Showing papers on "Sliding mode control published in 2005"
TL;DR: It is shown that a general uncertain single-input-single-output regulation problem is solvable only by means of discontinuous control laws, giving rise to the so-called high-order sliding modes, and homogeneity features significantly simplify the design and investigation of a new family of high- order sliding-mode controllers.
822 citations
TL;DR: This paper is concerned with sliding mode control for uncertain stochastic systems with time-varying delay, and an integral sliding surface is first constructed, and a sufficient condition is derived to guarantee the global Stochastic stability of the stoChastic dynamics in the specified switching surface for all admissible uncertainties.
503 citations
TL;DR: An analysis of two most popular continuous sliding-mode algorithms: The power-fractional sliding- Mode algorithm and a second-order sliding- mode algorithm known as the super-twisting is carried out in the frequency domain with the use of the describing function method.
Abstract: An analysis of two most popular continuous sliding-mode algorithms: The power-fractional sliding-mode algorithm and a second-order sliding-mode algorithm known as the super-twisting is carried out in the frequency domain with the use of the describing function method. It is shown that in the presence of an actuator, the transient process converges to a periodic motion. Parameters of this periodic motion are analyzed. A few examples are considered to illustrate the obtained results.
321 citations
TL;DR: This paper considers a control strategy of multiagent systems, or simply, swarms, based on artificial potential functions and the sliding-mode control technique, and considers a general model for vehicle dynamics of each agent (swarm member), and uses sliding- mode control theory to force their motion to obey the dynamics of the kinematic model.
Abstract: In this paper, we consider a control strategy of multiagent systems, or simply, swarms, based on artificial potential functions and the sliding-mode control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, the interindividual interactions are based on artificial potential functions, and the motion of the individuals is along the negative gradient of the combined potential. After that, we consider a general model for vehicle dynamics of each agent (swarm member), and use sliding-mode control theory to force their motion to obey the dynamics of the kinematic model. In this context, the results for the initial model serve as a "proof of concept" for multiagent coordination and control (swarm aggregation), whereas the present results serve as a possible implementation method for engineering swarms with given vehicle dynamics. The presented control scheme is robust with respect to disturbances and system uncertainties.
318 citations
TL;DR: This paper presents a simple and systematic approach to the design of a practical sliding mode voltage controller for buck converters operating in continuous conduction mode.
Abstract: This paper presents a simple and systematic approach to the design of a practical sliding mode voltage controller for buck converters operating in continuous conduction mode. Various aspects of the design, including the associated practical problems and the proposed solutions, are detailed. A simple and easy-to-follow design procedure is also described. Experimental results are presented to illustrate the design procedure.
310 citations
TL;DR: In this article, a double-loop control strategy for the Boost dc-ac inverter is proposed, which consists of a new inductor current control inner loop and an output voltage control outer loop.
Abstract: Boost dc-ac inverter naturally generates in a single stage an ac voltage whose peak value can be lower or greater than the dc input voltage. The main drawback of this structure deals with its control. Boost inverter consists of Boost dc-dc converters that have to be controlled in a variable-operation point condition. The sliding mode control has been proposed as an option. However, it does not directly control the inductance averaged-current. This paper proposes a control strategy for the Boost inverter in which each Boost is controlled by means of a double-loop regulation scheme that consists of a new inductor current control inner loop and an also new output voltage control outer loop. These loops include compensations in order to cope with the Boost variable operation point condition and to achieve a high robustness to both input voltage and output current disturbances. As shown by simulation and prototype experimental results, the proposed control strategy achieves a very high reliable performance, even in difficult transient situations such as nonlinear loads, abrupt load changes, short circuits, etc., which sliding mode control cannot cope with.
284 citations
TL;DR: An adaptive sliding mode fuzzy control approach is proposed for a two-dimensional overhead crane, combining SMC's robustness and FLC's independence of system model, for both X- direction transport and Y-direction transport.
233 citations
Journal Article•
TL;DR: In this paper, the state of the observed system is decomposed into known and unknown components, and the unknown component is a projection, not necessarily orthogonal, of the whole state along the subspace in which the available state component resides.
Abstract: Design procedures are proposed for two different classes of observers for systems withunknown inputs In thefirst approach, the state of the observed system is decomposed into known and unknown components The unknown component is a projection, not necessarily orthogonal, of the whole state along the subspace in which the available state component resides Then, a dynamical system to estimate the unknown component is constructed Combining the output of the dynamical system, which estimates the unknown state component, with the available state information results in an observer that estimates the whole state It is shown that some previously proposed observer architectures can be obtained using the projection operator approach presented in this paper The second approach combines sliding modes and the second method of Lyapunov resulting in a nonlinear observer The nonlinear component of the sliding mode observer forces the observation error into the sliding mode along a manifold in the observation error space Design algorithms are given for both types of observers
209 citations
Book•
17 Oct 2005
TL;DR: This paper presents Multirate Output Feedback based Discrete-time Quasi-Sliding Mode Control of Time-Delay Systems, a novel Sliding Mode for LTI systems with Uncertainty.
Abstract: Introduction.- Switching Function bases Multirate Output Feedback Sliding Mode Control.- Multirate Output Feedback based Discrete-time Sliding Mode in LTI systems with Uncertainty.- Multirate Output Feedback based Discrete-time Quasi-Sliding Mode Control of Time-Delay Systems.- Multirate Output Feedback Sliding Mode for Special Classes of Systems.- Discrete-time Terminal Sliding Mode: Concept.- Applications of Multirate Output Feedback Discrete-time Sliding Mode Control.
176 citations
TL;DR: In this paper, a new sliding mode control with varying boundary layers is proposed to improve the tracking performance of a nonlinear electro-hydraulic position servo system, which can be found in many manufacturing devices.
Abstract: In this study, a new sliding mode control with varying boundary layers is proposed to improve the tracking performance of a nonlinear electro-hydraulic position servo system, which can be found in many manufacturing devices The key feature of the proposed control scheme is the use of varying boundary layers instead of fixed boundary layers, which are usually employed in conventional sliding mode control The validity of the proposed control scheme is verified through practical testing on an experimental electro-hydraulic positioning device In the cases of step and sinusoidal command inputs, the experimental results strongly suggest that the proposed control scheme is capable of improving the tracking precision without causing any chattering In addition, the new control scheme seems to be very robust against various set point conditions
163 citations
TL;DR: Using a barrier function approach, an adaptive method is proposed for generating setpoints online which converge to the feasible minimizer of a convex objective function containing the unknown dynamic parameters.
TL;DR: A comparative analysis with a plenty of simulation results soundly confirmed that the performance of developed variable structure PID controller is better under than those of both classical PID controller and an existing variable structure controller with PID-sliding surface.
Abstract: In this brief, a new variable structure proportional-integral-derivative (PID) controller design approach is considered for the tracking stabilization of robot motion. The work corroborates the utility of a certain PID sliding mode controller with PID sliding surface for tracking control of a robotic manipulator. Different from the general approach, the conventional equivalent control term is not used in this controller because that needs to use the matching conditions and exact full robot dynamics knowledge, which involves unavailable parameter uncertainties. Though the sliding surface includes also the integral error term, which makes the robot tracking control problem complicated, the existence of a sliding mode and gain selection guideline are clearly investigated. Moreover, different from uniformly ultimately boundedness, the global asymptotic stability of the robot system with proposed controller is analyzed. The sliding and global stability conditions are formulated in terms of Lyapunov full quadratic form and upper and lower matrix norm inequalities. Reduced design is also discussed. The proposed control algorithm is applied to a two-link direct drive robot arm through simulations. The simulation results indicate that the control performance of the robot system is satisfactory. The chattering phenomenon is handled by the use of a saturation function replaced with a pure signum function in the control law. The saturation function results in a smooth transient performance. The proposed approach is compared with the existing alternative sliding mode controllers for robot manipulators in terms of advantages and control performances. A comparative analysis with a plenty of simulation results soundly confirmed that the performance of developed variable structure PID controller is better under than those of both classical PID controller and an existing variable structure controller with PID-sliding surface.
TL;DR: An adaptive law is derived based on the Lyapunov function to tune the coupling factor of the hierarchical sliding-mode controller so as to achieve favorable decoupling performance with guaranteed stability.
Abstract: A design method using hierarchical fuzzy sliding-mode (HFSM) decoupling control is proposed to achieve system stability and favorable decoupling performance for a class of nonlinear systems. In this approach, the nonlinear system is decoupled into several subsystems and the state response of each subsystem can be designed to be governed by a corresponding sliding surface. Then the whole system is controlled by a hierarchical sliding-mode controller. In this design, an adaptive law is derived based on the Lyapunov function to tune the coupling factor of the hierarchical sliding-mode controller so as to achieve favorable decoupling performance with guaranteed stability. The proposed design method is applied to investigate the decoupling control of a double inverted pendulum system. Simulations are performed and a comparison between the proposed HFSM decoupling control and a conventional fuzzy sliding-mode (FSM) decoupling control is presented to demonstrate the effectiveness of the proposed design method.
TL;DR: The novel sliding-mode controller is designed in accordance with the trapezoidal velocity profile to guarantee the desired performance and is demonstrated by simulation and experimental results.
Abstract: This paper proposes a particular motor position control drive design via a novel sliding-mode controller. The newly designed controller is especially suitable for the motor incremental motion control which is specified by a trapezoidal velocity profile. The novel sliding-mode controller is designed in accordance with the trapezoidal velocity profile to guarantee the desired performance. A motor control system associated PC-based incremental motion controller with permanent-magnet synchronous motor is built to verify the control effect. The validity of the novel incremental motion controller with sliding-mode control method is demonstrated by simulation and experimental results.
TL;DR: The first is asymptotic regulation and the second confirms the transient performance improvement by showing that the output feedback continuous sliding-mode control with integral action can be tuned to recover the performance of a state feedback ideal sliding mode control without integral action.
08 Jul 2005
TL;DR: In this article, a sliding system with compensators is presented, where the compensators are designed for achieving and/or improving the system stability, hence obtaining desired system behaviour and performance.
Abstract: Dynamic sliding mode control and higher order sliding mode are studied. Dynamic sliding mode control adds additional dynamics, which can be considered as compensators. The sliding system with compensators is an augmented system. These compensators (extra dynamics) are designed for achieving and/or improving the system stability, hence obtaining desired system behaviour and performance. Higher order sliding mode control and dynamic sliding mode control yield more accuracy and also reduce and/or remove the chattering resulting from the high frequency switching of the control. It is proved that certain J-trajectories reach a sliding mode in a finite time. A sliding mode differentiator is also considered.
TL;DR: In this paper, a robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in which three PID control gains, Kp, Ki, and Kd, are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition.
Abstract: A robust adaptive PID controller design motivated from the sliding mode control is proposed for a class of uncertain chaotic systems in this paper. Three PID control gains, Kp, Ki, and Kd, are adjustable parameters and will be updated online with an adequate adaptation mechanism to minimize a previously designed sliding condition. By introducing a supervisory controller, the stability of the closed-loop PID control system under with the plant uncertainty and external disturbance can be guaranteed. Finally, a well-known Duffing–Holmes chaotic system is used as an illustrative to show the effectiveness of the proposed robust adaptive PID controller.
TL;DR: A robust stabilization problem for a class of uncertain systems is studied using sliding mode techniques and a variable structure controller is proposed to stabilize the system by exploiting the estimated state and system output.
TL;DR: Sliding mode techniques are applied to pneumatic muscle actuators arranged in an agonist/antagonist, or opposing pair configuration, and a sliding mode controller is designed to give elbow angle tracking within a guaranteed accuracy despite modeling errors.
Abstract: Sliding mode techniques are applied to pneumatic muscle actuators arranged in an agonist/antagonist, or opposing pair configuration. The pneumatic muscle (PM) pair actuates a planar elbow manipulator, with PMs in place of bicep and tricep. The control objective is elbow angle tracking under load. A nonlinear mathematical model is derived for this system and a sliding mode controller is designed to give elbow angle tracking to within a guaranteed accuracy despite modeling errors. Static pressure requirements are also derived for stable arm behavior in the absence of a control signal. Stability results are derived, and the results of simulation studies are presented. The simulation studies also address the effects of PM heating.
TL;DR: This paper presents, in detail, the implementation of a new control strategy, Kalman-based active observer controller (AOB), for the path following of wheeled mobile robots (WMRs) subject to nonholonomic constraints.
Abstract: This paper presents, in detail, the implementation of a new control strategy, Kalman-based active observer controller (AOB), for the path following of wheeled mobile robots (WMRs) subject to nonholonomic constraints. This control strategy presents some particularities as being used in discrete mode, and being robust against uncertainties and disturbances such as the ones due to the use of the input-output feedback-linearization method in discrete mode, while it was developed to be used in continuous mode. The performance of the proposed control algorithm is verified via computer simulation, and is compared with other control strategies, such as pole placement controller (PPC) and PPC with a Kalman filter observer (CKF).
08 Jun 2005
TL;DR: In this article, the authors investigate the use of a nonlinear control allocation scheme for automotive vehicles, where a higher level control system specifies a desired moment to work on the vehicle, while the control allocation distributes this moment among the individual wheels by commanding appropriate wheel slips.
Abstract: We investigate the use of a nonlinear control allocation scheme for automotive vehicles. Such a scheme is useful in e.g. yaw or roll stabilization of the vehicle. The control allocation allows a modularization of the control task, such that a higher level control system specifies a desired moment to work on the vehicle, while the control allocation distributes this moment among the individual wheels by commanding appropriate wheel slips. The control allocation problem is defined as a nonlinear optimization problem, to which an explicit piecewise linear approximate solution function is computed off-line. Such a solution function can computationally efficiently be implemented in real time with at most a few hundred arithmetic operations per sample. Yaw stabilization of the vehicle yaw dynamics is used as an example of use of the control allocation. Simulations show that the controller stabilizes the vehicle in an extreme manoeuvre where the vehicle yaw dynamics otherwise becomes unstable.
TL;DR: In this article, an integral sliding mode technique robustifying the optimal controller for linear stochastic systems with input and observation delays is presented, which is based on integral sliding modes compensation of disturbances.
Abstract: SUMMARY This paper presents an integral sliding mode technique robustifying the optimal controller for linear stochastic systems with input and observation delays, which is based on integral sliding mode compensation of disturbances The general principles of the integral sliding mode compensator design are modified to yield the basic control algorithm oriented to time-delay systems, which is then applied to robustify the optimal controller As a result, two integral sliding mode control compensators are designed to suppress disturbances in state and observation equations, respectively, from the initial time moment Moreover, it is shown that if certain matching conditions hold, the designed compensator in the state equation can simultaneously suppress observation disturbances, as well as the designed compensator in the observation equation can simultaneously suppress state disturbances The obtained robust control algorithm is verified by simulations in the illustrative example, where the compensator in the observation equation provides simultaneous suppression of state and observation disturbances Copyright # 2005 John Wiley & Sons, Ltd
TL;DR: In this article, the implementation of a PWM-based sliding mode (SM) controller for boost converters is discussed and the methods of modeling the system and translation of the SM control equations for the PWM implementation are illustrated.
Abstract: This letter addresses the various issues concerning the implementation of a pulse-width modulation (PWM) based sliding mode (SM) controller for boost converters. The methods of modeling the system and translation of the SM control equations for the PWM implementation are illustrated. It is shown that the control technique is easily realized with simple analog circuitries. Various experiments are conducted to test the static and dynamic performances of the system.
TL;DR: The adaptive fuzzy sliding mode control is applied to the attitude stabilization of flexible satellite and the hitting control, which guarantees the stability of the control system, is developed.
TL;DR: This paper proposes an observer-based indirect adaptive fuzzy sliding mode controller with state variable filters for a certain class of unknown nonlinear dynamic systems in which not all the states are available for measurement.
TL;DR: In this article, a sliding mode control strategy for the three-axis attitude maneuver of a flexible spacecraft model is proposed, which is an extension of the pure rigid spacecraft control case.
25 May 2005
TL;DR: The trajectory tracking of a car-like mobile robot (CLMR) using network-based fuzzy decentralized sliding-mode control (NBFDSMC) is developed and can track a reference trajectory without the requirement of a mathematical model.
Abstract: In this paper, the trajectory tracking of a car-like mobile robot (CLMR) via network-based fuzzy decentralized sliding-mode control (NBFDSMC) was developed. Based on the upper bound of system knowledge with a little trial-and-error, the fuzzy decentralized sliding-mode control (FDSMC) for the motor was achieved. The controls of steering angle and angular (or linear) velocity of a CLMR were obtained through the modified scaling factors of the motor. Due to the delay transmission of a signal through an Internet, a revision of FDSMC (i.e., NBFDSMC) with suitable sampling interval, according to the quality of service (QoS), was accomplished. Then the control input was transmitted to the CLMR by a wireless device. The proposed control could track a reference trajectory without the requirement of a mathematical model. Only the information of the upper bound of system knowledge was required to select suitable scaling factors sucb that an excellent performance was accomplished. A sequence of experiments was carried out to evaluate the usefulness of the proposed control system
TL;DR: In this article, a sliding mode control system design methodology is proposed, which integrates an identified second-order plus dead-time (SOPDT) model, an optimal sliding surface and a delay-ahead predictor.
TL;DR: The design of a novel fuzzy sliding-mode control (NFSMC) for the magnetic ball levitation system is presented and the Lyapunov stability analysis is given.
Abstract: This paper presents the design of a novel fuzzy sliding-mode control (NFSMC) for the magnetic ball levitation system. At first, we examine the nonlinear dynamic models of the magnetic ball system, where the singular perturbation method is used. Next, we address the design schemes of sliding mode control (SMC) and traditional fuzzy sliding-mode control (FSMC), where two kinds of FSMCs are introduced. Then we provide the design steps of the NFSMC, where the Lyapunov stability analysis is also given. Finally, a magnetic ball levitation system is used to illustrate the effectiveness of the proposed controller.