Skocz do pozycji: 1.

Tytuł:

Sliding mode control for longitudinal aircraft dynamics

Autorzy:

Iskrenovic-Momcilovic, O.

Powiązania:

https://bibliotekanauki.pl/articles/385149.pdf

Data publikacji:

2018

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

aircraft dynamics
control
elevator
longitudinal
sliding mode

Opis:

The control of the longitudinal aircraft dynamics is challenging because the mathematical model of aircraft is highly nonlinear. This paper considers a sliding mode control design based on linearization of the aircraft, with the pitch angle and elevator deflection as the trim variables. The design further exploits the decomposition of the aircraft dynamics into its short-period and phugoid approximations. The discrete-time variable structure system synthesis is performed on the base of the elevator transfer function short-period approximation. This control system contains a sliding mode controller, an observer, based on nominal aircraft model without finite zero and two additional control channels for the aircraft and for the aircraft model. The realised system is stable and robust for parameter and external disturbances.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2018, 12, 3; 55-60
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 2.

Tytuł:

Stability analysis of sliding-mode feedback control

Autorzy:

Clarke, F. H.
Vinter, R. B.

Powiązania:

https://bibliotekanauki.pl/articles/970887.pdf

Data publikacji:

2009

Wydawca:

Polska Akademia Nauk. Instytut Badań Systemowych PAN

Tematy:

sliding-mode control
discontinuous control
Lyapunov functions
stabilization
robustness

Opis:

This paper provides new analytic tools leading to the first rigorous stability and robustness analysis of sliding-mode feedback controllers. Unrestrictive conditions are given, under which these controllers are stabilizing in the presence of large disturbances, conditions invoke the existence of two Lyapunov-type functions, the first associated with passage to the sliding set in finite time, and the second with convergence to the desired state. In this approach, account is taken, from the outset, of implementational constraints. We provide a framework for establishing stability and robustness of the closed-loop system, for a variety of implementation schemes. We illustrate our results by means of two examples of the type frequently encountered in the sliding-mode literature.

Źródło:

Control and Cybernetics; 2009, 38, 4A; 1169-1192
0324-8569

Pojawia się w:

Control and Cybernetics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 3.

Tytuł:

Chattering attenuation in sliding mode control systems

Autorzy:

Bartoszewicz, A.

Powiązania:

https://bibliotekanauki.pl/articles/206731.pdf

Data publikacji:

2000

Wydawca:

Polska Akademia Nauk. Instytut Badań Systemowych PAN

Tematy:

nieliniowy system sterowania
nonlinear control system
compensation
control nonlinearities
sliding mode control
variable structure systems

Opis:

In this paper sliding mode control systems are considered and a new technique to attenuate chattering is proposed. The technique employs simple, first-order dynamical devices, i.e. an integrator or a low-pass filter, to compensate in part for unknown and changing disturbance. As a result of this compensation, the magnitude of the discontinuous control term is essentially reduced. The term does not depend on the admissible disturbance or its change rate, but only on the uncertainty of the disturbance at the initial time t = t[sub o]. The technique proposed in this paper attenuates the undesirable chattering without any deterioration of the system performance.

Źródło:

Control and Cybernetics; 2000, 29, 2; 585-584
0324-8569

Pojawia się w:

Control and Cybernetics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 4.

Tytuł:

Quasi-Sliding Mode Control of Discrete-Time Systems

Autorzy:

Bartoszewicz, A.

Powiązania:

https://bibliotekanauki.pl/articles/908266.pdf

Data publikacji:

1999

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

sterowanie
system dyskretny
sliding-mode control
discrete-time systems

Opis:

A reaching law approach to the design of discrete-time quasi-sliding mode control systems is considered. First the required position of the system representative point with reference to the sliding plane is specified, and then novel control strategies, which drive the system in such a way that the position actually changes according to the specification, are proposed. The strategies are linear and consequently the undesirable chattering and high-frequency switching between different values of the control signal are avoided. Furthermore, the state of the controlled system is driven to the narrowest possible band around the sliding plane. The strategies, when compared with previously published results, are simpler and they guarantee favourable performance of the controlled systems while using essentially reduced control effort.

Źródło:

International Journal of Applied Mathematics and Computer Science; 1999, 9, 4; 801-810
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 5.

Tytuł:

Sliding mode speed control for multi-motors system

Autorzy:

Bouchiba, B.
Hazzab, A.
Glaoui, H.
Med-Karim, F.
Bousserhane, I. K.

Powiązania:

https://bibliotekanauki.pl/articles/384373.pdf

Data publikacji:

2010

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

Multi-Motors systems
sliding mode control
proportional-integral (P1) control

Opis:

Continuous processes in the plastics, textile paper and other industries, require several drives working in synchronism. The aim of this paper is to control speed of the multi motors system, and to maintain a constant mechanical tension between the rollers of the system. Several controllers are considerer, including Proportional-Integral (PI) and sliding-mode control (SMC). Since the PI control method can be applied easily and is widely known, it has an important place in control applications. But this method is insensitive to parameter changes. The advantage of an SMC is its robustness and ability to handle the non-linear behaviour of the system, and is indicated in comparison with traditional proportional-integral (P1) control scheme. Theoretical analysis and simulation results are provided to evaluate the consistency and performances of this control technique (SMC).

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 3; 50-54
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 6.

Tytuł:

Mechanism and optimum pressure for sliding-mode nanogenerator

Autorzy:

Yun, Hang
He, Ren

Powiązania:

https://bibliotekanauki.pl/articles/2204139.pdf

Data publikacji:

2023

Wydawca:

Zachodniopomorski Uniwersytet Technologiczny w Szczecinie. Wydawnictwo Uczelniane ZUT w Szczecinie

Tematy:

triboelectric nanogenerator
ab initio calculation
optimum pressure
recovered energy

Opis:

Triboelectric nanogenerator has extensive applicability because of its capability of harvesting mechanical energy and flexible working modes. To research the optimum pressure and improve the recovered energy of the sliding-mode triboelectric nanogenerator, a contact model of the Al/PTFE tribo-pair is studied by ab initio calculation and finite element simulation. The F-atom of PTFE is proved to be the electron accepter and the charges transferred can be predicted by Bader charge analysis. The mathematical relation between interfacial distance, charges transferred and contact pressure can be fitted. By Gauss’s law, the electric field is simulated and the regeneration energy of the sliding-mode triboelectric nanogenerator can be evaluated by the total electric energy and friction loss. Finally, an optimum pressure can be set to the upper or lower limit of working pressure corresponding to larger recovered energy. And less friction coefficient and larger contact area are also effective methods for recovering energy.

Źródło:

Polish Journal of Chemical Technology; 2023, 25, 1; 35--39
1509-8117
1899-4741

Pojawia się w:

Polish Journal of Chemical Technology

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 7.

Tytuł:

Control of an Induction Motor Using Sliding Mode Linearization

Autorzy:

Etien, E.
Cauet, E.
Rambault, L.
Champenois, G.

Powiązania:

https://bibliotekanauki.pl/articles/908504.pdf

Data publikacji:

2002

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

automatyka
induction motor
sliding mode control
linearization

Opis:

Nonlinear control of the squirrel induction motor is designed using sliding mode theory. The developed approach leads to the design of a sliding mode controller in order to linearize the behaviour of an induction motor. The second problem described in the paper is decoupling between two physical outputs: the rotor speed and the rotor flux modulus. The sliding mode tools allow us to separate the control from these two outputs. To take account of parametric variations, a model-based approach is used to improve the robustness of the control law despite these perturbations. Experimental results obtained with a laboratory setup illustrate the good performance of this technique.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2002, 12, 4; 523-531
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 8.

Tytuł:

Adaptive sliding mode formation control of multiple underwater robots

Autorzy:

Das, B.
Subudhi, B.
Pati, B. B.

Powiązania:

https://bibliotekanauki.pl/articles/229471.pdf

Data publikacji:

2014

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

AUV
SMC
passivity
cooperative control

Opis:

This paper proposes a new adaptive sliding mode control scheme for achieving coordinated motion control of a group of autonomous underwater vehicles with variable added mass. The control law considers the communication constraints in the acoustic medium. A common reference frame for velocity is assigned to a virtual leader dynamically. The performances of the proposed adaptive SMC were compared with that of a passivity based controller. To save the time and traveling distance for reaching the FRP by the follower AUVs, a sliding mode controller is proposed in this paper that drives the state trajectory of the AUV into a switching surface in the state space. It is observed from the obtained results that the proposed SMC provides improved performance in terms of accurately tracking the desired trajectory within less time compared to the passivity based controller. A communication consensus is designed ensuring the transfer of information among the AUVs so that they move collectively as a group. The stability of the overall closed-loop systems are analysed using Lyapunov theory and simulation results confirmed the robustness and efficiency of proposed controller.

Źródło:

Archives of Control Sciences; 2014, 24, 4; 515-543
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 9.

Tytuł:

Sliding mode control system for an active current converter

Autorzy:

Efimov, Aleksandr
Nerć, Arkadiusz

Powiązania:

https://bibliotekanauki.pl/articles/24202507.pdf

Data publikacji:

2022

Wydawca:

Akademia Morska w Szczecinie. Wydawnictwo AMSz

Tematy:

ACC
ACS
SMC of ACC
DRNOC
MATLAB
Simulink

Opis:

In this study, a functional diagram for an automatic sliding mode control system for a three-phase bridge buck current converter was developed. To achieve this, a simulation program was created in MATLAB/Simulink which analyzed the dynamic performance of the developed automatic control system, operating in the active rectifier and network current inverter modes. The results present the mathematical modeling outputs, along with the analyzed control algorithm and the automatic control system of the buck current converter evaluated.

Źródło:

Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2022, 69 (141); 37--44
1733-8670
2392-0378

Pojawia się w:

Zeszyty Naukowe Akademii Morskiej w Szczecinie

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 10.

Tytuł:

Adaptive sliding mode control for ship autopilot with speed keeping

Autorzy:

Liu, Z.

Powiązania:

https://bibliotekanauki.pl/articles/259349.pdf

Data publikacji:

2018

Wydawca:

Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa

Tematy:

surface vessel
speed loss
adaptive control
course keeping
sliding mode control

Opis:

The paper addresses an important issue in surface vessel motion control practice that the ship dynamics and sailing performance can be affected by speed loss. The vessel speed is significantly decreased by the added resistance generated by waves. An adaptive sliding mode course keeping control design is proposed which takes into account uncertain ship dynamics caused by forward speed variations, while avoiding performance compromises under changing operating and environmental conditions. The sliding mode control provides robust performance for time-varying wave disturbances and time-varying changes in ship parameters and actuator dynamics. After combining the unknown but bounded system uncertainties, the design of the adaptation law is obtained which is based on the Lyapunov’s direct method. Simulations on a ship with two rudders illustrate the effectiveness of the proposed solution.

Źródło:

Polish Maritime Research; 2018, 4; 21-29
1233-2585

Pojawia się w:

Polish Maritime Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 11.

Tytuł:

Fault identification in underwater vehicle thrusters via sliding mode observers

Autorzy:

Zuev, Alexander
Zhirabok, Alexey
Filaretov, Vladimir

Powiązania:

https://bibliotekanauki.pl/articles/1838162.pdf

Data publikacji:

2020

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

underwater vehicle
thruster
fault identification
sliding mode observer
pojazd podwodny
identyfikacja uszkodzenia
sterowanie ślizgowe

Opis:

The paper is devoted to the problem of increasing the efficiency of underwater vehicles by using a fault diagnosis system for their thrusters which provides detection, isolation, and identification of minor faults. To address the problem, a two-stage method is proposed. At the first stage, a bank of diagnostic observers is designed to detect and isolate the emerging faults. Each observer in this bank is constructed to be sensitive to some set of faults and insensitive to others. At the second stage, additional observers working in sliding mode are synthesized in order to accurately estimate the error value in the signal obtained from the angular velocity sensor and to estimate deviations of the thruster parameters from their nominal values due to the faults. In contrast to the existing solutions, reduced-order (i.e., lower-dimensional) models of the original system are proposed as a basis to construct sliding mode observers. This approach permits reduction of the complexity of the obtained observers in comparison with the known methods, where full-order observers are constructed. The simulation results show the efficiency and high quality of all synthesized observers. In all cases considered, it was possible to detect typical faults, as well as estimate their values.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2020, 30, 4; 679-688
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 12.

Tytuł:

A reference trajectory based discrete time sliding mode control strategy

Autorzy:

Bartoszewicz, Andrzej
Adamiak, Katarzyna

Powiązania:

https://bibliotekanauki.pl/articles/330438.pdf

Data publikacji:

2019

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

discrete time system
sliding mode control
reaching law
reference trajectory
układ dyskretno czasowy
sterowanie ślizgowe
trajektoria referencyjna

Opis:

This study presents a new, reference trajectory based sliding mode control strategy for disturbed discrete time dynamical systems. The desired trajectory, which is generated externally according to an existing switching type reaching law, determines the properties of the emerging sliding motion of the system. It is proved that an appropriate choice of the trajectory generator parameters ensures the existence of the quasi-sliding motion of the system according to the definition by Gao et al. (1995) in spite of the influence of disturbances. Moreover, the paper shows that the application of the desired trajectory based reaching law results in a significant reduction in the quasi-sliding mode band width and errors of all state variables. Therefore, in comparison with Gao’s control method, the system’s robustness is increased. The paper also presents an additional modification of the reaching law, which guarantees a further reduction in the quasi-sliding mode band in the case of slowly varying disturbances. The results are confirmed with a simulation example.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2019, 29, 3; 517-525
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 13.

Tytuł:

Application of fractional calculus in iterative sliding mode synchronization control

Autorzy:

Zhang, Xin
Wen-Ru, Lu
Zhang, Liang
Xu, Wen-Bo

Powiązania:

https://bibliotekanauki.pl/articles/141629.pdf

Data publikacji:

2020

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

cross-coupling control
fractional calculus
iterative learning control
PD control
robot arm
sliding mode control

Opis:

In order to control joints of manipulators with high precision, a position tracking control strategy combining fractional calculus with iterative learning control and sliding mode control is proposed for the control of a single joint of manipulators. Considering the coupling between joints of manipulators, a fractional-order iterative sliding mode crosscoupling control strategy is proposed and the theoretical proof of its progressive stability is given. The paper takes a two-joint manipulator as the research object to verify the control strategy of a single-joint manipulator. The results show that the control strategy proposed in this paper makes the two-joint mechanical arm chatter less and the tracking more accurate. The synchronous control of the manipulator is verified by a three-joint manipulator. The results show that the angular displacement adjustment times of the threejoint manipulator are 0.11 s, 0.31 s and 0.24 s, respectively. 3.25 s > 5 s, 3.15 s of a PD cross-coupling control strategy; 2.85 s, 2.32 s, 4.22 s of a PD iterative cross-coupling control strategy; 0.14 s, 0.33 s, 0.28 s of a fractional-order sliding mode cross-coupling control strategy. The root mean square error of the position error of the designed control strategy is 6.47 × 10−6 rad, 3.69 × 10−4 rad, 6.91 × 10−3 rad, respectively. The root mean square error of the synchronization error is 3.96×10−4 rad, 1.36×10−3 rad, 7.81×10−3 rad, superior to the other three control strategies. The results illustrate the effectiveness of the proposed control method.

Źródło:

Archives of Electrical Engineering; 2020, 69, 3; 499-519
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 14.

Tytuł:

Chaos synchronization of uncertain coronary artery systems through sliding mode

Autorzy:

Qian, D. W.
Xi, Y. F.
Tong, S. W.

Powiązania:

https://bibliotekanauki.pl/articles/201501.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

chaos synchronization
coronary artery systems
sliding mode control
nonlinear dynamics
synchronizacja chaosu
system tętnic wieńcowych
kontroler trybu przesuwnego
dynamika nieliniowa

Opis:

The chaotic phenomena of coronary artery systems are hazardous to health and may induce illness development. From the perspective of engineering, the potential harm can be eliminated by synchronizing chaotic coronary artery systems with a normal one. This paper investigates the chaos synchronization problem in light of the methodology of sliding mode control (SMC). Firstly, the nonlinear dynamics of coronary artery systems are presented. Since the coronary artery systems suffer from uncertainties, the technique of derivative-integral terminal SMC is employed to achieve the chaos synchronization task. The stability of such a control system is proven in the sense of Lyapunov. To verify the feasibility and effectiveness of the proposed method, some simulation results are illustrated in comparison with a benchmark.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 3; 455-462
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 15.

Tytuł:

Adaptive Neuro-Sliding Mode Control of PUMA 560 Robot Manipulator

Autorzy:

Medjebouri, A.
Mehennaoui, L.

Powiązania:

https://bibliotekanauki.pl/articles/384592.pdf

Data publikacji:

2016

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

Puma 560
position control
NN
SMC
robustness
chattering

Opis:

The classical sliding mode control (SMC) is a robust control scheme widely used for dealing with nonlinear systems uncertainties and disturbances. However, the conventional SMC major drawback in real applications is the chattering phenomenon problem, which involves extremely high control activity due to the switched control input. To overcome this handicap, a pratical design method that combines an adaptive neural network and sliding mode control principles is proposed in this paper. The controller design is divided into two phases. First, the chattering phenomenon is removed by replacing the sign function included in the switched control by a continuous smooth function; basing on Lyapounov stability theorem. Then, an adaptive linear neural network, that has the role of online estimate the equivalent control in the neighborhood of the sliding manifold, is developed when the controlled plant is poorly modeled. Simulation results show clearly the satisfactory chattering free tracking performance of proposed controller when it is applied for the joints angular positions control of a 6-DOF PUMA 560 robot arm.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 4; 8-16
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 16.

Tytuł:

Filtered integral sliding mode control in a two-mass drive system

Autorzy:

Dróżdż, P.
Szabat, K.

Powiązania:

https://bibliotekanauki.pl/articles/1193310.pdf

Data publikacji:

2017

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

filtered integral sliding mode control
integral sliding mode control
two-mass system
chattering alleviation

Opis:

The paper presents issues related to the application of filtered integral sliding mode control to a two-mass drive system. A classical control structure has been presented and its design procedure is shown in detail. The properties of the classical structure, in which the chattering phenomenon seems to be a big drawback, have been summarized. In order to eliminate this phenomenon, an output low-pass filter has been proposed and the performance of this system has been tested. In order to improve its characteristics, an adaptive low-pass filter has been proposed. The bandwidth of the filter was changed on-line by the fuzzy system according to the current state of the plant. During the steady-states, the bandwidth is low to eliminate chattering effect, and during transients higher in order to ensure the fast dynamics of the plant.

Źródło:

Power Electronics and Drives; 2017, 2, 37/1; 121-134
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 17.

Tytuł:

Research on beam supply control strategy based on sliding mode control

Autorzy:

Zhang, Hao
Dong, Haiying
Zhang, Baoping
Wu, Tong
Chen, Changwen

Powiązania:

https://bibliotekanauki.pl/articles/141014.pdf

Data publikacji:

2020

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

beam supply
DC/DC converter
robustness
sliding mode control

Opis:

In the hybrid multiple H-bridge topology of beam supply, the load change of a DC/DC full-bridge converter can greatly affect the output voltage during onsite operation. An improved sliding mode control (SMC) strategy is thus proposed in this paper, where the rate of switching control is added to the law of system equivalent control to create a law that can realize a complete sliding mode control. Considering the special operating conditions of the load can have an influence on the performance of the controller, the impact of uncertainty existing in onsite conditions is suppressed with the proposed strategy utilized. The validity of the proposed strategy, finally, is verified by simulation, which proves the outperformance of the system in both robustness and dynamics.

Źródło:

Archives of Electrical Engineering; 2020, 69, 2; 349-364
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 18.

Tytuł:

Sliding mode tracking control for unmanned helicopter using extended disturbance observer

Autorzy:

Ullah, Ihsan
Pei, Hai-Long

Powiązania:

https://bibliotekanauki.pl/articles/229728.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

unmanned helicopter
external disturbances
sliding mode control
extended disturbance observer
mismatched uncertainty

Opis:

This paper presents a robust control technique for small-scale unmanned helicopters to track predefined trajectories (velocities and heading) in the presence of bounded external disturbances. The controller design is based on the linearized state-space model of the helicopter. The multivariable dynamics of the helicopter is divided into two subsystems, longitudinallateral and heading-heave dynamics respectively. There is no strong coupling between these two subsystems and independent controllers are designed for each subsystem. The external disturbances and model mismatch in the longitudinal-lateral subsystem are present in all (matched and mismatched) channels. This model mismatch and external disturbances are estimated as lumped disturbances using extended disturbance observer and an extended disturbance observer based sliding mode controller is designed for it to counter the effect of these disturbances. In the case of heading-heave subsystem, external disturbances and model mismatch only occur in matched channels so a second order sliding mode controller is designed for it as it is insensitive to matched uncertainties. The control performance is successfully tested in Simulink.

Źródło:

Archives of Control Sciences; 2019, 29, 1; 169-199
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 19.

Tytuł:

Fractional Order Sliding Mode Speed Control of Feedback Linearized Induction Motor

Autorzy:

Fetene, Yeshiwas
Shibeshi, Dereje

Powiązania:

https://bibliotekanauki.pl/articles/1193868.pdf

Data publikacji:

2020

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

induction motor
input-output feedback
linearization
fractional-order sliding mode controller
SVPWM
load torque observer

Opis:

Induction machines have of late become the most popular workhorses in the industry replacing DC machines because of their advantages, such as reduced cost, reliability and the absence of commutators, which make them adapt to unfavourable conditions with lower maintenance requirement. However, higher-order models of AC machines, nonlinearities in model equations, uncertainties in parameters and load disturbances make induction motors difficult to control than that of DC motors. In this paper, a robust control strategy considering the recent advances in technology is proposed employing input-output feedback linearization for the exact decoupling of electromagnetic torque and rotor flux using fractional-order sliding mode controller (SMC) for the outer speed loop. The sliding mode observer is also designed to extract the rotor flux from the DC input voltage of the inverter and stator current measurements. Finally, a comparison between the commonly used proportional integral and derivative (PID) controller and the proposed fractional-order SMCs is made and the conclusion is reached.

Źródło:

Power Electronics and Drives; 2020, 5, 40; 109-122
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 20.

Tytuł:

Sliding Mode Control for a Gyroscope System
Sterowanie ślizgowe układem giroskopowym

Autorzy:

Krzysztofik, I.
Koruba, Z.

Powiązania:

https://bibliotekanauki.pl/articles/403831.pdf

Data publikacji:

2017

Wydawca:

Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego

Tematy:

mechanical engineering
controlled gyroscope
sliding mode controller
dynamics
control
mechanika
giroskop sterowany
regulator ślizgowy
dynamika
sterowanie

Opis:

This paper presents a mathematical model of a gyroscope system with a sliding mode controller. A comparative analysis based on various control algorithms implemented in a controlled gyroscope system installed on a mobile platform (such as an UAV or a homing rocket missile) proved that sliding mode control can be highly effective, especially when external input interferences exist with the kinematic reactions of the mobile platform. A gyroscope system with a sliding mode controller can be used in the optical target seeker systems of precision weapons. The simulation results are provided in a graphical format.
W pracy przedstawiono model matematyczny układu giroskopowego wraz z regulatorem ślizgowym. Analiza porównawcza różnych algorytmów sterowania zastosowanych w sterowanym układzie giroskopowym umieszczonym na ruchomej podstawie (np. na pokładzie bezzałogowego aparatu latającego lub samonaprowadzającego pocisku rakietowego) wykazała, że najbardziej efektywne jest sterowanie ślizgowe, zwłaszcza w warunkach występowania zakłóceń zewnętrznych i kinematycznego oddziaływania podłoża. Tego rodzaju układ może znaleźć zastosowanie w optycznych koordynatorach celu broni precyzyjnego rażenia. Wyniki badań symulacyjnych przedstawione zostały w graficznej postaci.

Źródło:

Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa; 2017, 8, 4 (30); 47-60
2081-5891

Pojawia się w:

Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 21.

Tytuł:

Discrete-time sliding mode control of linear systems with input saturation

Autorzy:

Veselić, Boban
Milosavljević, Čedomir
Peruničić-Draženović, Branislava
Huseinbegović, Senad
Petronijević, Milutin

Powiązania:

https://bibliotekanauki.pl/articles/330574.pdf

Data publikacji:

2020

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

discrete time sliding mode control
super twisting controller
input saturation
disturbance compensation
sterowanie ślizgowe
nasycenie wejściowe
kompensacja zakłóceń

Opis:

The paper proposes a discrete-time sliding mode controller for single input linear dynamical systems, under requirements of the fast response without overshoot and strong robustness to matched disturbances. The system input saturation is imposed during the design due to inevitable limitations of most actuators. The system disturbances are compensated by employing nonlinear estimation by integrating the signum of the sliding variable. Hence, the proposed control structure may be regarded as a super-twisting-like algorithm. The designed system stability is analyzed as well as the sliding manifold convergence conditions are derived using a discrete-time model of the system in the δ-domain. The results obtained theoretically have been verified by computer simulations.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2020, 30, 3; 517-528
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 22.

Tytuł:

Linear Speed Control for Multi-Machine system Using Fuzzy-Sliding Mode

Autorzy:

Bouchiba, B.
Hazzab, A.
Glaoui, H.
Med-Karim, F.
Bousserhane, I. K.
Sicard, P.

Powiązania:

https://bibliotekanauki.pl/articles/384749.pdf

Data publikacji:

2012

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

multi-motors system
fuzzy logic
sliding mode control
MIMO

Opis:

In this contribution, a control scheme based on multi input multi output Fuzzy Sliding Mode control (MIMOFSMC) for linear speed regulation of multi-motors system is proposed. Once the decoupled model of the multi- motors system is obtained, a smooth control function with a threshold was chosen to indicate how far the state from to the sliding surface is. However, the magnitude of this control function depends closely on the upper bound of uncertainties, and this generates chattering. So, this magnitude has to be chosen with great care to obtain high performances. Usually the upper bound of uncertainties is difficult to known before motor operation, so, a Fuzzy Sliding Mode controller is investigated to solve this difficulty; a simple Fuzzy inference mechanism is used to reduce the chattering phenomenon by simple adjustments. A simulation study is carried out and shows that the proposed controller has great potential for use as an alternative to the conventional sliding mode contro.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2012, 6, 1; 3-7
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 23.

Tytuł:

Control and optimisation of photovoltaic water pumping system using sliding mode

Autorzy:

Zarour, L.
Abed, K.
Hacil, M.
Borni, A.

Powiązania:

https://bibliotekanauki.pl/articles/200899.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

photovoltaic pumping system modelling
optimization
maximum power point
MPPT
sliding mode control
optymalizacja
maksymalny punkt mocy

Opis:

A sliding mode controller for the photovoltaic pumping system has been proposed in this paper. This system is composed of a?photovoltaic generator supplying a?three-phase permanent magnet synchronous motor coupled to a?centrifugal pump through a?three-phase voltage inverter. The objective of this study is to minimise the number of regulators and apply the sliding mode control by exploiting the specification of the field oriented control scheme (FOC). The first regulator is used to force the photovoltaic generator to operate at the maximum power point, while the second is used to provide the field oriented control to improve the system performance.The whole system is analysed and its mathematical model is done. Matlab is used to validate the performance and robustness of the proposed control strategy.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 3; 605-611
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 24.

Tytuł:

Adaptive fuzzy-sliding mode controller for trajectory tracking control of quad-rotor

Autorzy:

Simoud, Lahcen
Kadri, Boufeldja
Bousserhane, Ismail Khalil

Powiązania:

https://bibliotekanauki.pl/articles/384825.pdf

Data publikacji:

2020

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

quadrotor UAV
sliding mode control
adaptive PD-Slidng mode controller
fuzzy PD-sliding mode

Opis:

This paper deals with the design of an adaptive-fuzzy-PD-Sliding mode controller to achieve stabilization of a quadrotor aircraft in the presence of wind disturbance. Firstly, the dynamic system modeling is carried out using Euler-Lagrange formalism. Then, an adaptive PD-sliding mode control system with an integral-operation switching surface is investigated for quadrotor desired trajectory tracking. Finally, an adaptive fuzzy-PD-sliding mode controller is proposed to achieve control objectives and system stabilization where the fuzzy logic system used to dynamically control parameters settings of the PD-sliding mode equivalent control law. Effectiveness and robustness of the proposed control scheme is verified through simulation results taking into account external disturbances. The simulation results of a quadrotor aircraft control with the proposed controller demonstrate the high performance during flight such as null tracking error and robustness in the presence of external disturbances.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 2; 15-24
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 25.

Tytuł:

Continuous and discrete sliding mode control of an active car suspension system

Autorzy:

Łuczko, J.
Ferdek, U.

Powiązania:

https://bibliotekanauki.pl/articles/280694.pdf

Data publikacji:

2016

Wydawca:

Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej

Tematy:

sliding mode control
active damping
car suspension

Opis:

In this paper, sliding mode control (SMC) algorithms are tested for their use in an active car suspension system. Using the quarter model of the car as an example, the comparison of the efficiency of the algorithms is made. A continuous and two discrete versions of the sliding mode control are taken into consideration. The study is limited to finding the relation between the control parameters and the comfort factor. This is done by analyzing the response of the model to the harmonic and impulse excitation.

Źródło:

Journal of Theoretical and Applied Mechanics; 2016, 54, 1; 3-11
1429-2955

Pojawia się w:

Journal of Theoretical and Applied Mechanics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 26.

Tytuł:

Ship trajectory tracking control system design based on sliding mode control algorithm

Autorzy:

Liu, Y.
Bu, R.
Gao, X.

Powiązania:

https://bibliotekanauki.pl/articles/259621.pdf

Data publikacji:

2018

Wydawca:

Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa

Tematy:

LOS
ship trajectory
tracking control system
sliding mode control

Opis:

The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.

Źródło:

Polish Maritime Research; 2018, 3; 26-34
1233-2585

Pojawia się w:

Polish Maritime Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 27.

Tytuł:

High performance backstepping control of induction motor with adaptive sliding mode observer

Autorzy:

Bakhti, I.
Chaouch, S.
Maakouf, A.

Powiązania:

https://bibliotekanauki.pl/articles/229996.pdf

Data publikacji:

2011

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

induction motor
backstepping control
sliding mode
flux observer design
estimation
sensorless control

Opis:

It is well known that modern control of induction motor relies on a good dynamic model of the motor. Extensive research and activity have been devoted to the problem of induction motor control over the last decade. In this paper we introduce backstepping control with amelioration of performance to guarantee stability of the system. Accurate knowledge of the rotor speed and flux position is the key factor in obtaining a high-performance and high-efficiency induction-motor drive. Thus a sliding mode observer design is presented. Simulation results are included to illustrate good performance of backstepping control of sensorless induction motors with flux observer.

Źródło:

Archives of Control Sciences; 2011, 21, 3; 331-344
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 28.

Tytuł:

Model Predictive Super-twisting sliding mode control for an autonomous surface vehicle

Autorzy:

Esfahani, Hossein Nejatbakhsh
Szlapczynski, Rafal

Powiązania:

https://bibliotekanauki.pl/articles/260526.pdf

Data publikacji:

2019

Wydawca:

Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa

Tematy:

utonomous Surface Vehicle
Model Predictive Control
Sliding Mode Control
Super-Twisting Algorithm
Chattering Attenuation

Opis:

This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive Super-Twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the Super-Twisting Sliding Mode Control (STSMC) algorithm.

Źródło:

Polish Maritime Research; 2019, 3; 163-171
1233-2585

Pojawia się w:

Polish Maritime Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 29.

Tytuł:

Hierarchical sliding mode control for a class of SIMO under-actuated systems

Autorzy:

Qian, D.
Yi, J.
Zhao, D.

Powiązania:

https://bibliotekanauki.pl/articles/971008.pdf

Data publikacji:

2008

Wydawca:

Polska Akademia Nauk. Instytut Badań Systemowych PAN

Tematy:

control approaches
control applications
sliding mode control
underactuated systems

Opis:

A hierarchical sliding mode control approach is proposed for a class of SIMO under-actuated systems. This class of under-actuated systems is made up of several subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows. At first, the sliding surface of every subsystem is defined. Then the sliding surface of one subsystem is defined as the first layer sliding surface. The first layer sliding surface is used to construct the second layer sliding surface with the sliding surface of another subsystem. This process continues till the sliding surfaces of the entire subsystems are included. According to the hierarchical structure, the total control law is deduced by the Lyapunov theorem. In theory, the asymptotic stability of the entire system of sliding surfaces is proven and the parameter boundaries of the subsystem sliding surfaces are given. Simulation results show the feasibility of this control method through two typical SIMO under-actuated systems.

Źródło:

Control and Cybernetics; 2008, 37, 1; 159-175
0324-8569

Pojawia się w:

Control and Cybernetics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 30.

Tytuł:

LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems

Autorzy:

Mnasri, C.
Gasmi, M.

Powiązania:

https://bibliotekanauki.pl/articles/930163.pdf

Data publikacji:

2011

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

sterowanie rozmyte
sterowanie ślizgowe
liniowa nierówność macierzowa
system niepewny
adaptive fuzzy control
integral sliding mode
LMI
mismatched uncertainties

Opis:

Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as norm-bounded nonlinearities and external disturbances. A sufficient condition for the robust stability of the sliding manifold is derived by means of linear matrix inequalities. The initial existence of the sliding mode is guaranteed by the proposed control law. The improvement of the proposed control scheme performances, such as chattering elimination and estimation of norm bounds of uncertainties, is then considered with the application of an adaptive fuzzy integral sliding mode control law. The validity and efficiency of the proposed approaches are investigated through a sixth order uncertain mechanical system.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 605-615
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 31.

Tytuł:

Design and implementation of improved sliding mode controller on 6R manipulator

Autorzy:

Korayem, M. H.
Nekoo, S. R.
Khademi, A.
Abdollahi, F.

Powiązania:

https://bibliotekanauki.pl/articles/280702.pdf

Data publikacji:

2017

Wydawca:

Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej

Tematy:

improved sliding mode control
chattering
DLCC
hardware implementation

Opis:

In this work, we present an improved sliding mode control (ISMC) technique designed and implemented for control of 6R manipulator. Sliding mode control (SMC) is a well-known nonlinear robust method for controlling systems in the presence of uncertainties and disturbances and systems with complex dynamics as in manipulators. Despite this good property, it is difficult to implement this method for the manipulator with a complex structure and more than three degree-of-freedom because of the complicated and massive equation and chattering phenomenon as a property of SMC in control inputs. Here, the chattering phenomenon is eliminated by using an effective algorithm called ISMC and implemented to 6R manipulator by using a low-cost control board based on an ARM microcontroller with high accuracy and memory. The carrying load is considered as the uncertainty for the manipulator, while the dynamic load carrying capacity (DLCC) is considered as a robot performance criterion showing robustness of the controller. The results of simulations and experiments show that the proposed approach has a good performance and is suitable and practical to be applied for manipulators.

Źródło:

Journal of Theoretical and Applied Mechanics; 2017, 55, 1; 265-280
1429-2955

Pojawia się w:

Journal of Theoretical and Applied Mechanics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 32.

Tytuł:

Robust continuous third-order finite time sliding mode controllers for exoskeleton robot

Autorzy:

Fellag, Ratiba
Guiatni, Mohamed
Hamerlain, Mustapha
Achour, Noura

Powiązania:

https://bibliotekanauki.pl/articles/1845025.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

exoskeleton robot
higher order
sliding control
homogeneous
robust
trajectory tracking
rehabilitation

Opis:

In this work, continuous third-order sliding mode controllers are presented to control a five degrees-of-freedom (5-DOF) exoskeleton robot. This latter is used in physiotherapy rehabilitation of upper extremities. The aspiration is to assist the movements of patients with severe motor limitations. The control objective is then to design adept controllers to follow desired trajectories smoothly and precisely. Accordingly, it is proposed, in this work, a class of homogeneous algorithms of sliding modes having finite-time convergence properties of the states. They provide continuous control signals and are robust regardless of non-modeled dynamics, uncertainties and external disturbances. A comparative study with a robust finite-time sliding mode controller proposed in literature is performed. Simulations are accomplished to investigate the efficacy of these algorithms and the obtained results are analyzed.

Źródło:

Archive of Mechanical Engineering; 2021, LXVIII, 4; 395-414
0004-0738

Pojawia się w:

Archive of Mechanical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 33.

Tytuł:

Synchronization of fractional order Rabinovich-Fabrikant systems using sliding mode control techniques

Autorzy:

Kumar, Sanjay
Singh, Chaman
Prasad, Sada Nand
Shekhar, Chandra
Aggarwal, Rajiv

Powiązania:

https://bibliotekanauki.pl/articles/229902.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fractional-order chaotic system
chaos synchronization
Rabinovich-Fabrikant system
Lyapunov exponents

Opis:

In this research article, we present the concepts of fractional-order dynamical systems and synchronization methodologies of fractional order chaotic dynamical systems using slide mode control techniques. We have analysed the different phase portraits and time-series graphs of fractional order Rabinovich-Fabrikant systems. We have obtained that the lowest dimension of Rabinovich-Fabrikant system is 2.85 through utilization of the fractional calculus and computational simulation. Bifurcation diagrams and Lyapunov exponents of fractional order Rabinovich-Fabrikant system to justify the chaos in the systems. Synchronization of two identical fractional-order chaotic Rabinovich-Fabrikant systems are achieved using sliding mode control methodology.

Źródło:

Archives of Control Sciences; 2019, 29, 2; 307-322
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 34.

Tytuł:

Neural-sliding mode augmented robust controller for autolanding of fixed wing aircraft

Autorzy:

Ismail, I.
Pashilkar, A. A.
Ayyagari, R.
Sundararajan, N.

Powiązania:

https://bibliotekanauki.pl/articles/91533.pdf

Data publikacji:

2012

Wydawca:

Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych

Tematy:

controller
nonlinear dynamic inversion
control signal
phase compensator
antiwindup scheme
wing aircraft
autolanding

Opis:

Neural and sliding mode controllers are generally based on the principle of nonlinear dynamic inversion. This leads to control signals containing high frequency components. This can result in actuator rate limiting due to loss of phase at higher frequencies. Large control inputs, for example due to the saturation component of the sliding mode controller can also result in position saturation of the actuator. In this paper we show that by the introduction of suitable phase compensators and an antiwindup scheme the neuralaided sliding mode controller performance can be improved. A novel scheme is proposed for the cascaded feedback controller which addresses practical requirements of both state limiting and control surface saturation respectively.

Źródło:

Journal of Artificial Intelligence and Soft Computing Research; 2012, 2, 4; 317-330
2083-2567
2449-6499

Pojawia się w:

Journal of Artificial Intelligence and Soft Computing Research

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 35.

Tytuł:

ANFIS-based PID continuous sliding mode controller for robot manipulators in joint space

Autorzy:

Elawady, Wael M.
Asar, Mohammed F.
Sarhan, Amany M.

Powiązania:

https://bibliotekanauki.pl/articles/1839129.pdf

Data publikacji:

2019

Wydawca:

Polska Akademia Nauk. Instytut Badań Systemowych PAN

Tematy:

PID
continuous sliding mode control
ANFIS
uncertainties
robot

Opis:

This paper presents a feasible design for a con- trol algorithm to synthesize an adaptive neuro-fuzzy inference system-based PID continuous sliding mode control system (ANFIS- PIDCSMC) for adaptive trajectory tracking control of the rigid robot manipulators (RRMs) in the joint space. First, a PID sliding mode control algorithm with sliding surface dynamics-based continuous proportional-integral (PI) control action (PIDSMC-SSDCPI) is presented. The global stability conditions are formulated in terms of Lyapunov full quadratic form such that the robot system output can track the desired reference output. Second, to increase the control system robustness, the PI control action in the PIDSMC- SSDCPI controller is supplanted by an ANFIS control signal to provide a control approach that can be termed adaptive neuro-fuzzy inference system-based PID continuous sliding mode control system (ANFIS-PIDCSMC). For the proposed control algorithm, numerical simulations using the dynamic model of RRM with uncertainties and external disturbances show high quality and effectiveness of the adopted control approach in high-speed trajectory tracking control problems. The simulation results that are compared with the results, obtained for the traditional controllers (standalone PID and traditional sliding mode controller (TSMC)), illustrate the fact that the tracking control behavior of the robot system achieves acceptable tracking performance.

Źródło:

Control and Cybernetics; 2019, 48, 4; 525-555
0324-8569

Pojawia się w:

Control and Cybernetics

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 36.

Tytuł:

Sterowanie ślizgowe w układzie połączonych zbiorników
Sliding mode control in coupled tanks system

Autorzy:

Tomera, M.

Powiązania:

https://bibliotekanauki.pl/articles/266572.pdf

Data publikacji:

2014

Wydawca:

Politechnika Gdańska. Wydział Elektrotechniki i Automatyki

Tematy:

sterowanie ślizgowe
rozszerzony filtr Kalmana
układ połączonych zbiorników
sliding mode control
extended Kalman filter
coupled tank systems

Opis:

W pracy przedstawiony został układ regulacji poziomu wody wykorzystujący sterowanie ślizgowe. Zaprezentowany algorytm sterowania ślizgowego opiera się na nieliniowej powierzchni ślizgania pierwszego rzędu. Niedogodnością sterowania ślizgowego są efekty częstych przełączeń sygnału sterowania, co niekorzystnie wpływa na trwałość i pracę urządzenia wykonawczego, w tym przypadku pompy. W celu usunięcia tej niedogodności w regulatorze ślizgowym, zamiast funkcji przekaźnikowej została zastosowana funkcja ograniczająca, wprowadzająca warstwę graniczną na powierzchni ślizgowej, co powoduje zlikwidowanie oscylacji (chatteringu). Na działanie algorytmu sterowania ślizgowego bardzo niekorzystnie wpływają również szumy pomiarowe, które usunięte zostały poprzez zastosowanie rozszerzonego filtru Kalmana. Ocena jakości pracy zaprojektowanego regulatora ślizgowego przeprowadzona została w oparciu o badania symulacyjne. Uzyskaną jakość pracy zaprojektowanego regulatora ślizgowego porównano z układem równoważnym zawierającym regulator liniowy PID.
The paper presents a system to control water level using sliding mode. The presented sliding mode control algorithm is based on a non-linear sliding surface of the first order. The drawback of sliding mode control are effects of frequent switching of control signal, what adversely affects the stability and the operation of the actuator, in this case the pump. In order to remove this drawback in the slide control instead of the relay function, the limiting function was applied, introducing a constraining layer on the slide surface, thereby causing chattering. The behavior of the sliding mode control algorithm is very adversely affected by the measurement noises, which were removed using the extended Kalman filter. Evaluation of the work quality of designed sliding mode control was carried out based on the simulation test. Obtained work quality of the designed sliding mode control was compared with the equivalent system containing linear PID controller.

Źródło:

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2014, 40; 111-118
1425-5766
2353-1290

Pojawia się w:

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 37.

Tytuł:

Dead-beat and reaching-law-based sliding-mode control of perishable inventory systems

Autorzy:

Ignaciuk, P.
Bartoszewicz, A.

Powiązania:

https://bibliotekanauki.pl/articles/202382.pdf

Data publikacji:

2011

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

sliding-mode control
inventory control
perishable inventories
discrete-time control systems

Opis:

In this paper we consider the problem of efficient control of inventory systems with perishable goods. In the analyzed setting the deteriorating stock at a distribution center used to fulfill unknown, time-varying demand is replenished with delay from a supply source. The challenging issue is to achieve the high service level with minimum costs when the replenishment orders are procured with lead-time delay spanning multiple review periods. On the contrary to the typical heuristic approaches, we apply formal methodology based on discrete-time sliding-mode (SM) control. The proposed SM controller with the sliding plane selected for a dead-beat scheme ensures that the maximum service level is obtained in the system with arbitrary delay and any bounded demand pattern. In order to account for the supplier capacity limitations in the systems with input constraints, we also develop an alternative control strategy based on reaching law. Both controllers achieve a given service level with smaller holding costs and reduced order-to-demand variance ratio as compared to the classical order-up-to policy.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 1; 39-49
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 38.

Tytuł:

Finite-time integral sliding mode control for chaotic permanent magnet synchronous motor systems

Autorzy:

Chibani, A.
Daaou, B.
Gouichiche, A.
Safa, A.
Messlem, Y.

Powiązania:

https://bibliotekanauki.pl/articles/140698.pdf

Data publikacji:

2017

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

chaos control
control chaotic Permanent Magnet Synchronous Motor
finite-time
sliding mode

Opis:

In this paper, an integral finite-time sliding mode control scheme is presented for controlling a chaotic permanent magnet synchronous motor (PMSM). The controller can stabilize the system output tracking error to zero in a finite time. Using Lyapunov’s stability theory, the stability of the proposed scheme is verified. Numerical simulation results are presented to present the effectiveness of the proposed approach.

Źródło:

Archives of Electrical Engineering; 2017, 66, 2; 229-239
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 39.

Tytuł:

Firefly algorithm optimization of manipulator robotic control based on fast terminal sliding mode

Autorzy:

Mallem, Ali
Douak, Fouzi
Benaziza, Walid
Bounouara, Asma

Powiązania:

https://bibliotekanauki.pl/articles/27314236.pdf

Data publikacji:

2022

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

manipulator robotic
fast terminal sliding mode
firefly algorithm
Lyapunov stability

Opis:

In this paper a new algorithm of optimization in the field of manipulator robotic control is presented. The proposed control approach is based on fast terminal sliding mode control (FTSMC), in order to guarantee the convergence of the position articulations errors to zero in finite time without chattering phenomena, and the Firefly algorithm in order to generate the optimal parameters that ensure minimum reaching time and mean square error and achieve better performances. This ensures the asymptotic stability of the system using a Lyapunov candidate in the presence of disturbances. The simulations are applied on a two-link robotic manipulator with different tracking references by using Matlab/ Simulink. Results show the efficiency and confirm the robustness of the proposed control strategy.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 44--52
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 40.

Tytuł:

Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

Autorzy:

Zeghlache, S.
Saigaa, D.
Harrag, A.
Kara, K.
Bouguerra, A.

Powiązania:

https://bibliotekanauki.pl/articles/229480.pdf

Data publikacji:

2012

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fuzzy sliding mode
backstepping
quadrotor helicopter
dynamic modeling

Opis:

n this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.

Źródło:

Archives of Control Sciences; 2012, 22, 3; 315-342
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 41.

Tytuł:

Model‐free sliding mode control for a nonlinear teleoperation system with actuator dynamics

Autorzy:

Abdelwaheb, Henni Mansour
Abderrahmane, Kacimi
AEK, Belaidi

Powiązania:

https://bibliotekanauki.pl/articles/27314234.pdf

Data publikacji:

2023

Wydawca:

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów

Tematy:

model free sliding mode controller
teleoperation robotic system
actuator dynamics
time-varying delay
model uncertainty

Opis:

Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent decades. In this paper, a Model Free Proportional‐Derivative Slid‐ ing Mode Controller (MFPDSMC) is devoted to the syn‐ chronization problem of teleoperation systems subject to actuator dynamics, time‐varying delay, model uncer‐ tainty, and input interaction forces. For the first time, the teleoperation model used in this study combines actuator dynamics and manipulator models into a single equation, which improves model accuracy and brings it closer to the actual system than in prior studies. Further, the proposed control approach, called Free, involves the simple mea‐ surement of inputs and outputs to enhance the system’s performance without relying on any knowledge from the mathematical model. In addition, our strategy includes a Sliding Mode term with the MFPD term to increase system stability and attain excellent performance against external disturbances. Finally, using the Lyapunov func‐ tion under specified conditions, asymptotic stability is established, and simulation results are compared and provided to demonstrate the efficacy of the proposed strategy.

Źródło:

Journal of Automation Mobile Robotics and Intelligent Systems; 2023, 17, 1; 69--77
1897-8649
2080-2145

Pojawia się w:

Journal of Automation Mobile Robotics and Intelligent Systems

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 42.

Tytuł:

Fault detection for DFIG based on sliding mode observer of new reaching law

Autorzy:

Li, RuiQi
Yu, WenXin
Wang, JunNian
Lu, Yang
Jiang, Dan
Zhong, GuoLiang
Zhou, ZuanBo

Powiązania:

https://bibliotekanauki.pl/articles/2128165.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fault detection
doubly-fed induction generator
sliding mode observer
new reaching law
wykrywanie uszkodzeń
generator indukcyjny dwustronnie zasilany
obserwator w trybie przesuwnym
nowe prawo osiągania

Opis:

For fault detection of doubly-fed induction generator (DFIG), in this paper, a method of sliding mode observer (SMO) based on a new reaching law (NRL) is proposed. The SMO based on the NRL (NRL- SMO) theoretically eliminates system chatter caused by the reaching law and can be switched in time with system interference in terms of robustness and smoothness. In addition, the sliding mode control law is used as the index of fault detection. Firstly, this paper gives the NRL with the theoretically analyzes. Secondly, according to the mathematical model of DFIG, NRL-SMO is designed, and its analysis of stability and robustness are carried out. Then this paper describes how to choose the optimal parameters of the NRL-SMO. Finally, three common wind turbine system faults are given, which are DFIG inter-turn stator fault, grid voltage drop fault, and rotor current sensor fault. The simulation models of the DFIG under different faults is established. The simulation results prove that the superiority of the method of NRL-SMO in state tracking and the feasibility of fault detection.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; e137389, 1--13
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 43.

Tytuł:

Fault detection for DFIG based on sliding mode observer of new reaching law

Autorzy:

Li, RuiQi
Yu, WenXin
Wang, JunNian
Lu, Yang
Jiang, Dan
Zhong, GuoLiang
Zhou, ZuanBo

Powiązania:

https://bibliotekanauki.pl/articles/2173629.pdf

Data publikacji:

2021

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

fault detection
doubly-fed induction generator
sliding mode observer
new reaching law
wykrywanie uszkodzeń
generator indukcyjny dwustronnie zasilany
obserwator w trybie przesuwnym
nowe prawo osiągania

Opis:

For fault detection of doubly-fed induction generator (DFIG), in this paper, a method of sliding mode observer (SMO) based on a new reaching law (NRL) is proposed. The SMO based on the NRL (NRL- SMO) theoretically eliminates system chatter caused by the reaching law and can be switched in time with system interference in terms of robustness and smoothness. In addition, the sliding mode control law is used as the index of fault detection. Firstly, this paper gives the NRL with the theoretically analyzes. Secondly, according to the mathematical model of DFIG, NRL-SMO is designed, and its analysis of stability and robustness are carried out. Then this paper describes how to choose the optimal parameters of the NRL-SMO. Finally, three common wind turbine system faults are given, which are DFIG inter-turn stator fault, grid voltage drop fault, and rotor current sensor fault. The simulation models of the DFIG under different faults is established. The simulation results prove that the superiority of the method of NRL-SMO in state tracking and the feasibility of fault detection.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; art. no. e137389
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 44.

Tytuł:

Robust estimation based nonlinear higher order sliding mode control strategies for PMSG-WECS

Autorzy:

Nazir, Awais
Khan, Safdar Abbas
Khan, Malak Adnan
Alam, Zaheer
Khan, Imran
Irfan, Muhammad
Rehman, Saifur
Nowakowski, Grzegorz

Powiązania:

https://bibliotekanauki.pl/articles/27311430.pdf

Data publikacji:

2023

Wydawca:

Polska Akademia Nauk. Czasopisma i Monografie PAN

Tematy:

wind energy conversion systems
WECS
robust control
maximum power point tracking
MPPT
sliding mode control
SMC
super-twisting algorithm
STA
high gain observer
artificial neural network
ANN
function fitting
backstepping
śledzenie maksymalnego punktu mocy
obserwator o dużym wzmocnieniu
sztuczna sieć neuronowa
dopasowanie funkcji
system konwersji energii wiatrowej
sterowanie odporne
sterowanie ślizgowe
algorytm super skręcania

Opis:

The wind energy conversion systems (WECS) suffer from an intermittent nature of source (wind) and the resulting disparity between power generation and electricity demand. Thus, WECS are required to be operated at maximum power point (MPP). This research paper addresses a sophisticated MPP tracking (MPPT) strategy to ensure optimum (maximum) power out of the WECS despite environmental (wind) variations. This study considers a WECS (fixed pitch, 3KW, variable speed) coupled with a permanent magnet synchronous generator (PMSG) and proposes three sliding mode control (SMC) based MPPT schemes, a conventional first order SMC (FOSMC), an integral back-stepping-based SMC (IBSMC) and a super-twisting reachability-based SMC, for maximizing the power output. However, the efficacy of MPPT/control schemes rely on availability of system parameters especially, uncertain/nonlinear dynamics and aerodynamic terms, which are not commonly accessible in practice. As a remedy, an off-line artificial function-fitting neural network (ANN) based on Levenberg-Marquardt algorithm is employed to enhance the performance and robustness of MPPT/control scheme by effectively imitating the uncertain/nonlinear drift terms in the control input pathways. Furthermore, the speed and missing derivative of a generator shaft are determined using a high-gain observer (HGO). Finally, a comparison is made among the stated strategies subjected to stochastic and deterministic wind speed profiles. Extensive MATLAB/Simulink simulations assess the effectiveness of the suggested approaches.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 5; art. no. e147063
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 45.

Tytuł:

Sliding mode control of periodic review perishable inventories with multiple suppliers and transportation losses

Autorzy:

Bartoszewicz, A.
Maciejewski, M.

Powiązania:

https://bibliotekanauki.pl/articles/200764.pdf

Data publikacji:

2013

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

discrete time sliding mode control
sliding surface design
inventory control

Opis:

The purpose of this paper is to develop robust and computationally efficient supply chain management strategy ensuring fast reaction to the demand variations for periodic review perishable inventory systems. For that purpose, we apply a sliding mode approach and we propose a new discrete time warehouse management strategy. The strategy employs the sliding hyperplane appropriately designed to ensure a dead-beat performance of the closed loop system. Our strategy not only explicitly takes into account decay of goods stored in the warehouse (perishing inventories) but it also accounts for transportation losses which take place on the way from suppliers to the warehouse. The proposed strategy ensures full customers’ demand satisfaction, minimizes the on-hand inventory volume and prevents from exceeding the warehouse capacity. This reflects the need of simultaneous minimization of the lost sales costs and inventory holding costs. Furthermore, the strategy ensures that the ordered quantities of goods are always non-negative and upper bounded. These favourable properties of the proposed strategy are formally stated as a lemma and three theorems and proved in the paper.

Źródło:

Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 4; 885-892
0239-7528

Pojawia się w:

Bulletin of the Polish Academy of Sciences. Technical Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 46.

Tytuł:

An itae optimal sliding mode controller for systems with control signal and velocity limitations

Autorzy:

Pietrala, Mateusz
Leśniewski, Piotr
Bartoszewicz, Andrzej

Powiązania:

https://bibliotekanauki.pl/articles/2204689.pdf

Data publikacji:

2023

Wydawca:

Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej

Tematy:

sliding mode control
optimal control
state constraints

Opis:

In this paper, a sliding mode controller, which can be applied for second-order systems, is designed. Robustness to external disturbances, finite regulation time and a good system’s behaviour are required for a sliding mode controller. In order to achieve the first two of these three goals, a non-linear, time-varying switching curve is introduced. The representative point (state vector) belongs to this line from the very beginning of the control process, which results in elimination of the reaching phase. The stable sliding motion along the switching curve is provided. Natural limitations such as control signal and system’s velocity constraints will be taken into account. In order to satisfy them, the sliding line parameters will be properly selected. However, a good dynamical behaviour of the system has to be provided. In order to achieve that, the integral time absolute error (ITAE) quality index will be introduced and minimised. The simulation example will verify theoretical considerations.

Źródło:

Acta Mechanica et Automatica; 2023, 17, 2; 230--238
1898-4088
2300-5319

Pojawia się w:

Acta Mechanica et Automatica

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 47.

Tytuł:

Improved direct torque control of induction motors using adaptive observer and sliding mode control

Autorzy:

Kouchih, D
Tadjine, M.
Boucherit, M. S.

Powiązania:

https://bibliotekanauki.pl/articles/229910.pdf

Data publikacji:

2013

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

adaptive observer
direct torque control
induction motor
sensorless
sliding mode control

Opis:

This paper presents the synthesis of an adaptive observer which is used for the improvement of the direct torque control of induction motor drives. The observer detects stator flux components in two-phase stationary reference frame, rotor speed and stator resistance by measure of the stator terminal voltages and currents. The observer is adapted using a simple algorithm which does not imply a high computational load. Stability analysis based on Lyapunov theory is performed in order to guarantee the closed loop stability. Simulation tests under load disturbance and stator resistance variation are provided to evaluate the consistency and performance of the proposed control technique in the low and high speeds.

Źródło:

Archives of Control Sciences; 2013, 23, 3; 361-376
1230-2384

Pojawia się w:

Archives of Control Sciences

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 48.

Tytuł:

Sliding mode speed control of an induction motor drive using time-varying switching line

Autorzy:

Tarchała, G.

Powiązania:

https://bibliotekanauki.pl/articles/1193307.pdf

Data publikacji:

2017

Wydawca:

Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej

Tematy:

sliding mode control
equivalent control
induction motor
speed controller
time-varying switching line

Opis:

An equivalent sliding mode control method of an induction motor speed has been discussed. The control signal consists of two parts: a continuous and discontinuous one. Very good dynamical response of the drive system has been obtained, which however changes influenced by external and parametric disturbances occurring under various operation conditions. In order to ensure identical dynamic performance of the speed transients and system robustness during the switching line reaching phase, regardless of external and parametric disturbances, the time-varying switching line is proposed. The simulation results have been validated by experimental tests of the induction motor drive system.

Źródło:

Power Electronics and Drives; 2017, 2, 37/1; 105-120
2451-0262
2543-4292

Pojawia się w:

Power Electronics and Drives

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 49.

Tytuł:

High-performance induction motor drive based on adaptive super-twisting sliding mode control approach

Autorzy:

Farhi, Salah Eddine
Sakri, Djamel
Goléa, Noureddine

Powiązania:

https://bibliotekanauki.pl/articles/2042783.pdf

Data publikacji:

2022

Wydawca:

Polska Akademia Nauk. Czytelnia Czasopism PAN

Tematy:

barrier function
chattering
gains adaptation
induction motor drive
sliding mode control
super twisting

Opis:

This paper proposes two high-order sliding mode algorithms to achieve highperformance control of induction motor drive. In the first approach, the super-twisting algorithm (STA) is used to reduce the chattering effect and to improve control accuracy. The second approach combines the super-twisting algorithm with a quasi-barrier function technique. While the super-twisting algorithm (STA) aims at the chattering reduction, the Barrier super-twisting algorithm (BSTA) aims to eliminate this phenomenon by providing continuous output control signals. The BSTA is designed to prevent the STA gain from being over-estimated by making these gains to decrease and increase according to system’s uncertainties. Stability and finite-time convergence are guaranteed using Lyapunov’s theory. In addition, the two controlled variables, rotor speed, and rotor flux modulus are estimated based on the second-order sliding mode (SOSM) observer. Finally, simulations are carried out to compare the performance and robustness of two control algorithms without adding the equivalent control. Tests are achieved under external load torque, varying reference speed, and parameter variations.

Źródło:

Archives of Electrical Engineering; 2022, 71, 1; 245-263
1427-4221
2300-2506

Pojawia się w:

Archives of Electrical Engineering

Dostawca treści:

Biblioteka Nauki

/5

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Skocz do pozycji: 50.

Tytuł:

Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Autorzy:

Merheb, A. R.
Noura, H.
Bateman, F.

Powiązania:

https://bibliotekanauki.pl/articles/331358.pdf

Data publikacji:

2015

Wydawca:

Uniwersytet Zielonogórski. Oficyna Wydawnicza

Tematy:

quadrotor UAV control
fault tolerant control
sliding mode control
cascaded SMC
bio inspired gain tuning

Opis:

In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC) augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA), a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques.

Źródło:

International Journal of Applied Mathematics and Computer Science; 2015, 25, 3; 561-576
1641-876X
2083-8492

Pojawia się w:

International Journal of Applied Mathematics and Computer Science

Dostawca treści:

Biblioteka Nauki

/5

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