to feedback gains in the form of a matrix polynomial in the parameter, while the ARE approach requires the solution of an ARE for each value of the parameter. This note proposes an alternative approach to low gain feedback design based on the solution of a parametric Lyapunov equation. Such an approach possesses the advantages of both the eigenstructure assignment approach and the ARE-based approach. It also avoids the possible numerical stiffness in solving a parametric ARE and the structural decomposition of the open loop system that is required by the eigenstructure assignment approach.
220 citations