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Journal articles on the topic 'Discrete sliding mode controller'

Author: Grafiati

Published: 4 June 2021

Last updated: 10 February 2022

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1

Wang, Jian, Hendrik Van Brussel, and Jan Swevers. "Robust Perfect Tracking Control With Discrete Sliding Mode Controller." Journal of Dynamic Systems, Measurement, and Control 125, no. 1 (March 1, 2003): 27–32. http://dx.doi.org/10.1115/1.1540994.

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The closed-loop transfer function of a plant controlled with a classical feedback controller, depends on the dynamics of the plant. Since most feedforward tracking controllers are designed based on this closed-loop transfer function, they are not robust against plant model uncertainties. Sliding-mode controllers have the property that when the system is on the switching line, the closed-loop behavior is independent of the plant dynamics. As a result, it can be expected that a feedforward control design based on this closed-loop behavior is robust against plant model uncertainties. This paper studies this feedforward robustness issue in detail and verifies the results on an experimental test setup: a stage driven by a linear motor. An integrated procedure is proposed in designing the closed-loop discrete-time sliding mode controller using the reaching law method.

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2

Chan, C. Y. "Discrete adaptive sliding-mode tracking controller." Automatica 33, no. 5 (May 1997): 999–1002. http://dx.doi.org/10.1016/s0005-1098(97)00001-0.

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3

Chan, C. Y. "Robust discrete-time sliding mode controller." Systems & Control Letters 23, no. 5 (November 1994): 371–74. http://dx.doi.org/10.1016/0167-6911(94)90070-1.

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4

Pieper, Jeff K. "A Discrete Time Adaptive Sliding Mode Controller." IFAC Proceedings Volumes 29, no. 1 (June 1996): 5227–31. http://dx.doi.org/10.1016/s1474-6670(17)58511-0.

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5

Chan, C. Y. "Robust discrete quasi-sliding mode tracking controller." Automatica 31, no. 10 (October 1995): 1509–11. http://dx.doi.org/10.1016/0005-1098(95)00054-z.

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6

Su, Te-Jen, Shih-Ming Wang, Tsung-Ying Li, Sung-Tsun Shih, and Van-Manh Hoang. "Design of hybrid sliding mode controller based on fireworks algorithm for nonlinear inverted pendulum systems." Advances in Mechanical Engineering 9, no. 1 (January 2017): 168781401668427. http://dx.doi.org/10.1177/1687814016684273.

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The objective of this article is to optimize parameters of a hybrid sliding mode controller based on fireworks algorithm for a nonlinear inverted pendulum system. The proposed controller is a combination of two modified types of the classical sliding mode controller, namely, baseline sliding mode controller and fast output sampling discrete sliding mode controller. The simulation process is carried out with MATLAB/Simulink. The results are compared with a published hybrid method using proportional–integral–derivative and linear quadratic regulator controllers. The simulation results show a better performance of the proposed controller.

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7

Abid, Hafedh, Mohamed Chtourou, and Ahmed Toumi. "Robust Fuzzy Sliding Mode Controller for Discrete Nonlinear Systems." International Journal of Computers Communications & Control 3, no. 1 (March 1, 2008): 6. http://dx.doi.org/10.15837/ijccc.2008.1.2370.

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In this work we are interested to discrete robust fuzzy sliding mode control. The discrete SISO nonlinear uncertain system is presented by the Takgi- Sugeno type fuzzy model state. We recall the principle of the sliding mode control theory then we combine the fuzzy systems with the sliding mode control technique to compute at each sampling time the control law. The control law comports two terms: equivalent control law and switching control law which has a high frequency. The uncertainty is replaced by its upper bound. Inverted pendulum and mass spring dumper are used to check performance of the proposed fuzzy robust sliding mode control scheme.

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8

Yang, Zhi Hong. "T-S Fuzzy Model Establishment and Control of Discrete Chaotic System." Advanced Materials Research 787 (September 2013): 846–49. http://dx.doi.org/10.4028/www.scientific.net/amr.787.846.

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The problem of fuzzy sliding mode control of discrete chaotic system is studied. Discrete chaotic system is described based on T-S fuzzy models, and the system is translated into local linear model by fuzzy method. On the basis of Lyapunov stability theorem and approaching law method, a novel sliding mode controller is designed in the paper. The controller insures the stability of global fuzzy model. The controlled certain and uncertain Henon systems are simulated with Matlab, and the numerical results demonstrate the validity and robustness of the control scheme.

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Yang, Rong Jun, and Yun Guo Shi. "Guided Rocket Control System Design Based on Discrete-Time Adaptive Sliding Mode." Applied Mechanics and Materials 541-542 (March 2014): 1159–63. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1159.

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The discrete-time adaptive sliding mode controller for spinning rockets in presence of parameter error is proposed. Considering the nonlinear characteristics for the system, input-output feedback linearization is utilized to transform the system model into two standard form subsystems. Then a discrete-time controller for guided rockets is designed based on discrete-time sliding mode control principle. In order to diminish the switch width of the discrete-time sliding mode system corresponding to parameter error, a dead-zone parameter adaptive law is designed. The stability of the uncertain closed-loop system is proved by Lyapunov theory, which make the controller have high robustness. Simulation result indicates that the proposed controller is robust with respect to large aerodynamic parametric uncertainty, and has excellent dynamic tracking performance.

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10

Dehri, Khadija, and Ahmed Said Nouri. "A discrete repetitive adaptive sliding mode control for DC-DC buck converter." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 235, no. 9 (March 29, 2021): 1698–708. http://dx.doi.org/10.1177/09596518211005576.

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The problem of sensitivity to uncertainties and disturbances is still a challenging task in the theory of discrete sliding mode controller. In this article, a discrete repetitive adaptive sliding mode control using only input-output measurements of linear time-varying system with periodic disturbances is proposed. A new indirect adaptive algorithm taken into account the periodicity of disturbances is used to identify parameter variations of the considered system. Based on this identification, discrete sliding mode controller is developed. Then, the structure of plug-in repetitive control is integrated into the previous controller to reject harmonic disturbances. A robustness analysis is achieved to ensure the asymptotic stability of the proposed controller. An example of time-varying DC-DC buck converter subject to harmonic disturbances is carried out to illustrate the effectiveness of the designed discrete repetitive adaptive sliding mode control.

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11

Huynh-Van, Van, and Phong Tran-Thanh. "Discrete Sliding Mode Control Design for Piezoelectric Actuator." Journal of Advanced Engineering and Computation 3, no. 3 (September 30, 2019): 492. http://dx.doi.org/10.25073/jaec.201933.254.

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Piezoelectric bimorph actuators have been employed in several applications. In this paper, the piezoelectric actuator is discretized and its hysteresis function is studied, then a digital sliding mode controller is designed. Furthermore, a perturbation estimation technique is applied and an observer is no longer needed. In addition, simulations are performed also using the traditional PID controller in order to validate the proposed controller scheme performance.This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium provided the original work is properly cited.

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12

Chang, Kuo-Ming, and Zhi-Hong Zhu. "Discrete-Time Sliding Mode Controller Design with Weak Pseudo Sliding Condition." Journal of Mathematical Analysis and Applications 258, no. 2 (June 2001): 536–55. http://dx.doi.org/10.1006/jmaa.2000.7387.

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13

Li, Xuemin, Yufei Liu, Haoyu Shu, Runzhi Wang, Yunlong Yang, and Chunyue Feng. "Disturbance Observer-Based Discrete Sliding-Mode Control for a Marine Diesel Engine with Variable Sampling Control Technique." Journal of Control Science and Engineering 2020 (July 4, 2020): 1–17. http://dx.doi.org/10.1155/2020/2456850.

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This paper proposes a disturbance observer-based discrete sliding-mode control scheme with the variable sampling rate control for the marine diesel engine speed control in the presence of system uncertainties and disturbances. Initially, a sliding-mode controller based on the fast power reaching law is employed, which has a good dynamic quality of the arrival stage and can suppress chattering. To satisfy the practical requirements in the digital controller and the crank angle-based fuel injection in engine speed control, the proposed method is discretized under the variable sampling rate condition. A disturbance observer based on the second-order sliding-mode control is designed to compensate the system uncertainties and disturbances, by doing such the requirement of the parameters of the sliding-mode controller to be reduced significantly. In addition, a cylinder-by-cylinder mean value engine model (MVEM) is built by restructuring the combustion torque model, based on which numerical simulations are carried out by comparing the proposed method with PID and the extended state observer (ESO)-based sliding mode controllers. The common operation situations of the marine diesel engines are taken into account, including starting process, acceleration and deceleration, load variation, and varied propulsion system parameters. The results demonstrate that the proposed disturbance observer-based sliding-mode controller has prominent control performance and strong robustness.

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14

Yan, T. H., B. Wu, B. He, W. H. Li, and R. B. Wang. "A Novel Fuzzy Sliding-Mode Control for Discrete-Time Uncertain System." Mathematical Problems in Engineering 2016 (2016): 1–9. http://dx.doi.org/10.1155/2016/1530760.

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This paper considers the sliding-mode control problem for discrete-time uncertain systems. It begins by presenting a discrete variable speed reaching law and a discrete-time sliding-mode controller (DSMC) designed using the proposed reaching law, followed by an analysis of their stability and dynamic performance. A sliding-mode controller with simple fuzzy logic is then proposed to further strengthen the dynamic performance of the proposed sliding-mode controller. Finally, the presented DSMC and the DSMC with fuzzy control for adjusting the parameters in this paper are compared with one of the previous proposed classic DSMC systems. The results of this simulation show that the DSMC presented here can suppress chatter and ensure good dynamic performances when fuzzy logic is used to tune the parameters.

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15

Fan, Yong Hua, Peng Peng Yan, Fan Wang, and Hong Yang Xu. "Discrete Sliding Mode Control for Hypersonic Cruise Missile." Discrete Dynamics in Nature and Society 2016 (2016): 1–9. http://dx.doi.org/10.1155/2016/2402794.

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A discrete variable structure control (DVSC) with sliding vector is presented to track the velocity and acceleration command for a hypersonic cruise missile. In the design an integrator is augmented to ensure the tracking with zero steady-state errors. Furthermore the sliding surface of acceleration is designed using the error of acceleration and acceleration rate to avoid the singularity of control matrix. A proper power rate reaching law is utilized in this proposal; therefore the state trajectory from any initial point can be driven into the sliding surface. Besides, in order to validate the robustness of controller, the unmolded dynamic and parameter disturbance of the missile are considered. Through simulation the proposed controller demonstrates good performance in tracking velocity and acceleration command.

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16

Ngadengon, R., Y. M. Sam, J. H. S. Osman, and R. Tomari. "Discrete Integral Sliding Mode Control for Motion Servo System." Applied Mechanics and Materials 793 (September 2015): 595–99. http://dx.doi.org/10.4028/www.scientific.net/amm.793.595.

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This paper presents a discrete integral sliding mode control (DISMC) to control motion servo system. In DISMC, the order of the motion equation is equal to the order of original system. The past value of the disturbance is taken as the estimate of its present value. The controller is designed to be capable to achieve tracking even for the uncertain system. The designed controller will be compared with Linear Quadratic Regulator (LQR) and discrete Proportional Integral derivative (PID) controller to observe the capability for controlling the system. Simulations demonstrate that the DISMC is highly robust to control although exist uncertainties in the system.

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17

Sha, Daohang, and Vladimir B. Bajic. "Robust discrete adaptive input-output-based sliding mode controller." International Journal of Systems Science 31, no. 12 (January 2000): 1601–14. http://dx.doi.org/10.1080/00207720050217377.

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18

Munoz, D., and D. Sbarbaro. "An adaptive sliding-mode controller for discrete nonlinear systems." IEEE Transactions on Industrial Electronics 47, no. 3 (June 2000): 574–81. http://dx.doi.org/10.1109/41.847898.

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19

Khan, S., A. Sabanovic, and A. O. Nergiz. "Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller." IEEE Transactions on Industrial Electronics 56, no. 9 (September 2009): 3609–18. http://dx.doi.org/10.1109/tie.2009.2018538.

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20

Medhaffar, Hanene, and Nabil Derbel. "Fuzzy Second-Order Sliding Mode Control Design for a Two-Cell DC-DC Converter." Mathematical Problems in Engineering 2020 (May 29, 2020): 1–9. http://dx.doi.org/10.1155/2020/1693971.

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This paper presents a fuzzy second-order sliding mode controller for a two-cell DC-DC converter. For this aim, a second-order sliding mode controller and a type-2 fuzzy system are combined to achieve an adequate control. For this reason, backgrounds on the type-2 fuzzy sets and on the second-order sliding mode control applied to discrete systems have been presented briefly. A proposed control algorithm is then presented combining these two robust approaches. The asymptotic stability of the overall controlled system has been ensured using the Lyapunov theory. The efficiency and the robustness of the proposed controller have been tested by simulations.

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21

Bartoszewicz, Andrzej, and Piotr Leśniewski. "Discrete Time Sliding Mode Flow Controllers for Connection-Oriented Networks with Lossy Links." Cybernetics and Information Technologies 13, no. 2 (June 1, 2013): 107–21. http://dx.doi.org/10.2478/cait-2013-0019.

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Abstract In this paper we propose two discrete-time sliding mode flow controllers for multisource connection-oriented networks. Each connection in the considered networks is characterized by a time delay and a packet loss ratio. The proposed controllers take advantage of appropriately designed sliding hyperplanes, which ensure the closed-loop system stability and finite-time error convergence to zero. Moreover, the proposed controllers ensure full utilization of the bottleneck link available bandwidth, guarantee bounded transmission rates, and eliminate the risk of buffer overflow in the bottleneck node. Since the primary controller may lead to excessive values of the transmission rate at the beginning of the control process, the modified controller is designed using the concept of the reaching law, which helps the removing of the undesirable effect.

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22

NI, YU, and JIANPING XU. "STUDY OF DISCRETE GLOBAL-SLIDING MODE CONTROL FOR SWITCHING DC-DC CONVERTER." Journal of Circuits, Systems and Computers 20, no. 06 (October 2011): 1197–209. http://dx.doi.org/10.1142/s0218126611007839.

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Discrete global-sliding mode (SM) control of switching DC-DC converters is presented in this paper. The existence and stability conditions of quasi global-sliding mode are proposed. The design method for the discrete global SM controller is studied and applied to Buck converter with global-sliding mode control. Computer simulation and experimental results verify the validity of the theoretical analysis.

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23

Mawangi Sarif, Nira, Rafidah Ngadengon, Herdawatie Abdul Kadir, and Mohd Hafiz A. Jalil. "Terminal sliding mode control on autonomous underwater vehicle in diving motion control." Indonesian Journal of Electrical Engineering and Computer Science 20, no. 2 (November 1, 2020): 798. http://dx.doi.org/10.11591/ijeecs.v20.i2.pp798-804.

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<p>In this study, mechanism for reducing chattering in discrete conventional Sliding Mode Controller (DSMC) for Autonomous Underwater Vehicle (AUV) was designed in discrete time domain. The combination of reaching law approach and discrete Terminal Sliding Mode Control (DTSMC) scheme was employed to alleviate chattering effect caused by Quasi Sliding Mode (QSM). First, 6 DOF NPS AUV II equation of motion is linearized to diving mode subsystem. Second, linear sliding surface in discrete time domain is designed and Reaching Law Based (RLB) is employed to the control law. Thirdly, discrete nonlinear sliding surface, specifically DTSMC is designed to reduce chattering phenomena and improved precision control simultaneously. Finally, comparative experimental results are presented to illustrate the effectiveness and advantages of the nonlinear sliding surface. (9 pt).</p>

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24

Jovanović, Radiša Ž., and Zoran M. Bučevac. "Discrete-Time Exponentially Stabilizing Fuzzy Sliding Mode Control via Lyapunov’s Method." Advances in Fuzzy Systems 2015 (2015): 1–10. http://dx.doi.org/10.1155/2015/496085.

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The exponentially stabilizing state feedback control algorithm is developed by Lyapunov’s second method leading to the variable structure system with chattering free sliding modes. Linear time-invariant discrete-time second order plant is considered and the control law is obtained by using a simple fuzzy controller. The analytical structure of the proposed controller is derived and used to prove exponential stability of sliding subspace. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspaceS, in finite time and with prescribed velocity estimate. Inside the sliding subspaceS, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, DC servo motor, and simulation and experimental results are given.

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25

Yan, Maode, Aryan Saadat Mehr, and Yang Shi. "Discrete-Time Sliding-Mode Control of Uncertain Systems with Time-Varying Delays via Descriptor Approach." Journal of Control Science and Engineering 2008 (2008): 1–8. http://dx.doi.org/10.1155/2008/489124.

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This paper considers the problem of robust discrete-time sliding-mode control (DT-SMC) design for a class of uncertain linear systems with time-varying delays. By applying a descriptor model transformation and Moon's inequality for bounding cross terms, a delay-dependent sufficient condition for the existence of stable sliding surface is given in terms of linear matrix inequalities (LMIs). Based on this existence condition, the synthesized sliding mode controller can guarantee the sliding-mode reaching condition of the specified discrete-time sliding surface for all admissible uncertainties and time-varying delays. An illustrative example verifies the effectiveness of the proposed method.

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26

Wang, Xiang, Yifei Wu, Enze Zhang, Jian Guo, and Qingwei Chen. "Adaptive terminal sliding-mode controller based on characteristic model for gear transmission servo systems." Transactions of the Institute of Measurement and Control 41, no. 1 (March 26, 2018): 219–34. http://dx.doi.org/10.1177/0142331218754619.

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Backlash and inertia variations, which exist in gear transmission servo systems, often bring inaccuracies, oscillations or even instability. This paper presents an adaptive second-order discrete terminal sliding-mode controller (2-ADTSMC) to deal with the problem. The main contributions of this paper are as follows. First, the characteristic model of gear transmission servo system, which reduces the complexity of traditional mathematics model, is established to describe the load inertia variations. Second, the second-order discrete terminal sliding-mode control is firstly designed based on the characteristic model to restrain the backlash effect. Third, theoretical analysis proves that the quasi-sliding mode is reached in finite steps and the tracking error converges into a bounded set in finite steps. The improvement of tracking performance is verified by simulation and experimental results.

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27

Misawa, Eduardo A. "Observer-Based Discrete-Time Sliding Mode Controller for Benchmark Problem." IFAC Proceedings Volumes 29, no. 1 (June 1996): 2889–94. http://dx.doi.org/10.1016/s1474-6670(17)58116-1.

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28

Chen, Xinkai, and Toshio Fukuda. "Robust adaptive quasi-sliding mode controller for discrete-time systems." Systems & Control Letters 35, no. 3 (October 1998): 165–73. http://dx.doi.org/10.1016/s0167-6911(98)00048-6.

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29

Du, Haibo, Guanghui Wen, Yingying Cheng, Wenlian Lu, and Tingwen Huang. "Designing Discrete-Time Sliding Mode Controller With Mismatched Disturbances Compensation." IEEE Transactions on Industrial Informatics 16, no. 6 (June 2020): 4109–18. http://dx.doi.org/10.1109/tii.2019.2957002.

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30

Monsees, G., and J. M. A. Scherpen. "Adaptive switching gain for a discrete-time sliding mode controller." International Journal of Control 75, no. 4 (January 2002): 242–51. http://dx.doi.org/10.1080/00207170110101766.

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31

Mitic, Darko, Dragan Antic, Marko Milojkovic, Sasa Nikolic, and Stanisa Peric. "Input-output based quasi-sliding mode control of DC-DC converter." Facta universitatis - series: Electronics and Energetics 25, no. 1 (2012): 69–80. http://dx.doi.org/10.2298/fuee1201069m.

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The paper presents the design of discrete-time quasi-sliding mode voltage controller for DC-DC buck converter. The control algorithm is realized by measuring only sensed output voltage. No current measurements and time derivatives of output voltage are necessary. The proposed quasi-sliding mode controller provides stable output voltage, exhibiting robustness to parameter and load variations.

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32

Hu, Jun Feng, Xiang Fu Cui, and Pei Li. "Vibration Suppression of Flexible Parallel Manipulator Based on Sliding Mode Control with Reaching Law." Applied Mechanics and Materials 160 (March 2012): 30–34. http://dx.doi.org/10.4028/www.scientific.net/amm.160.30.

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A discrete sliding mode control based on reaching law is investigated to suppress vibration of high-speed flexible manipulator. The finite element method and experimental modal test is applied to obtain the dynamic model of the system. Due to the influence from uncertain external disturbances and measurement noise, and uncertain parameters, sliding mode control has invariance of the sliding mode. The discrete sliding mode control approach with reaching law is applied to design the vibration controller which enables the system to be zero state as the system states are away from the equilibrium one due to external disturbances. The discrete Kalman filtering technique is employed to construct state estimator because the state variables cannot be directly measured. The first three natural frequencies and damping ratio are obtained by using experimental modal testing. The experimental control system is constructed and experimental validation is carried out using dSPACE real-time simulation system and MATLAB/Simulink. The experimental results showed that the proposed controller can effectively suppress the vibration response of the flexible manipulator.

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33

Chaudhuri, Anirban, and M. Seetharama Bhat. "Output Feedback-Based Discrete-Time Sliding-Mode Controller Design for Model Aircraft." Journal of Guidance, Control, and Dynamics 28, no. 1 (January 2005): 177–81. http://dx.doi.org/10.2514/1.9962.

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34

Alipouri, Yousef, Javad Poshtan, and Majid Ghaniee Zarch. "Generalized sliding mode with integrator controller design using a discrete linear model." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 228, no. 9 (July 17, 2014): 677–89. http://dx.doi.org/10.1177/0959651814541849.

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35

Ben Yazid, Yassine, Driss Mehdi, and Ahmed Said Nouri. "Discrete T–S fuzzy systems with time-varying delays: a new discrete sliding mode control approach." Transactions of the Institute of Measurement and Control 40, no. 7 (June 1, 2017): 2332–39. http://dx.doi.org/10.1177/0142331217707365.

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The control of nonlinear systems has been the subject of extensive research. This interest is mainly due to its potential for real applications. In this paper, we investigated discrete sliding mode control for a class of nonlinear time-delay systems represented by T–S fuzzy models. In most existing fuzzy sliding mode control, a common input matrix is considered for all subsystems. This assumption is very restrictive. Therefore, we proposed a new sliding surface, which takes account of the system state and the control input in order to exclude the restrictive assumption. Furthermore, we have improved the latter sliding mode control scheme, by adding delayed states. Based on formulation of linear matrix inequalities, the parameters of the sliding function are obtained. Therefore, to further reduce the conservatism in the existing results, the Wirtinger-based integral inequality and Jensens inequality are employed. To show the applicability and effectiveness of the proposed controller design methodology, a numerical example is given for illustration.

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36

Wang, Xiao Jing, Jun Peng Shao, and Ji Hai Jiang. "Continuous Rotary Motor Electro-Hydraulic Servo System Based on Discrete Sliding Mode Controller." Advanced Materials Research 156-157 (October 2010): 1537–40. http://dx.doi.org/10.4028/www.scientific.net/amr.156-157.1537.

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In order to suppress the periodic interference of continuous rotary electro-hydraulic servo motor, make the motor tracking periodic signals more accurate, and improve the influence of friction interference on the performance of continuous rotary electro-hydraulic servo motor, mathematic model of continuous rotary motor electro-hydraulic position servo system was established, and the compound control method based on the discrete sliding mode controller was adopted to suppress the friction interference. Through the simulation, the result confirms that the discrete sliding mode controller decreases the tracking error of the system, increases the system robust performance and improves performance of continuous rotary electro-hydraulic servo motor. This method is simple and feasible.

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37

Ghabi, Jalel, Ahmed Rhif, and Sundarapandian Vaidyanathan. "Discrete Time Sliding Mode Control Scheme for Nonlinear Systems With Bounded Uncertainties." International Journal of System Dynamics Applications 7, no. 2 (April 2018): 15–33. http://dx.doi.org/10.4018/ijsda.2018040102.

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This article introduces a sliding mode controller to stabilize a discrete-time nonlinear system in the presence of uncertainties and external disturbances. The proposed controller is derived to guarantee the existence of a quasi-sliding mode, taking into account the upper bound of uncertainties. With this method, a recursive switching function is used, which allows for recovering lost invariance and robustness properties of a discrete sliding mode control. As for the system stability, it is found that the system is stabilized and finally restricted to a known region. This control scheme ensures robustness against parametric uncertainties and external disturbances as well as the elimination of chattering. In this article, after a detailed formalization of the proposed control design, a numerical example for an inverted pendulum is considered, proving the effectiveness of the control methodology.

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38

GONZÁLEZ-JIMÉNEZ, LUIS ENRIQUE, ALEXANDER G. LOUKIANOV, and EDUARDO JOSE BAYRO-CORROCHANO. "DISCRETE INTEGRAL SLIDING MODE CONTROL IN VISUAL OBJECT TRACKING." International Journal of Humanoid Robotics 07, no. 03 (September 2010): 491–509. http://dx.doi.org/10.1142/s0219843610002167.

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Object tracking is an important process for many applications in computer vision. This process must be implemented in a discrete manner because the images are available only at certain periods. A discrete integral sliding mode algorithm is proposed to control a stereo vision system and perform the aforementioned second task. The kinematic model of the structure is obtained using geometric algebra. The performance of the controller is compared with proportional-integral-derivative control via simulation. The implementation for a pan tilt unit is presented in real time. The algorithm presents a good and robust performance.

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39

Liu, Ting-Rui. "Divergent instability control of aeroelastic system driven by aerodynamic forces under disturbance based on discrete sliding mode control algorithms." Measurement and Control 52, no. 7-8 (July 17, 2019): 1072–83. http://dx.doi.org/10.1177/0020294019858106.

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Divergent instability control of 2D pretwisted blade section of wind turbine driven by aerodynamic forces under disturbance is investigated. Realization of divergent instability control is based on two types of discrete sliding mode control algorithms. The structure is modeled as 2D pretwisted blade section integrated with structural damping, which is driven by aerodynamic model with perturbed disturbance. Discrete sliding mode control algorithm suitable for disturbance control is investigated to control divergent flap/lead-lag vibrations of blade section. To increase convergence performance and reduce the chattering phenomenon, discrete sliding mode control based on disturbance observer is applied. Convergence of disturbance observer is analyzed, and stability of closed-loop system is discussed. The simulation results show that not only the convergence accuracy can be improved by sliding mode control based on disturbance observer controller, but also the displacement chattering and the control input chattering can be effectively eliminated. Compared with conventional discrete sliding mode control, it has more advantages in the control of divergent instability. To facilitate the real-time realization and automation and at the same time to ensure accuracy, a design of quadratic feedback to build the performance control matrix in sliding mode control based on disturbance observer is developed in present study.

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40

Hajare, V. D., A. A. Khandekar, and B. M. Patre. "Discrete sliding mode controller with reaching phase elimination for TITO systems." ISA Transactions 66 (January 2017): 32–45. http://dx.doi.org/10.1016/j.isatra.2016.10.010.

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41

Rossomando, F. G., and C. M. Soria. "Discrete-time sliding mode neuro-adaptive controller for SCARA robot arm." Neural Computing and Applications 28, no. 12 (March 24, 2016): 3837–50. http://dx.doi.org/10.1007/s00521-016-2242-7.

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Mi, Yang, and Yuanwei Jing. "Design of fuzzy sliding mode controller for SISO discrete-time systems." Journal of Control Theory and Applications 2, no. 3 (August 2004): 253–58. http://dx.doi.org/10.1007/s11768-004-0006-x.

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Qu, Shaocheng, Liang Zhao, Yao Chen, and Wenqi Mao. "A discrete-time sliding mode congestion controller for wireless sensor networks." Optik 225 (January 2021): 165727. http://dx.doi.org/10.1016/j.ijleo.2020.165727.

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Ren, Yan, Zhenghua Liu, Xiaodong Liu, and Yu Zhang. "A Chattering Free Discrete-Time Global Sliding Mode Controller for Optoelectronic Tracking System." Mathematical Problems in Engineering 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/951492.

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Aiming at the uncertainties including parameter variations and external disturbances in optoelectronic tracking system, a discrete-time global sliding mode controller (DGSMC) is proposed. By the design of nonlinear switching function, the initial state of control system is set on the switching surface. An adaptive discrete-time reaching law is introduced to suppress the high-frequency chattering at control input, and a linear extrapolation method is employed to estimate the unknown uncertainties and commands. The global reachability for sliding mode and the chattering-free property are proven by means of mathematical derivation. Numerical simulation presents that the proposed DGSMC scheme not only ensures strong robustness against system uncertainties and small tracking error, but also suppresses the high-frequency chattering at control input effectively, compared with the SMC scheme using conventional discrete-time reaching law.

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Dastaviz, A., and T. Binazadeh. "Simultaneous stabilization of a collection of uncertain discrete-time systems with time-varying state-delay via discrete-time sliding mode control." Journal of Vibration and Control 25, no. 16 (June 9, 2019): 2261–73. http://dx.doi.org/10.1177/1077546319852485.

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This paper considers the simultaneous stabilization problem which concerns finding a single controller to simultaneously stabilize a finite collection of discrete-time nonlinear systems with time-varying state delay and norm-bounded uncertainties. For this purpose, a simultaneously stabilizing discrete-time sliding mode controller (DT-SMC) is synthesized. Based on the delay-dependent Lyapunov–Krasovskii functional method, sufficient conditions are derived which guarantee the existence of a common sliding surface in terms of a nonconvex feasibility problem. The cone complementarity linearization approach is exploited to transform the nonconvex conditions into a convex optimization problem. Finally, the robust simultaneously stabilizing DT-SMC is designed in order to draw the closed-loop trajectories of each system onto the common sliding surface in finite time and to maintain it thereafter. The effectiveness of the proposed method is investigated by simulation of a practical example.

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Yan, Jun-Juh, and Teh-Lu Liao. "Discrete sliding mode control for hybrid synchronization of continuous Lorenz systems with matched/unmatched disturbances." Transactions of the Institute of Measurement and Control 40, no. 5 (January 24, 2017): 1417–24. http://dx.doi.org/10.1177/0142331216683773.

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This paper is concerned with the hybrid synchronization of master-slave Lorenz systems with uncertainties. A new systematic design procedure to synchronize continuous master-slave Lorenz chaotic systems is proposed by using a discrete sliding mode control (DSMC). In contrast to the previous works, the design of DSMC can be simplified and only a single controller is needed to realize chaos synchronization. The proposed DSMC ensures the occurrence of the sliding mode. When the controlled system is in the sliding manifold, the effect of disturbances including matched and unmatched cases are discussed. The proposed results conclude the synchronization error of controlled master-slave systems with matched disturbances can be fully derived to zero or robustly suppressed in an estimated bound even with unmatched disturbances, which is not addressed in the literature. The numerical simulation results demonstrate the success and effectiveness of the proposed DSMC developed in this paper.

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Sarif, Nira Mawangi, Rafidah Ngadengon, Herdawatie Abdul Kadir, Mohd Hafiz A. Jalil, and Khalid Abidi. "A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle." IAES International Journal of Robotics and Automation (IJRA) 10, no. 2 (June 1, 2021): 104. http://dx.doi.org/10.11591/ijra.v10i2.pp104-113.

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Autonomous underwater vehicle (AUV) are underwater robotic devices intended to explore hostiles territories in underwater domain. AUVs research gaining popularity among underwater research community because of its extensive applications and challenges to overcome unpredictable ocean behavior. The aim of this paper is to design discrete time terminal sliding mode control (DTSMC) reaching law-based employed to NPS AUV II purposely to improve the dynamic response of the closed loop system. This is accomplished by introducing a nonlinear component to sliding surface design in which the system state accelerated, and chattering effect is suppressed. The nonlinear component consist of fractional power is to ensure steeper slope of the sliding surface in the vicinity of the equilibrium point which lead to quicker convergence speed. Thus, the chattering effect in the control action suppressed as the convergence of the system state accelerated. The stability of the control system is proven by using Sarpturk analysis and the performance of the DTSMC is demonstrated through simulation study. The performance of DTSMC is benchmarked with DSMC and PID controller

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Wang, Zhihong, Yifei Wu, Wei Chen, Xiang Wang, Jian Guo, and Qingwei Chen. "Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems." Journal of Control Science and Engineering 2015 (2015): 1–12. http://dx.doi.org/10.1155/2015/405376.

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Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC) based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties.

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Li, Hong Ke, Li Zhong Song, Huai Shu Li, Lin Shu Huang, and Yang Yin. "A Study on the Position and Velocity Control of AC Servo System Using Discrete Sliding Mode Predictive Algorithm." Applied Mechanics and Materials 29-32 (August 2010): 2018–24. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.2018.

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The sliding mode predictive controller based on an improved sliding mode reference trajectory is proposed for AC servo systems. On the basis of analysis of servo control systems, the position and velocity control strategy using the sliding mode predictive algorithm is developed. Combining the merits of the sliding mode and predictive control, the algorithm can improve the robustness and eliminate the chattering phenomenon. Moreover, according to the velocity profile during positioning, the sliding mode reference trajectory is designed in accordance with corresponding state motion curves to guarantee the desired dynamic characteristics. Finally, the application experiment is implemented and results demonstrate the feasibility and effectiveness of the proposed control scheme.

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Choi, Seung Bok, and Jung Woo Sohn. "Vibration Control of Smart Structures Using Piezofilm Actuators." Key Engineering Materials 306-308 (March 2006): 1205–10. http://dx.doi.org/10.4028/www.scientific.net/kem.306-308.1205.

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This paper presents vibration control of a flexible smart beam structure using a new discrete-time sliding mode controller. After formulating the dynamic model in the space representation, so called the separation principle for equivalent controller is established so that the sliding mode conditions are satisfied. By doing this, undesirable chattering of the flexible structures can be attenuated in the settled phase. In order to demonstrate some benefits of the proposed methodology, an experimental realization is undertaken. Both transient and forced vibration control responses are evaluated in time domain and compared between with and without the separation principle.

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