Showing papers on "Sliding mode control published in 1999"
Book•
01 Jan 1999
TL;DR: Sliding mode control (SMC) is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems as mentioned in this paper, and is particularly useful for electro-mechanical systems because of its discontinuous structure.
Abstract: Sliding Mode Control (SMC) is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems. The strengths of sliding mode controllers result from the ease and flexibility of the methodology for their design and implementation. They provide inherent order reduction, direct incorporation of robustness against system uncertainties and disturbances, and an implicit stability proof. They also allow for the design of high performance control systems at low costs. SMC is particularly useful for electro-mechanical systems because of its discontinuous structure. In fact, since the hardware of many electro-mechanical systems (such as electric motors) prescribes discontinuous inputs, SMC has become the natural choice for direct implementation. The book is intended primarily for engineers and establishes an interdisciplinary bridge between control science, electrical and mechanical engineering.
2,593 citations
TL;DR: An accurate assessment of the so-called chattering phenomenon is offered, which catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding Mode control research.
Abstract: Presents a guide to sliding mode control for practicing control engineers. It offers an accurate assessment of the so-called chattering phenomenon, catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research.
2,082 citations
Book•
22 Apr 1999TL;DR: The design approach based on the regularization is generalized for mechanical systems and it is shown that stability of zero dynamics should be taken into account when the regular form consists of blocks of second-order equations.
Abstract: Introduction Examples of Dynamic Systems with Sliding Modes Sliding Modes in Relay and Variable Structure Systems Multidimensional Sliding Modes Outline of Sliding Mode Control Methodology Mathematical Background Problem Statement Regularization Equivalent Control Method Physical Meaning of Equivalent Control Existence Conditions Design Concepts Introductory Example Decoupling Regular Form Invariance Unit Control Second-Order Sliding Mode Control Sliding Mode Control of Pendulum Systems Design Methodology Cart Pendulum Rotational Inverted Pendulum (Model) Rotational Inverted Pendulum (Control) Simulation and Experiment Results for Rotational Inverted Pendulum Control of Linear Systems Eigenvalue Placement Invariant Systems Sliding Mode Dynamic Compensators Ackermanns Formula Output Feedback Sliding Mode Control Control of Time-Varying Systems Sliding Mode Observers Linear Asymptotic Observers Observers for Linear Time-Invariant Systems Observers for Linear Time-Varying Systems Observer for Linear Systems with Binary Output Integral Sliding Mode Motivation Problem Statement Design Principles Perturbation and Uncertainty Estimation Examples Summary The Chattering Problem Problem Analysis Boundary Layer Solution Observer-Based Solution Regular Form Solution Disturbance Rejection Solution State-Dependent Gain Method Equivalent Control-Dependent Gain Method Multiphase Chattering Suppression Comparing the Different Solutions Discrete-Time and Delay Systems Introduction to Discrete-Time Systems Discrete-Time Sliding Mode Concept Linear Discrete-Time Systems with Known Parameters Linear Discrete-Time Systems with Unknown Parameters Introduction to Systems with Delays and Distributed Systems Linear Systems with Delays Distributed Systems Summary Electric Drives DC Motors Permanent-Magnet Synchronous Motors Induction Motors Summary Power Converters DC/DC Converters Boost-Type AC/DC Converters DC/AC Converter Summary Advanced Robotics Dynamic Modeling Trajectory Tracking Control Gradient Tracking Control Application Examples Automotive Applications Air/Fuel Ratio Control Camless Combustion Engine Observer for Automotive Alternator
904 citations
TL;DR: In this article, the authors proposed a new voltage source inverter (VSI) referred to as a boost inverter or boost DC-AC converter, which is intended to be used in uninterruptible power supply and AC driver systems design whenever an AC voltage larger than the DC link voltage is needed.
Abstract: This paper proposes a new voltage source inverter (VSI) referred to as a boost inverter or boost DC-AC converter. The main attribute of the new inverter topology is the fact that it generates an AC output voltage larger than the DC input one, depending on the instantaneous duty cycle. This property is not found in the classical VSI, which produces an AC output instantaneous voltage always lower than the DC input one. For the purpose of optimizing the boost inverter dynamics, while ensuring correct operation in any working condition, a sliding mode controller is proposed. The main advantage of the sliding mode control over the classical control schemes is its robustness for plant parameter variations, which leads to invariant dynamics and steady-state response in the ideal case. Operation, analysis, control strategy, and experimental results are included in this paper. The new inverter is intended to be used in uninterruptible power supply (UPS) and AC driver systems design whenever an AC voltage larger than the DC link voltage is needed, with no need of a second power conversion stage.
685 citations
01 Jun 1999
TL;DR: A novel sliding mode control law is proposed for asymptotically stabilizing the mobile robot to a desired trajectory and it is shown that the proposed scheme is robust to bounded external disturbances.
Abstract: Nonholonomic mobile robots have constraints imposed on the motion that are not integrable, i.e., the constraints cannot be written as time derivatives of some function of the generalized coordinates. The position control of nonholonomic mobile robots has been an important class of control problems. In this paper, we propose a robust tracking control of nonholonomic wheeled mobile robots using sliding mode. The posture of a mobile robot is represented by polar coordinates and the dynamic equation of the robot is feedback-linearized by the computed-torque method. A novel sliding mode control law is proposed for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to bounded external disturbances. Experimental results demonstrate the effectiveness of accurate tracking capability and the robust performance of the proposed scheme.
607 citations
01 Oct 1999
TL;DR: The observer-based output feedback control law and update law to tune on-line the weighting factors of the adaptive fuzzy-neural controller are derived and the overall adaptive scheme guarantees that all signals involved are bounded.
Abstract: In this paper, an observer-based adaptive fuzzy-neural controller for a class of unknown nonlinear dynamical systems is developed. The observer-based output feedback control law and update law to tune on-line the weighting factors of the adaptive fuzzy-neural controller are derived. The total states of the nonlinear system are not assumed to be available for measurement. Also, the unknown nonlinearities of the nonlinear dynamical systems are not restricted to the system output only. The overall adaptive scheme guarantees that all signals involved are bounded. Simulation results demonstrate the applicability of the proposed method in order to achieve desired performance.
329 citations
TL;DR: In this paper, the authors present an overview of robust control schemes for robot manipulators, including linear, passivity-based, Lyapunov-based and robust adaptive control schemes.
Abstract: This paper presents an overview of robust control schemes for robot manipulators. The survey summarizes the vast literature on the subject. The different modelling assumptions used in current control algorithms are thoroughly reviewed. The survey includes models of actuator dynamics and joint flexibility. The different control schemes are organized in the following six categories: linear schemes, passivity-based schemes, Lyapunov-based schemes, sliding mode control schemes, non-linear H omega schemes and robust adaptive control schemes. Connections and comparisons are made between the various algorithms.
273 citations
TL;DR: In this article, an adaptive reaching law of sliding mode for a linear time-varying system is presented and used to derive an adaptive sliding-mode guidance law, which is robust against disturbances and parameter perturbations.
Abstract: Sliding-mode control is applied to design robust homing missile guidance law. The sufe cient and necessary condition for the sliding-mode motion of a linear time-varying system not to be affected by disturbances and the sufe cient condition for that motion not to be affected by parameter perturbations are given. An adaptive reaching law of sliding mode for a linear time-varying system is then presented and used to derive an adaptive sliding-mode guidance law. Theoretical analysis and simulation results show that the adaptive sliding-mode guidance law is robust against disturbances and parameter perturbations. Furthermore, the presented guidance law is simple to implement in practice.
266 citations
TL;DR: The sliding observer is found promising while the extended Kalman filter is unsatisfactory due to unpredictable changes in the road conditions, and the nonlinear model of the system is shown locally observable.
Abstract: We describe a nonlinear observer-based design for control of vehicle traction that is important in providing safety and obtaining desired longitudinal vehicle motion. First, a robust sliding mode controller is designed to maintain the wheel slip at any given value. Simulations show that longitudinal traction controller is capable of controlling the vehicle with parameter deviations and disturbances. The direct state feedback is then replaced with nonlinear observers to estimate the vehicle velocity from the output of the system (i.e., wheel velocity). The nonlinear model of the system is shown locally observable. The effects and drawbacks of the extended Kalman filters and sliding observers are shown via simulations. The sliding observer is found promising while the extended Kalman filter is unsatisfactory due to unpredictable changes in the road conditions.
258 citations
TL;DR: Simulation and experimental results show that the proposed control system is robust with regard to plant parameter variations and external load disturbance and the advantages of the proposedcontrol system are indicated in comparison with the sliding-mode control system.
Abstract: A supervisory fuzzy neural network (FNN) control system is designed to track periodic reference inputs in this study. The control system is composed of a permanent magnet (PM) synchronous servo motor drive with a supervisory FNN position controller. The supervisory FNN controller comprises a supervisory controller, which is designed to stabilize the system states around a defined bound region and an FNN sliding-mode controller, which combines the advantages of the sliding-mode control with robust characteristics and the FNN with online learning ability. The theoretical and stability analyses of the supervisory FNN controller are discussed in detail. Simulation and experimental results show that the proposed control system is robust with regard to plant parameter variations and external load disturbance. Moreover, the advantages of the proposed control system are indicated in comparison with the sliding-mode control system.
201 citations
TL;DR: A robust control law is derived to ensure the existence of a sliding mode and to overcome the effects of the delay and uncertainty in the sliding mode of uncertain linear input-delay systems with nonlinear parametric perturbations.
TL;DR: It is shown that with arbitrary initial conditions, the reaching time and tracking error in the approaching phase can be significantly reduced and chattering can be reduced by fuzzy tuning of the controller parameters.
03 Oct 1999
TL;DR: In this article, an adaptive sliding-mode observer for the speed-sensorless field-oriented control of induction motors is presented, based on a TMS320F240 digital signal processor controller implementation.
Abstract: This paper presents an adaptive sliding-mode observer for the speed-sensorless field-oriented control of induction motors. The observer detects the rotor flux components in the two-phase stationary reference frame by the motor electrical equations. The motor speed is estimated by an additional relation obtained by a Lyapunov function. The analytical development of the sliding observer and the speed estimation algorithm is fully explained. Experimental results are presented, based on a TMS320F240 digital signal processor controller implementation. The system performance with different observer gains and the influence of the motor parameters deviations are shown and discussed.
01 Jan 1999
TL;DR: Sliding sector for variable structure system as mentioned in this paper is a general form for sliding mode control of nonlinear systems, handling stiction with variable structure control, and equivalent value filters in disturbance estimation and state observation.
Abstract: Sliding sector for variable structure system- On discrete variable structure control with switching sector- Variable structure control of nonlinear sampled data systems by second order sliding modes- On sampled data variable structure control systems- Sliding mode control of systems with delayed states and controls- On global stabilization of nonlinear dynamical systems- A general canonical form for sliding mode control of nonlinear systems- Handling stiction with variable structure control- Equivalent value filters in disturbance estimation and state observation- Sliding mode control of a car-like mobile robot using single-track dynamic model- Park vector based sliding mode control of UPS with unbalanced and nonlinear load- Dynamical adaptive sliding mode control of observable minimum-phase uncertain nonlinear systems- Symbolic computing tools for nonsmooth dynamics and control- Sliding mode control with gain scheduled hyperplane for LPV plant- A study on parameterized output feedback sliding mode controller- Sliding mode tracking control of systems with unstable zero dynamics- On second order sliding mode controllers- A tale of two discontinuities- The problem of chattering: an averaging approach
TL;DR: In this paper, a terminal sliding mode control scheme is proposed for second-order nonlinear uncertain systems, which is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily.
Abstract: In this paper, a terminal sliding mode control scheme is proposed for second-order nonlinear uncertain systems. By using a function augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. In addition, the proposed scheme eliminates the reaching phase problem so that the closed-loop system always shows the invariance property to parameter uncertainties. Copyright © 1999 John Wiley & Sons, Ltd.
TL;DR: In this article, a robust control law is proposed for trajectory tracking of nonholonomic wheeled mobile robots, where state variables of the mobile robot are represented in polar coordinates, and the dynamic equation of the system is feedback-linearized by a computed-torque method.
Abstract: As nonholonomic mobile robots have constraints imposed on motions that are not integrable, i.e. the constraints cannot be written as time derivatives of some function of the generalized coordinates, advanced techniques are needed for the tracking control. In the paper a robust control law is proposed for trajectory tracking of nonholonomic wheeled mobile robots. The state variables of the mobile robot are represented in polar coordinates, and the dynamic equation of the system is feedback-linearized by a computed-torque method. A novel sliding mode control law is derived for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to bounded system disturbances. Simulation examples and experimental results are provided to show the effectiveness of the accurate tracking capability and the robust performance of the proposed controller.
TL;DR: A robust sliding-mode controller, suitable for the output voltage control of voltage-sourced unity-power-factor three-phase pulsewidth modulation (PWM) rectifiers, presenting no steady-state errors, is described, which exceeds the performance of existing hysteretic current-mode control systems.
Abstract: A robust sliding-mode controller, suitable for the output voltage control of voltage-sourced unity-power-factor three-phase pulsewidth modulation (PWM) rectifiers, presenting no steady-state errors, is described. This "just-in-time" switching controller controls the output voltage and the line input currents, while providing bidirectional power flow, near-unity-power-factor operation, low harmonic content, fast dynamic response of the output voltage, and minimum switching frequency due to a new /spl alpha/-/spl beta/ space-vector current regulator. The voltage controller performance is compared with the behavior of the conventional proportional integral output voltage control, aided by PWM current-mode modulators, and with the nonrobust fast and slow manifold sliding-mode approach. The comparison shows that the proposed controller confers faster dynamics and does not present steady-state errors. Test results confirm that the performance of the controller is independent of system parameters and load and exceeds the performance of existing hysteretic current-mode control systems.
TL;DR: A simple but powerful FLC (Fuzzy Logic Controller) design method using a single fuzzy input variable, which is equivalent to the pseudo sliding mode controller, and hence, the stability is guaranteed using the Lyapunov stability.
TL;DR: In this paper, a linear control law for an uncertain discrete-time linear plant, with bounded uncertainties, is analyzed and its superiority over nonlinear controllers is demonstrated and the conclusion of the obtained results is that in the discrete time variable structure sliding mode controller design, unlike in the continuous-time, the designer may have limited flexibility in selecting controller architectures.
01 Jan 1999
TL;DR: In this article, a modified sliding-mode controller is proposed to compensate the effects of the varying time delay which deteriorates the performance of the regular slidingmode controller, in which the nonlinear gain can be set independently of the time delay variation.
Abstract: Bilateral teleoperation systems connected to computer networks, such as Internet, have to deal with varying communication time delay. The entire system is easy to become unstable due to irregular time delay. In this paper, we design a sliding-mode controller for the slave and an impedance controller for the master. We propose a modified sliding-mode controller, in which the nonlinear gain can be set independently of the time delay variation. The proposed controller effectively compensates the effects of the varying time delay which deteriorates the performance of the regular sliding-mode controller. We illustrate the validity of the proposed controller using simulations with 1-DOF master/slave bilateral teleoperation system.
TL;DR: In this article, a contactless eddy current brake (ECB) is developed to take the superior advantages of fast anti-lock braking to the conventional hydraulic brake systems, which is performed by using an approximate theoretical model and the model is modified through experiments to have a more reliable result.
TL;DR: In this article, a sliding mode controller (SMC) is presented and compared with the well-known field orientation and input-output linearization techniques to estimate the rotor flux.
Abstract: This paper deals with real-time control of an induction motor based on a digital signal processor (DSP) TMS320C31/40-MHz-based system. A sliding mode controller (SMC) is presented and compared with the well-known field orientation and input-output linearization techniques. To estimate the rotor flux, a sliding mode observer is used. Experimental results are given to highlight the performances and disadvantages of these methods with respect to rotor resistance variations.
01 Mar 1999
TL;DR: In this article, a new chattering-free and fast-response sliding-mode controller with a smooth control law (SMCS) is proposed, which takes the distance of the system state from the sliding surface into account.
Abstract: A new chattering-free and fast-response sliding-mode controller with a smooth control law (SMCS) is proposed. Unlike the conventional sliding-mode controller, or sliding-mode controller with boundary layer (SMCB), which obeys the variable-structure control principle by adopting a switching control term, the proposed SMCS uses a continuously varying term instead which takes the distance of the system state from the sliding surface into account. As a result, chattering is eliminated, and the control performance is improved in contrast to the popularly used SMCB in terms of system response, robustness, adaptability and maximum steady-state error. Both theoretical analysis and simulation studies have been carried out to verify the superiority of SMCS over SMCB. A step-by-step systematic design procedure for SMCS is presented and applied to speed control of a PMSM drive system.
TL;DR: It is shown that, through the proposed control scheme, the rotor speed or position of a DC motor can follow any arbitrarily selected trajectories under variable load torque.
02 Jun 1999
TL;DR: In this article, a modified version of the receding horizon control of nonlinear systems is proposed, based on a finite horizon optimal control problem with a terminal cost, where the terminal cost is picked to be a control Lyapunov function (CLF)-based stabilizing control law.
Abstract: A modified version of the receding horizon control of nonlinear systems is proposed. The approach is based on a finite horizon optimal control problem with a terminal cost. This method can be treated as an extension of results of De Nicolao et al. (1998). To the case where a control Lyapunov function (CLF)-based stabilizing control law is available. The terminal cost is picked to be a CLF which is also an upper bound on the cost-to-go if the stabilizing control law is applied. The control law is computed a priori using a CLF. Effectiveness of the results is illustrated by applying this approach to the planar model of a ducted fan with a CLF obtained using quasi LPV methods.
TL;DR: Based on the concept of sliding-mode control (SMC), the paper designs fuzzy logic controls to achieve the prespecified trajectory tracking for an uncertain nonlinear system.
Abstract: Based on the concept of sliding-mode control (SMC), the paper designs fuzzy logic controls to achieve the prespecified trajectory tracking for an uncertain nonlinear system. The prespecified trajectory is composed of several nonisoclinal segments in the phase plane and is regarded as the piecewise sliding surface. First, let the uncertain system be approximated by a linguistic fuzzy rule base, then two fuzzy logic controllers are designed to achieve the hitting motion and preserve the system's state traveling on the prespecified trajectory. The main advantage of this control design is that the trial and error of the conventional fuzzy control design disappears. A practical example is given to illustrate the applicability of the algorithm.
TL;DR: In this article, a sliding mode control method suitable for controlling a hydraulic position servo with a flexible load is discussed, and a novel algorithm is developed, and the simulated and experimental results of the control system are shown.
01 Oct 1999
TL;DR: This paper considers adaptive fuzzy control of robotic manipulators based on sliding mode and shows that an adaptive fuzzy system with the system representative point and its derivative as inputs can approximate the robot nonlinear dynamics in the neighborhood of the switching hyperplane.
Abstract: This paper considers adaptive fuzzy control of robotic manipulators based on sliding mode. It is first shown that an adaptive fuzzy system with the system representative point (RP, or as is often termed, a switching function in variable structure control (VSC) theory) and its derivative as inputs, can approximate the robot nonlinear dynamics in the neighborhood of the switching hyperplane. Then a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking control of a robot with unknown nonlinear dynamics. The system stability and tracking error convergence are also proved by Lyapunov techniques.
TL;DR: Based on the variable structure model reference adaptive control theory, a new control system for the control of an orbiting flexible spacecraft, using output feedback, is designed in this article, which consists of a main rigid body to which elastic appendages are attached.
TL;DR: In this paper, a sliding mode controller based on a first-order plus-deadtime model of the system for controlling higher-order chemical processes with inverse response was proposed and evaluated via computer simulations.
Abstract: This article proposes the use of a sliding mode controller based on a first-order-plus-deadtime model of the system for controlling higher-order chemical processes with inverse response. The controller has a simple and fixed structure with a set of tuning equations as a function of the characteristic parameters of the first order-plus-deadtime model. The controller performance was judged via computer simulations using linear and nonlinear models of chemical processes with inverse response.