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1
Moura, Jairo Terra, Hakan Elmali, and Nejat Olgac. "Sliding Mode Control With Sliding Perturbation Observer." Journal of Dynamic Systems, Measurement, and Control 119, no. 4 (1997): 657–65. http://dx.doi.org/10.1115/1.2802375.
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This work introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity called perturbation. The major contribution of this work comes as the development and design of a robust observer for the state and the perturbation which is integrated into a Variable Structure Controller (VSC) structure. The proposed observer combines the procedures of Sliding Observers (Slotine et al, 1987) with the idea of Perturbation Estimation (Elmali and Olgac, 1992). The result is what is called Sliding Perturbation Observer (SPO). The VSC follows the philosophy of Sliding Mode Control (SMC) (Slotine and Sastry, 1983). This combination of controller/observer gives rise to the new routine called Sliding Mode Control with Sliding Perturbation Observer (SMCSPO). The stability analysis shows how the algorithm parameters are scheduled in order to assure the sliding modes of both controller and observer. A simplified form of the general design procedure is also presented in order to ease the practical applications of SMCSPO. Simulations are presented for a two-link manipulator to verify the proposed approach. Experimental validation of the methodology is also performed on a PUMA 560 robot. A superior control performance is obtained over some full state feedback techniques such as SMC and Computed Torque Method.
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Xing, Hai Long, and Juan Li. "Flight Attitude Sliding Mode Control Design Based on the Compensation of Extended State Observer." Applied Mechanics and Materials 716-717 (December 2014): 1689–93. http://dx.doi.org/10.4028/www.scientific.net/amm.716-717.1689.
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This paper proposes the sliding mode control design based on extended state observer control approch for the flight attitude system.The extended state observer (ESO) with new structure is used to estimate the total disturbance and to compensate the control object so that the flight attitude system can be simplified. Then a sliding mode controller is used to stabilize this simplified system. Finally, a numerical simulation shows the effectiveness of the proposed control design method.
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Xu, Dezhi, Bin Jiang, Moshu Qian, and Jing Zhao. "Terminal Sliding Mode Control Using Adaptive Fuzzy-Neural Observer." Mathematical Problems in Engineering 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/958958.
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We propose a terminal sliding mode control (SMC) law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables. Moreover, based on the information of the adaptive observer, the terminal SMC law is designed. The Lyapunov synthesis approach is used to guarantee a global uniform ultimate boundedness property of the state estimation error and the asymptotic output tracking of the closed-loop control systems in spite of unknown uncertainties/disturbances, as well as all the other signals in the closed-loop system. Finally, using the designed terminal sliding mode controller, the simulation results on the dynamic model demonstrate the effectiveness of the proposed new control techniques.
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Li, Zheng, Zihao Zhang, Jinsong Wang, Shaohua Wang, Xuetong Chen, and Hexu Sun. "ADRC Control System of PMLSM Based on Novel Non-Singular Terminal Sliding Mode Observer." Energies 15, no. 10 (2022): 3720. http://dx.doi.org/10.3390/en15103720.
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In an attempt to solve the problem of the many parameters of the traditional active disturbance rejection controller (ADRC) and to accurately estimate the mover position and speed required by a permanent magnet synchronous linear motor (PMLSM) system, an improved ADRC and a novel nonsingular fast terminal sliding mode observer (NFTSMO) are proposed. Firstly, the traditional first-order ADRC is simplified, the tracking differentiator (TD) module is removed, and the direct error is used to replace the nonlinear function in the extended state observer (ESO) and nonlinear state error feedback (NLSEF) module. Based on the traditional NFTSMO, the smooth back electromotive force (EMF) is obtained by adding the TD to reduce the phase delay caused by the low-pass filter in the traditional sliding mode observer (SMO), and the actuator position and speed information are modulated from the observed back EMF based on the principle of a phase-locked loop (PLL). Simulation and experiments show that this method not only simplifies the system structure of PMLSM but also optimizes many parameters in ADRC while retaining the original excellent performance. Compared with the traditional NFTSMO, the improved NFTSMO enhances the observation accuracy, reduces the chattering phenomenon of the system, and improves the robustness of the system.
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Han, Tong Yi, Zhong Hua Wang, and Fei Fei Han. "A New Sliding-Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motor." Applied Mechanics and Materials 740 (March 2015): 317–20. http://dx.doi.org/10.4028/www.scientific.net/amm.740.317.
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In this paper, a new sliding-mode observer (SMO) for sensorless control of permanent magnet synchronous motor (PMSM) is proposed. The observer is built based on the study of the back electromotive force (EMF) equivalent control. The new SMO, which substitues a hyperbolic tangent function for the signum function with a variable boundary layer, can reduce the chattering phenomenon. In order to overcome the time delay, we cancelled the low-pass filter and phase compensation module. In this way, not only the structure of the observer is simplified, but also the estimation precision is improved. The simulation results prove that the new SMO has a good dynamic performance and static quality.
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Liu, Wenfei, Bo Luo, Yong Yang, et al. "An Adaptive-Gain Sliding Mode Observer with Precise Compensation for Sensorless Control of PMSM." Energies 16, no. 24 (2023): 7968. http://dx.doi.org/10.3390/en16247968.
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In this paper, we propose a sensorless control strategy for permanent magnet synchronous motors (PMSMs) based on an adaptive-gain sliding mode observer (ASMO) with precise compensation. Firstly, the observer adopts a saturation function with a continuous boundary layer as the switching function to avoid the delay effect of the low-pass filter. In addition, the adaptive-gain method is designed based on a conventional sliding mode observer (SMO) with constant-gain and a saturation function. The adaptive-gain mathematical model is simplified by establishing a nonlinear feedback channel of an SMO. Secondly, in order to improve the practicability and facilitate debugging, the explicit stability condition of an ASMO is deduced according to Lyapunov’s second method. According to the proposed adaptive method, the chattering caused by the mismatch of the sliding-mode gain is suppressed, and the observable speed range is also improved. Thirdly, the position estimation delay problem of an SMO with a continuous switching function is analyzed in detail from the perspective of frequency characteristics. Then, a precise compensation method is proposed for the delay problem, which greatly improves the position estimation accuracy and the control performance. Finally, the correctness of the theory and the feasibility of the ASMO with precise compensation for the sensorless control of PMSMs are verified by experiments.
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Chang, Yujia, Ran Li, Hao Sun, and Xiaoyu Zhang. "Estimation of SOC in Lithium-Iron-Phosphate Batteries Using an Adaptive Sliding Mode Observer with Simplified Hysteresis Model during Electric Vehicle Duty Cycles." Batteries 10, no. 5 (2024): 154. http://dx.doi.org/10.3390/batteries10050154.
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This paper develops a model for lithium-ion batteries under dynamic stress testing (DST) and federal urban driving schedule (FUDS) conditions that incorporates associated hysteresis characteristics of 18650-format lithium iron-phosphate batteries. Additionally, it introduces the adaptive sliding mode observer algorithm (ASMO) to achieve robust and swiftly accurate estimation of the state of charge (SOC) of lithium-iron-phosphate batteries during electric vehicle duty cycles. The established simplified hysteresis model in this paper significantly enhances the fitting accuracy during charging and discharging processes, compensating for voltage deviations induced by hysteresis characteristics. The SOC estimation, even in the face of model parameter changes under complex working conditions during electric vehicle duty cycles, maintains high robustness by capitalizing on the easy convergence and parameter insensitivity of ASMO. Lastly, experiments conducted under different temperatures and FUDS and DST conditions validate that the SOC estimation of lithium-iron-phosphate batteries, based on the adaptive sliding-mode observer and the simplified hysteresis model, exhibits enhanced robustness and faster convergence under complex working conditions and temperature variations during electric vehicle duty cycles.
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Guo, Jianguo, Guoqing Wang, Zongyi Guo, and Jun Zhou. "New adaptive sliding mode control for a generic hypersonic vehicle." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 232, no. 7 (2017): 1295–303. http://dx.doi.org/10.1177/0954410017691317.
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The work presented here is concerned with the robust flight control problem for the longitudinal dynamics of a generic hypersonic vehicle under mismatched disturbances using adaptive sliding mode control with a nonlinear disturbance observer. A simplified control-oriented dynamic model is built with curve-fitted approximations. Based on the mismatched disturbance estimated by a nonlinear disturbance observer, a novel adaptive sliding mode control is proposed to stably track the velocity and altitude reference trajectory with back-stepping technique. The stability analysis of the closed-loop system and convergence of the system are verified based on Lyapunov stability theory. Finally, simulation results from the nonlinear model of hypersonic vehicle indicate that the proposed method can obtain promising robustness and disturbance rejection performance.
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Xu, Jiqian, Lijin Fang, Huaizhen Wang, Qiankun Zhao, Yingcai Wan, and Yue Gao. "Observer-Based Finite-Time Prescribed Performance Sliding Mode Control of Dual-Motor Joints-Driven Robotic Manipulators with Uncertainties and Disturbances." Actuators 13, no. 9 (2024): 325. http://dx.doi.org/10.3390/act13090325.
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Considering system uncertainties (e.g., gear backlash, unmodeled dynamics, nonlinear friction and parameters perturbation) coupling disturbances weaken the motion performance of robotic systems, an observer-based finite-time prescribed performance sliding mode control with faster reaching law is proposed for robotic manipulators equipped with dual-motor joints (DMJs). In the case where the backlash information is completely unknown, the backlash is maximally eliminated using a simple but efficient dual-motor adaptive anti-backlash strategy. Thus, the design of position tracking controllers for DMJs can be simplified. Then, to deal with the influence of disturbances and residual uncertainties (excluding backlash), a novel finite-time adaptive sliding mode disturbance observer (ASMDO) is proposed to practically estimate the lumped uncertainties where their upper bounds are assumed to be unknown. Finally, a finite-time composite fast non-singular terminal sliding mode (TSM) controller, integrated with the prescribed performance principle, is proposed in this paper. To enhance the convergence rate, a novel TSM-type reaching law has been developed. The controller ensures that the tracking error is not only stabilized within a finite-time convergence rate but also adheres to a predefined maximum transient-steady-state error. The proposed scheme is implemented through simulation and experimental results, demonstrating its superior performance.
10
Munje, Ravindra, Ranvir Desai, and Balasaheb Patre. "Observer-Based Integral Sliding Mode Controller for a Two-Wheeled Inverted Pendulum." ECTI Transactions on Electrical Engineering, Electronics, and Communications 21, no. 1 (2023): 248610. http://dx.doi.org/10.37936/ecti-eec.2023211.248610.
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The modeling and control of a two-wheeled inverted pendulum (TWIP) is gaining much interest due to the various advancements in hardware and computing technologies. A TWIP system has many advantages and applications. However, it still faces many challenges such as positioning, disturbance rejection, parameter uncertainties, etc. In this paper, a control scheme based on modern control techniques is presented to overcome these issues. Furthermore, an observer-based robust integral sliding mode controller (ISMC) is proposed for the nonlinear TWIP system. Firstly, a robust integral sliding mode controller is designed to tackle short-term and long-term constant and time-varying disturbances as well as issues relating to parameter variation. Secondly, the reduced-order observer is designed to estimate immeasurable states, enabling simplified implementation. It is then applied to the nonlinear model of the TWIP system, and performance is observed under different transient conditions. A comparison with prevalent controllers in the literature is carried out. This comparison relates to graphical results, time domain specifications, and error performance indices, calculated for states. From this, a significant qualitative improvement can be observed with the proposed controller for all types of transients. In quantitative terms, zero steady-state error with disturbances and a five-fold improvement in settling time with parameter variations are observed. This paper also discusses the software Simulink realization for modeling and control of the TWIP system, which can be valuable for novices working in this area.
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Li, Runze, Wei Fang, and Shuai Wang. "Super-Twisting Sliding Mode Active Disturbance Rejection Control of Permanent Magnet Synchronous Motor Based on Vector Control." Journal of Physics: Conference Series 2625, no. 1 (2023): 012019. http://dx.doi.org/10.1088/1742-6596/2625/1/012019.
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Abstract The vector control speed regulation system of the permanent magnet synchronous motor founded on traditional control has some weaknesses of poor rapidity and robustness, and it is hard to satisfy the current control requirements. A new control method combining active disturbance rejection control technology with improved super-twisting sliding mode control technology (STSM-ADRC) comes up. In active disturbance rejection control, the tracking differentiator is simplified; the extended state observer is designed to observe all internal and exterior disturbances of the system; the improved super-twisting sliding mode control law is going to take the place of the error feedback control law; and the simulation is carried out. Compared with the existing control algorithms, this new control method can overcome the influence of load disturbances and track the given speed effectively. And the responsiveness and robustness of the system are strengthened.
12
Li, Yun Feng, Xiao Yun Feng, and Rui Kuo Liu. "Maximum Adhesion Control of Railway Based on Sliding Mode Control System." Advanced Materials Research 383-390 (November 2011): 5242–49. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.5242.
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The wheels will idle when the relative slipping speed between the wheel and rail exceeds the reference slipping speed. In order to avoid this phenomenon, the simplified model of wheel-rail traction torque transmission was established. And the adhesion coefficient and vehicle velocity are got through the disturbance observer. Then the recursive least squares method was used to forecast the slope of the adhesion-slip curve. Sliding variable structure controller was used to control the error of wheel velocity and reference velocity. From the results of simulation, this method can be effective to maintain the adhesion coefficient around the maximum. And the slipping speed approached the reference value, so the damage for wheel and rail was effectively prevented which achieved the desired effect.
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Nguyen, Manh Hung, and Kyoung Kwan Ahn. "Extended Sliding Mode Observer-Based Output Feedback Control for Motion Tracking of Electro-Hydrostatic Actuators." Mathematics 11, no. 20 (2023): 4324. http://dx.doi.org/10.3390/math11204324.
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This paper develops a novel output feedback control scheme for the motion-tracking problem of an electro-hydrostatic actuator (EHA) in the presence of model uncertainties and external disturbances. Firstly, a simplified third-order system model of the studied EHA is established using theoretical methods. For the first time, an extended sliding mode observer (ESMO) is introduced to simultaneously account for the shortage of unknown system states and modeling imperfections. Based on this, a robust nonlinear controller is developed using the backstepping control framework to stabilize the closed-loop system. This controller integrates estimates of immeasurable system states and lumped disturbances to deal with their adverse impacts. Moreover, the dynamic surface control (DSC) technique is employed to effectively mitigate the computational burden of the traditional backstepping framework. An ultimately uniformly bounded (UUB) performance is assured by using the recommended method. Furthermore, the stability of not only the observer but also the closed-loop system is concretely analyzed by using the Lyapunov theory. Finally, experiment results under various working scenarios are given to convincingly demonstrate the advantage of the suggested method in comparison with some reference control approaches.
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Lebastard, V., Y. Aoustin, and F. Plestan. "Observer-based control of a walking biped robot without orientation measurement." Robotica 24, no. 3 (2006): 385–400. http://dx.doi.org/10.1017/s0263574705002390.
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Two observers based on high order sliding mode approach are proposed to determine the absolute orientation of a walking biped robot without feet. Contrary to velocities observers which have been often designed for robot control, very few works have been proposed for the orientation estimation: in this paper, the estimation of all state variables are derived from only the actuated joint variables. Then the technology problem of the absolute measurement is avoided. This latter point is an original contribution of this paper. The observers and the control law converge in finite-time and are well adapted for analysis of the cyclic walking gait. Then, a second original contribution consists in adapting an existing “simplified” Poincaré's sections-based analysis of the stability of the walking to nonlinear systems with not fully available state variables.
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Kang, Zhongjian, Longchen Li, and Hongyang Zhang. "Feedforward Control Strategy of a DC-DC Converter for an Off-Grid Hydrogen Production System Based on a Linear Extended State Observer and Super-Twisting Sliding Mode Control." Electronics 13, no. 19 (2024): 3934. http://dx.doi.org/10.3390/electronics13193934.
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With the large-scale integration of renewable energy into off-grid DC systems, the stability issues caused by their fluctuations have become increasingly prominent. The dual active bridge (DAB) converter, as a DC-DC converter suitable for high power and high voltage level off-grid DC systems, plays a crucial role in maintaining and regulating grid stability through its control methods. However, the existing control methods for DAB are inadequate: linear control fails to meet dynamic response requirements, while nonlinear control relies on detailed model structures and parameters, making the control design complex and less accurate. To address this issue, this paper proposes a feedforward control strategy for a DC-DC converter in an off-grid hydrogen production system based on a linear extended state observer (LESO) and super-twisting sliding mode control (STSMC). Firstly, a reduced-order simplified model of the DAB was constructed through the structure of DAB. Then, based on the reduced-order simplified model, a feedforward control based on LESO and STSMC was designed, and its stability was analyzed. Finally, a simulation comparison of PI, LESO + terminal sliding mode control (TSMC), and LESO + STSMC control methods was conducted in a DC off-grid hydrogen production system. The results verified the proposed control method’s enhancement of the DAB’s rapid dynamic response capability and the system’s transient stability.
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Wang, Yang, Yan Guan, and Huanyun Li. "Observer-Based Finite-Time Sliding-Mode Control of Robotic Manipulator with Flexible Joint Using Partial States." International Journal of Intelligent Systems 2023 (April 10, 2023): 1–12. http://dx.doi.org/10.1155/2023/8859892.
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This paper addresses the control problem of the flexible joint manipulator (FJM) with unmeasurable system states and mismatched uncertainties. First, the control system is transformed as a matched uncertain system with unmeasurable states based on differentiation method. Then, the uncertainties and unmeasurable states are estimated by designing a fixed-time observer (FTO). Based on the integral sliding-mode control (SMC), the bi-limit homogeneity technique and the estimation of FTO, a finite-time SMC is proposed for FJM. Compared with the existing finite-time SMC method for FJM, the most attractive feature of the proposed method is that not only the finite-time convergence is guaranteed but also the two angular velocity sensors for rotation angles of link and motor are simplified. Moreover, the proposed SMC can suppress the mismatched and matched uncertainties by using chattering-free control input. The fixed-time stability of FTO and finite-time stability of proposed controller are proved. Finally, the efficiency of proposed scheme is shown by the numerical simulation.
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Chen, Wei, Yanhui Wei, Jianhui Zeng, Han Han, and Xianqiang Jia. "Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane." Discrete Dynamics in Nature and Society 2016 (2016): 1–9. http://dx.doi.org/10.1155/2016/6590517.
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The depth tracking issue of underactuated autonomous underwater vehicle (AUV) in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO) is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC) based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller.
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Alia, Imane, Imad Merzouk, and Mehamed Mounir Rezaoui. "Robust line voltage sensor-less control of grid-connected MMC converter in PV Applications." STUDIES IN ENGINEERING AND EXACT SCIENCES 5, no. 1 (2024): 2366–90. http://dx.doi.org/10.54021/seesv5n1-117.
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This paper discusses the voltage sensor-less control of a single-phase grid-connected Modular Multilevel Converter (MMC) in photovoltaic (PV) applications. The design of the control system is crucial to efficiently injecting PV power into the main grid. Therefore, three control targets are designed. Maximum power point tracking (MPPT) through the Incremental Conductance (IC) algorithm, DC link voltage regulation, and finally output active and reactive power controlling throughout the regulation of grid current amplitude and phase shift. To achieve those targets, the value of grid voltage has to be known accurately. The main contribution of this study is the use of a Simplified Super Twisting Algorithm Sliding Mode Observer (SSTA-SMO) for grid voltage estimation. The effectiveness and satisfactory performance of the proposed system are validated through simulations via MATLAB. To verify the effectiveness of the proposed approach. A study was conducted to evaluate the efficacy of the SSTA-SMO proposal in comparison to a traditional sliding-mode observer. The objective was to showcase the superiority of the proposed approach. The results suggest that the suggested observer surpasses other methods in terms of several aspects, including minimal errors in grid voltage observation, high-quality estimation of grid voltage, and accurate tracking of the reference. Furthermore, it exhibits robustness when exposed to different levels of radiation.
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An, Tong, JianHua Wang, YuLong Pan, and HaiShan Chen. "A Low-Order Partial Integrated Guidance and Control Scheme for Diving Hypersonic Vehicles to Impact Ground Maneuver Target." Mathematical Problems in Engineering 2021 (September 7, 2021): 1–12. http://dx.doi.org/10.1155/2021/7407739.
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In this article, a low-order partial integrated guidance and control (PIGC) design method is proposed for diving hypersonic vehicles to impact ground maneuver target. A three-channel analytical model of body rates is deduced based on acceleration components of the hypersonic vehicle. By combining the analytical model of body rates and relative dynamic model between the hypersonic vehicle and target, three-channel commands of body rates are directly generated based on the extended state observer (ESO) technique, sliding mode control approach, and dynamic surface control theory in the guidance subsystem. In the attitude control subsystem, a sliding mode controller is designed to track the commands of body rates and generate commands of control surface fin deflections. By making full use of acceleration information of the hypersonic vehicle measured by the mounted accelerometer, the proposed PIGC design method provides a novel solution to compensate the unknown acceleration of the ground maneuver target. Besides, the order of design model is also reduced, and the design process is simplified. The effectiveness and robustness of the PIGC design method are verified and discussed by 6DOF simulation studies.
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Fang, Xing, Aiguo Wu, Yujia Shang, and Chunyan Du. "Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter." Mathematical Problems in Engineering 2015 (2015): 1–13. http://dx.doi.org/10.1155/2015/620357.
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This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC) is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.
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Li, Xiaoguang, Wenzhuo Zhi, Enming Shi, Xiaoliang Fan, Ming Zhao, and Bi Zhang. "Adaptive Nonsingular Fast Terminal Sliding Mode Control for Shape Memory Alloy Actuated System." Actuators 13, no. 9 (2024): 367. http://dx.doi.org/10.3390/act13090367.
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Due to its high power-to-weight ratio, low weight, and silent operation, shape memory alloy (SMA) is widely used as a muscle-like soft actuator in intelligent bionic robot systems. However, hysteresis nonlinearity and multi-valued mapping behavior can severely impact trajectory tracking accuracy. This paper proposes an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) scheme aimed at enhancing position tracking performance in SMA-actuated systems by addressing hysteresis nonlinearity, uncertain dynamics, and external disturbances. Firstly, a simplified third-order actuator model is developed and a variable gain extended state observer (VGESO) is employed to estimate unmodeled dynamics and external disturbances within finite time. Secondly, a novel nonsingular fast terminal sliding mode control (NFTSMC) law is designed to overcome singularity issues, reduce chattering, and guarantee finite-time convergence of the system states. Finally, the ANFTSMC scheme, integrating NFTSMC with VGESO, is proposed to achieve precise position tracking for the prosthetic hand. The convergence of the closed-loop control system is validated using Lyapunov’s stability theory. Experimental results demonstrate that the external pulse disturbance error of ANFTSMC is 8.19°, compared to 19.21° for the comparative method. Furthermore, the maximum absolute error for ANFTSMC is 0.63°, whereas the comparative method shows a maximum absolute error of 1.03°. These results underscore the superior performance of the proposed ANFTSMC algorithm.
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Mu, Dongdong, Guofeng Wang, Yunsheng Fan, and Yongsheng Zhao. "Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research." Mathematical Problems in Engineering 2017 (2017): 1–13. http://dx.doi.org/10.1155/2017/3209451.
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The response model of podded propulsion unmanned surface vehicle (USV) is established and identified; then considering the USV has characteristic of high speed, the course controller with fast convergence speed is proposed. The idea of MMG separate modeling is used to establish three-DOF planar motion model of the podded propulsion USV, and then the model is simplified as a response model. Then based on field experiments, the parameters of the response model are obtained by the method of system identification. Unlike ordinary ships, USV has the advantages of fast speed and small size, so the controller needs fast convergence speed and strong robustness. Based on the theory of multimode control, a fast nonsingular terminal sliding mode (FNTSM) course controller is proposed. In order to reduce the chattering of system, disturbance observer is used to compensate the disturbance to reduce the control gain and RBF neural network is applied to approximate the symbolic function. At the same time, fuzzy algorithm is employed to realize the mode soft switching, which avoids the unnecessary chattering when the mode is switched. Finally the rapidity and robustness of the proposed control approach are demonstrated by simulations and comparison studies.
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Chen, Jianfeng, Shulin Hu, Yicai Ye, Haoqian Huang, Reza Langari, and Chuanye Tang. "A cascaded scheme for high-performance estimation of vehicle states." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, no. 8 (2021): 2101–13. http://dx.doi.org/10.1177/0954407021993240.
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Vehicle active safety control is bonded tightly with the accurate acquirement of vehicle states. This paper presents a cascaded scheme to realize high-performance estimation of vehicle states. To achieve the estimation with good performance, an adaptive sliding mode observer is designed for determining four longitudinal tire forces independently, and the Kalman filter is used for alleviating the inherent chattering effect. On this basis, lateral tire forces are calculated via a simplified formula based on the Dugoff tire model. Lastly, utilizing the obtained tire force information, the key states of vehicle motion are estimated through the smooth variable structure filter. Numerical experiments are conducted to testify the effectiveness of the presented estimation scheme. The results of performance comparison in different case studies show that the chattering effect can be suppressed to a great extent, and the accuracy, robustness and real-time performance to modeling uncertainty and unexpected measurements can be effectively guaranteed for vehicle state estimation by means of the proposed scheme.
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Zhang, Dong, Tao Wu, Shangyao Shi, and Zhen Dong. "A Modified Active-Disturbance-Rejection Control with Sliding Modes for an Uncertain System by Using a Novel Reaching Law." Electronics 11, no. 15 (2022): 2392. http://dx.doi.org/10.3390/electronics11152392.
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This article presents a modified active-disturbance-rejection control (ADRC) combined with a sliding mode control (SMC) regarding the tracking control problems for plants with unmatched uncertainty. The proposed modified active-disturbance-rejection control with sliding mode (ADRC-SM) employs a reduced-order extended state observer (ESO) for estimating various uncertainties of system in time, including unmatched and matched uncertainties. Meanwhile, a novel reaching law of SMC was designed by using the cycloid function as the main controller of ADRC, which ensures the robustness of the uncertain system. Due to the reduced-order ESO tracking and compensating for various uncertainties in the system as a total disturbance, the upper bound of the disturbance in the SMC is relaxed. The gain coefficient of the reaching law only needs to be designed to be larger than the limit of the lumped disturbance; thus, the chattering problem is greatly reduced. The designed new reaching law of the cycloid function shortens the time for the system state’s convergence to the sliding mode’s surface. The cycloid function replaces the switching function in the traditional reaching law, making the actual control input continuous and shortening the approach time. Compared with traditional ADRC-SM, the use of multiple ESOs or intelligent algorithms to approximate plant parameters can be avoided, the design is simplified, its robustness is enhanced, computational costs are reduced, and the convergence time is reduced. The controlled object with unmatched uncertainty is transformed into a system with matched uncertainty using state-space transformation, which reduces the complexity of the controller’s design. In addition, the stability analysis of the closed-loop system is carried out based on the Lyapunov method. Simulations and experiments verify that the modified ADRC-SM has the merits of fast response, small overshoot, small steady-state error, strong anti-interference competence, and high control accuracy.
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Sunusi, Idris Idris, Jun Zhou, Chenyang Sun, Zhenzhen Wang, Jianlei Zhao, and Yongshuan Wu. "Development of Online Adaptive Traction Control for Electric Robotic Tractors." Energies 14, no. 12 (2021): 3394. http://dx.doi.org/10.3390/en14123394.
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Estimation and control of wheel slip is a critical consideration in preventing loss of traction, minimizing power consumptions, and reducing soil disturbance. An approach to wheel slip estimation and control, which is robust to sensor noises and modeling imperfection, has been investigated in this study. The proposed method uses a simplified form of wheels longitudinal dynamic and the measurement of wheel and vehicle speeds to estimate and control the optimum slip. The longitudinal wheel forces were estimated using a robust sliding mode observer. A straightforward and simple interpolation method, which involves the use of Burckhardt tire model, instantaneous values of wheel slip, and the estimate of longitudinal force, was used to determine the optimum slip ratio that guarantees maximum friction coefficient between the wheel and the road surface. An integral sliding mode control strategy was also developed to force the wheel slip to track the desired optimum value. The algorithm was tested in Matlab/Simulink environment and later implemented on an autonomous electric vehicle test platform developed by the Nanjing agricultural university. Results from simulation and field tests on surfaces with different friction coefficients (μ) have proved that the algorithm can detect an abrupt change in terrain friction coefficient; it can also estimate and track the optimum slip. More so, the result has shown that the algorithm is robust to bounded variations on the weight on the wheels and rolling resistance. During simulation and field test, the system reduced the slip from non-optimal values of about 0.8 to optimal values of less than 0.2. The algorithm achieved a reduction in slip ratio by reducing the torque delivery to the wheel, which invariably leads to a reduction in wheel velocity.
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Nicola, Marcel, Claudiu-Ionel Nicola, and Dan Selișteanu. "Improvement of PMSM Sensorless Control Based on Synergetic and Sliding Mode Controllers Using a Reinforcement Learning Deep Deterministic Policy Gradient Agent." Energies 15, no. 6 (2022): 2208. http://dx.doi.org/10.3390/en15062208.
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The field-oriented control (FOC) strategy of a permanent magnet synchronous motor (PMSM) in a simplified form is based on PI-type controllers. In addition to their low complexity (an advantage for real-time implementation), these controllers also provide limited performance due to the nonlinear character of the description equations of the PMSM model under the usual conditions of a relatively wide variation in the load torque and the high dynamics of the PMSM speed reference. Moreover, a number of significant improvements in the performance of PMSM control systems, also based on the FOC control strategy, are obtained if the controller of the speed control loop uses sliding mode control (SMC), and if the controllers for the inner control loops of id and iq currents are of the synergetic type. Furthermore, using such a control structure, very good performance of the PMSM control system is also obtained under conditions of parametric uncertainties and significant variations in the combined rotor-load moment of inertia and the load resistance. To improve the performance of the PMSM control system without using controllers having a more complicated mathematical description, the advantages provided by reinforcement learning (RL) for process control can also be used. This technique does not require the exact knowledge of the mathematical model of the controlled system or the type of uncertainties. The improvement in the performance of the PMSM control system based on the FOC-type strategy, both when using simple PI-type controllers or in the case of complex SMC or synergetic-type controllers, is achieved using the RL based on the Deep Deterministic Policy Gradient (DDPG). This improvement is obtained by using the correction signals provided by a trained reinforcement learning agent, which is added to the control signals ud, uq, and iqref. A speed observer is also implemented for estimating the PMSM rotor speed. The PMSM control structures are presented using the FOC-type strategy, both in the case of simple PI-type controllers and complex SMC or synergetic-type controllers, and numerical simulations performed in the MATLAB/Simulink environment show the improvements in the performance of the PMSM control system, even under conditions of parametric uncertainties, by using the RL-DDPG.
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Dadios, Elmer P. "Selected Papers from HNICEM 2007." Journal of Advanced Computational Intelligence and Intelligent Informatics 12, no. 4 (2008): 327. http://dx.doi.org/10.20965/jaciii.2008.p0327.
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The Third International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management (HNICEM) was held in Century Park Hotel, Manila, Philippines from March 15 to 18, 2007. The theme on this conference was Technology Creativity and Innovations for Economic Development. As has been done from the previous HNICEM conferences, cutting edge papers presented from this conference are reviewed and selected for JACIII special issue publication. In this special issue, 10 articles are selected that will provide valuable references for researchers and practitioners. The first article presents an integrated algorithm that provides a mobile robot the ability to plan an optimal path and does online collision avoidance in a totally unknown environment. The second article presents a fuzzy controller technique in navigation with obstacle avoidance for a general purpose mobile robot in a given global environment with image processing technique using Open Source Computer Vision. The third article presents a model-based controller for helicopter using the sliding mode approach. The controller assumes that only measured outputs are available and it uses sliding mode observer to estimate the state of the system. The fourth article presents a real-time fuzzy logic based parallel parking system in an FPGA platform. The fifth article presents performance analysis of container unloading operations using simplified analytical model (SAM). The sixth article presents a neuro-fuzzy approach with additional moving average window data filter and fuzzy clustering algorithm use to forecast electrical load. The seventh article presents a new design and implementation of a multi-output fuzzy controller for real time control which utilizes lesser memory and executes faster than an existing type of multiple single-output fuzzy logic controllers. The eight article presents a new method based on multi-objective evolutionary algorithms to evolve low complexity neural controllers that allows an agent to perform two different tasks simultaneously. The ninth and tenth articles present genetic networks programming for stock market trading rules and for traffic systems applications, respectively. We extend our warmest thanks and deepest gratitude to the distinguished authors and reviewers who have contributed to this special issue for their outstanding contributions and cooperation. We are also grateful to Prof. Toshio Fukuda and Prof. Kaoru Hirota, chief editors of JACIII, for their continued support to all the HINICEM International Conferences. Come March 12 to 15, 2009, the 4th HNICEM International Conference will be held in Manila, Philippines. We thank the IEEE Philippines for its continuing sponsorship. Also to JACIII journal, as outstanding papers presented in this conference will be selected for publication in a special issue. We invite you to submit your research papers and to participate in HNICEM 2009. For further information, please visit “http://www.dlsu.edu.ph/conferences/hnicem/”.
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Wu, Boning, Xuesong Zhou, and Youjie Ma. "Bus Voltage Control of DC Distribution Network Based on Sliding Mode Active Disturbance Rejection Control Strategy." Energies 13, no. 6 (2020): 1358. http://dx.doi.org/10.3390/en13061358.
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The DC distribution network has more advantages in power transmission, grid connection of distributed energy, and reliability of power supply when compared with AC distribution network, but there are still many problems in the development of DC distribution network. DC bus voltage control is one of the hot issues in the research of DC distribution network. To solve this problem, in this paper, a new type of sliding mode active disturbance rejection control (SMADRC) controller for AC/DC converters is designed and applied to the voltage outer loop. The linear extended state observer (LESO) can observe the state variables and the total disturbance of the system. The SMADRC is composed of a sliding mode controller, LESO, and disturbance compensator, which can compensate the total disturbance observed by LESO properly. Therefore, it improves the dynamic. At the same time, it can also reduce the system jitter that is caused by sliding mode controller. The state variables that are observed by the LESO are used in the design of sliding mode controller, which greatly simplifies the design of sliding mode controller. Finally, the simulation results of Matlab/Simulink show that the controller has good start-up performance and strong robustness.
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Cao, Yu, and Chuang Liu. "SPMSM Sensorless Control System Based on ASMO." Mathematical Problems in Engineering 2022 (March 30, 2022): 1–11. http://dx.doi.org/10.1155/2022/6196321.
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Aiming at the chattering problem of traditional sliding mode observer (SMO) in surface-mounted permanent magnet synchronous motor (SPMSM) control system when estimating rotor position and speed and adaptive sliding mode observer (ASMO) is designed in this paper. The observer can reduce chattering and avoid the introduction of the low-pass filter, which simplifies the system structure, considering the difficulty in determining the sliding mode gain of the existing sliding mode observer, and an adaptive law is designed to adjust the sliding mode gain with the change of the back electromotive force, to meet the operation requirements of the system and improve the control accuracy of the sensorless control system. Finally, the simulation is built through Matlab/Simulink platform. It is proved that the proposed control strategy can satisfy the system’s accuracy and simultaneously reduce the chattering and solve the problem that the gain is difficult to determine.
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Zhu, Qinyue, Zhaoyang Li, Xitang Tan, Dabo Xie, and Wei Dai. "Sensors Fault Diagnosis and Active Fault-Tolerant Control for PMSM Drive Systems Based on a Composite Sliding Mode Observer." Energies 12, no. 9 (2019): 1695. http://dx.doi.org/10.3390/en12091695.
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Due to the use of multiple observers and controllers in multi-sensor fault-tolerant control of PMSM drive systems, the algorithm is complex and the system control performance is affected. In view of this, the paper studies multi-sensor fault diagnosis and active fault-tolerant control strategies based on a composite sliding mode observer. With the mathematical model of PMSM built, a design method of the composite sliding mode observer is proposed. A single observer is used to observe and estimate various state variables in the system in real time, which simplifies the implementation of observer-related algorithms. In order to improve the diagnostic accuracy of different types of sensors under different faults, a method for determining fault thresholds is proposed through global search for the maximum residual value. Based on this, a fault diagnosis and active fault-tolerant control strategy is proposed to realize fast switching and reconstruction of feedback signals of closed-loop control systems under different faults of multiple sensors, thus restoring the system performance. Finally, the effectiveness of the proposed algorithm and control strategy is verified by simulation experiments
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Luan, Mingchen, Jiuhong Ruan, Yun Zhang, Haitao Yan, and Long Wang. "An Improved Adaptive Finite-Time Super-Twisting Sliding Mode Observer for the Sensorless Control of Permanent Magnet Synchronous Motors." Actuators 13, no. 10 (2024): 395. http://dx.doi.org/10.3390/act13100395.
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In order to improve the observation accuracy of rotor positions in the sensorless control of permanent magnet synchronous motors and to simplify the parameter adjustment process, this paper proposes an improved finite-time adaptive super-twisting sliding mode observer. First, a linear gain term is introduced into the conventional super-twisting sliding mode observer model as a way of improving the identification accuracy of the observer. Then, for the multi-parameter variable problem in the traditional observer model, a rotational speed variable function design is presented, which simplifies the multi-variables into a single adaptive variable. This reduces the complexity of the observer model while further improving the observation accuracy and stability of the improved observer algorithm (which is verified using Lyapunov’s stability theory). A new back EMF filter and an adaptive phase-locked loop are then used to improve the model’s speed tracking capability. Finally, through simulation and experimental tests, the improved algorithm’s ability to quickly observe changes in rotor position and speed, as well as its fast convergence, small jitter and high accuracy characteristics, are verified.
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Pan, Yue Dou, Ze Ping Chen, and Hua De Li. "Stator Flux Observer for Induction Motor Based on Prescribed Convergence Law Algorithm." Applied Mechanics and Materials 719-720 (January 2015): 461–69. http://dx.doi.org/10.4028/www.scientific.net/amm.719-720.461.
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This paper proposes a stator flux estimation method for induction motor based on Prescribed Convergence Law algorithm. A stator flux observer is designed and applied for direct torque control (DTC) of induction motor. The observer tracks stator current and its differential with Prescribed Convergence Law algorithm of second order sliding mode in order to estimate rotor flux, and then estimate stator flux using the relationship between stator flux and rotor flux. This paper takes the differential of estimated flux error as disturbance and divides the MIMO (Multiple Input Multiple Output) observer model into two separate SISO (single input single output) systems, which simplifies the stability analysis. The observer is applied to DTC of induction motor and achieves a good control effect. Simulation experiment results validate the proposed method.
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Du, Shenhui, Zihao Zhang, Jinsong Wang, Kangtao Wang, Hui Zhao, and Zheng Li. "Integrated Predictive Control of PMLSM Current and Velocity Based on ST-SMO." Energies 15, no. 15 (2022): 5504. http://dx.doi.org/10.3390/en15155504.
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To enhance the control performance of a permanent magnet linear synchronous motor (PMLSM) and to improve its dynamic response performance and steady-state accuracy, a PMLSM model predictive integrated control (MPC) system based on a super-twisting sliding mode observer (ST-SMO) is proposed. According to the mathematical model of a PMLSM, this paper designs a three-step model to predict the comprehensive control correction factor, optimize the prediction speed and current, reduce the response time, and enhance the system’s stability. Meanwhile, in order to solve the problem of the PMLSM’s high dependence on mechanical sensors, the ST-SMO is introduced to observe the rotation speed of PMLSM, which has better tracking performance and observation accuracy than a traditional sliding mode observer (SMO). Finally, the experimental verification is carried out on the PMLSM experimental platform. The software simulation and hardware experiment results show that the control system designed in this paper not only simplifies the overall structure of the system, but it also has better control performance and tracking ability. Compared with traditional control methods and SMO, it has better control performance, stability, and speed-tracking performance.
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WU, YUNJIE, BAITING LIU, WULONG ZHANG, and XIAODONG LIU. "ADAPTIVE BACKSTEPPING SLIDING MODE CONTROLLER FOR FLIGHT SIMULATOR BASED ON RBFNN." International Journal of Modeling, Simulation, and Scientific Computing 04, no. 04 (2013): 1342007. http://dx.doi.org/10.1142/s1793962313420075.
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For flight simulator system, a kind of Adaptive Backstepping Sliding Mode Controller (ABSMC) based on Radial Base Function Neural Network (RBFNN) observer is presented. The sliding mode control theory is famous by its characteristic that it is insensitive to the external disturbances and parameters uncertainties. Combining this characteristic with Backstepping method can simplifies the controller design. And the addition of the terminal attractor can make the arrival time shorten greatly. However, too large external disturbances and parameters uncertainties are still not allowed to the system, and the design process of ABSMC does not have the upper bound information of disturbance until a RBFNN observer is designed to solve the problems. The simulation results show that the proposed scheme can improve the tracking precision and reduce the chattering of the control input, and the system has a higher robustness.
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Song, Wenbin, Yanfei Dong, Guofeng He, and Zichun Zhou. "Fixed-Time Robust Fractional-Order Sliding Mode Control Strategy for Grid-Connected Inverters Based on Weighted Average Current." Energies 17, no. 18 (2024): 4577. http://dx.doi.org/10.3390/en17184577.
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To address the issues of high computational load and slow dynamic performance in traditional fractional-order sliding mode control for LCL-type grid-connected inverters, this paper proposes a fixed-time robust fractional-order sliding mode control strategy based on weighted average current control. Firstly, the weighted average current control (WACC) is used to reduce the third-order LCL filter to the first order, which simplifies the system model; secondly, in order to suppress the disturbance caused by the filter parameter perturbation to the weighted average current accuracy, a fixed-time disturbance observer (FTDO) is used to quickly estimate the disturbance caused by the filter parameter perturbation in a fixed time, so as to improve the anti-interference ability of the system; moreover, a fixed-time fractional-order sliding mode controller (FTFOSMC) is designed to achieve rapid tracking of the incoming reference current, and the stability of the proposed control strategy is confirmed by the strict Lyapunov method, which proves that the upper bound of the stability time is independent of the initial state of the system. Finally, simulation and experimental results show that the proposed method has better steady-state performance and a higher dynamic performance.
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Ifeanyi, Chinaeke-Ogbuka, Ajibo Augustine, Odo Kenneth, et al. "A robust high-speed sliding mode control of permanent magnet synchronous motor based on simplified hysteresis current comparison." International Journal of Power Electronics and Drive System (IJPEDS) 12, no. 1 (2021): 1–9. https://doi.org/10.11591/ijpeds.v12.i1.pp1-9.
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A robust high-speed sliding mode control (SMC) of three phase permanent magnet synchronous motor (PMSM) is presented. The SMC served for inner speed control while a simplified hysteresis current control (HCC) scheme was used in the outer current control to generate gating signals for the inverter switches. The present research leverages on the ability of SMC to directly access system speed error which it attempts driving to zero by cancelling modelling uncertainties and disturbances. Performance comparison was done for the SMC model and an existing model having classical PI controller. With the initial positive speed command of 200 rpm at 5 Nm constant loading, rotor speed with SMC neatly settled to the reference speed at 0.085 seconds without overshoot while the rotor speed of the model with PI controller settled at 0.217 seconds after overshoot. This translates to 155.3% speed enhancement. Similar superior speed performance of the SMC was also observed during recovering from sudden speed reversal. While the SMC model recovered and settled to the reference speed of -200 rpm at 0.369 seconds, the model with PI controller settled at 0.482 seconds. From the results, it can be seen that SMC demonstared superiority over the conventioanl PI controller for complex drives systems.
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Li, Tong, and Xudong Liu. "Model-Free Non-Cascade Integral Sliding Mode Control of Permanent Magnet Synchronous Motor Drive with a Fast Reaching Law." Symmetry 13, no. 9 (2021): 1680. http://dx.doi.org/10.3390/sym13091680.
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Electric vehicle has become the main trend of the development of automobile industry. As a highly symmetrical system, the characteristics of drive motor will have a great impact on the driving comfort. Aiming at the control regulation of permanent magnet synchronous motor (PMSM) drive, a model-free and non-cascade sliding mode control with a fast-reaching law is proposed in this paper. Firstly, the mathematical model of PMSM is constructed as an ultra-local model without considering any motor parameters. Then, to improve the response speed, an integral sliding mode method with a fast reaching law is proposed, and the fast convergence can be realized. The controller system adopts single loop non-cascade control, which greatly simplifies the system structure. In order to further improve the anti-disturbance performance of the system, the dual disturbance observers are used to compensate the disturbance through feed-forward control. The stability of the system is proved by Lyapunov. Finally, the experimental results show that the proposed method has faster convergence speed and stronger anti-disturbance ability.
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Chinaeke-Ogbuka, Ifeanyi, Augustine Ajibo, Kenneth Odo, et al. "A robust high-speed sliding mode control of permanent magnet synchronous motor based on simplified hysteresis current comparison." International Journal of Power Electronics and Drive Systems (IJPEDS) 12, no. 1 (2021): 1. http://dx.doi.org/10.11591/ijpeds.v12.i1.pp1-9.
Full textAbstract:
A robust high-speed sliding mode control (SMC) of three phase permanent magnet synchronous motor (PMSM) is presented. The SMC served for inner speed control while a simplified hysteresis current control (HCC) scheme was used in the outer current control to generate gating signals for the inverter switches. The present research leverages on the ability of SMC to directly access system speed error which it attempts driving to zero by cancelling modelling uncertainties and disturbances. Performance comparison was done for the SMC model and an existing model having classical PI controller. With the initial positive speed command of 200 rpm at 5 Nm constant loading, rotor speed with SMC neatly settled to the reference speed at 0.085 seconds without overshoot while the rotor speed of the model with PI controller settled at 0.217 seconds after overshoot. This translates to 155.3% speed enhancement. Similar superior speed performance of the SMC was also observed during recovering from sudden speed reversal. While the SMC model recovered and settled to the reference speed of -200 rpm at 0.369 seconds, the model with PI controller settled at 0.482 seconds. From the results, it can be seen that SMC demonstared superiority over the conventioanl PI controller for complex drives systems.
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Zou, Xinhong, Kai Yang, Zhengchang Zhang, et al. "Finite control set model-free predictive current control of permanent magnet synchronous motor." Journal of Physics: Conference Series 2728, no. 1 (2024): 012053. http://dx.doi.org/10.1088/1742-6596/2728/1/012053.
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Abstract This thesis proposes finite control set model-free predictive current control (FCSMFPCC) algorithm of permanent magnet synchronous motor (PMSM). To address issue of degraded performance during motor operation due to parameter mismatch, a model-free predictive current control arithmetic is devised, which utilizes ultra-local model (ULM) of PMSM. This proposition takes sum of known and sealed disturbances of the system as an unknown quantity, and uses sliding mode observer (SMO) to take stock of sealed quantity. To address the issue of operation delay in predictive control, a two-step method is used to make up for the system. When using price function to choose the first-rank voltage vector, vector selection optimization link is added, which effectively simplifies the algorithm while optimizing the inverter switching action. The simulation outcomes highlight the advantages of the described control algorithm in terms of better dynamic response performance and stronger robustness.
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Wang, Dong F., and Koji Kato. "Nano-Scale Fatigue Wear of Carbon Nitride Coatings: Part II—Wear Mechanisms." Journal of Tribology 125, no. 2 (2003): 437–44. http://dx.doi.org/10.1115/1.1537267.
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This is the second part of two companion papers, the first of which reported the empirical data on wear properties in carbon nitride coatings by a spherical diamond counter-face in repeated sliding contacts through in situ examination, with an emphasis on the effect of friction cycles and normal load. The second part will concentrate on wear mechanisms for the transition from “No observable wear particles” to “Wear particle generation.” The relationship between the critical number of friction cycles, Nc, and the representative plastic strain, Δεp, at asperity contact region was confirmed to follow the Manson-Coffin equation with two empirical constants, β and C. The observed generation of wear particles in carbon nitride coatings is therefore concluded to be a low cycle fatigue wear by surface flow and surface delamination in the ploughing mode. For further predicting lifespan, a simplified theoretical expression, combining the Manson-Coffin equation with the analytical solution of a proposed elastic perfectly-plastic indentation model, gives the relation between the critical number of friction cycles, Nc, and the coating thickness h, with respect to the contact pressure P, and the radius R of the asperity on the tip of the diamond pin.
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Echeikh, Hamdi, Hichem Kesraoui, Ramzi Trabelsi, Atif Iqbal, and Mohamed Faouzi Mimouni. "A novel DTC scheme for a sensorless five-phase IM drive under open-phase fault." COMPEL - The international journal for computation and mathematics in electrical and electronic engineering 38, no. 2 (2019): 829–44. http://dx.doi.org/10.1108/compel-01-2018-0036.
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Purpose This paper aims to deal with direct torque controller when the five-phase induction motor drive in faulty operation. Precisely, open-phase fault condition is contemplated. Also, the DTC is combined with a speed-adaptive variable-structure observer based on sliding mode observer. Design methodology/approach Two novel features are presented. First, the concept of the virtual voltage vector is presented, which eliminates low-frequency harmonic currents and simplifies analysis. Second, speed information is introduced into the selection of the inverter states. Findings Direct torque control (DTC) is largely used in traditional three-phase drives as a backup to rotor-stator flux-oriented methods. The classic DTC strategy was primarily designed on the base of hysteresis controllers to control two independent variables (speed, torque and flux). Due to the additional degrees of freedom offered by multiphase machine, extensive works have been extended on the ensemble five-phase drives in healthy operation. In addition, the ability to continue the operation in faulty conditions is considering one of the main advantages of multiphase machines. One can find in the literature different approaches treating this subject. The applicability of DTC after the appearing of a fault has not been enclosed in the literature. Originality/value Theoretical development is presented in details followed by simulation results using Matlab/Simulink to analyze the performance of the drive, comparing with the behavior during healthy situation.
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L., Khoshnevisan, R. Momeni H., and Ashraf-Modarres A. "Implementation of an Innovative Simplified Sliding Mode Observer-Based Robust Fault Detection in a Drum Boiler System." January 29, 2011. https://doi.org/10.5281/zenodo.1078743.
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One of the robust fault detection filter (RFDF) designing method is based on sliding-mode theory. The main purpose of our study is to introduce an innovative simplified reference residual model generator to formulate the RFDF as a sliding-mode observer without any manipulation package or transformation matrix, through which the generated residual signals can be evaluated. So the proposed design is more explicit and requires less design parameters in comparison with approaches requiring changing coordinates. To the best author's knowledge, this is the first time that the sliding mode technique is applied to detect actuator and sensor faults in a real boiler. The designing procedure is proposed in a drum boiler in Synvendska Kraft AB Plant in Malmo, Sweden as a multivariable and strongly coupled system. It is demonstrated that both sensor and actuator faults can robustly be detected. Also sensor faults can be diagnosed and isolated through this method.
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Zhou, Ziwei, Rong Guo, and Xiaoyue Liu. "A disturbance-compensation-based sliding mode control scheme on mode switching condition for hybrid electric vehicles considering nonlinear backlash and stiffness." Journal of Vibration and Control, May 13, 2022, 107754632210961. http://dx.doi.org/10.1177/10775463221096195.
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In this study, a coordinated control problem of power sources and actuators of a series-parallel hybrid electric vehicle on mode switching condition is addressed. There exist numerous nonlinear factors in the hybrid driveline system which induce system disturbance and will deteriorate the control performance on mode switching condition. However, coupled system nonlinearity is not taken into consideration for controller design on mode switching condition, which can lead to severe driveline oscillation and thus vehicle longitudinal jerk. For this reason, a disturbance observer and compensation method is introduced to resolve the control problem on mode switching condition. First, an analytic model of driveline torsional vibration considering disturbance brought by system nonlinearity is established and simplified for controller design. Based on the simplified model, a disturbance observer-sliding mode control strategy is proposed to suppress mode switching vibration. Numerical simulation is carried out to validate control performance of the DOB-SMC strategy. Simulation results demonstrate that DOB-SMC strategy has better ability to cancel the unwanted effects of disturbance brought by system nonlinearity compared with sliding mode control method, which can be regarded as an effective approach to attenuate vehicle longitudinal jerk and thus improve ride comfort on mode switching condition.
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Lhayani, Mouna, Ahmed abbou, Yassine El Houm, and Hassane Mahmoudi. "Adaptive nonsingular fast terminal sliding mode control based finite-time disturbance observer for a quadrotor system." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, January 27, 2025. https://doi.org/10.1177/09596518241300684.
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The present paper introduces an adaptive non-singular fast terminal sliding mode control (ANFTSMC) combined with a finite-time disturbance observer (FTDO), designed to address the trajectory tracking problem of a quadrotor system under the influence of external perturbations, model uncertainties, and mass variations. First, the nonlinear simplified dynamic model of the quadrotor is derived using the Newton-Euler approach. Then, an ANFTSMC method is employed to formulate control strategies for both the inner and outer loops of the quadrotor system. Backpropagation laws are used to tune the gains of the discontinuous reaching law. In addition, the paper integrates a finite-time disturbance observer with the proposed approach to estimate and counteract external disturbances. The closed-loop control stability is verified using Lyapunov theory. To assess the effectiveness of the suggested method, multiple flight tests are proposed using numerical simulations carried out in MATLAB/SIMULINK software. Simulation results are compared with an adaptive nonsingular fast terminal sliding mode controller (ANFTSMC). Numerical simulations demonstrate the superior performance of the suggested approach in terms of convergence time, tracking precision, and ability to reject external disturbances and uncertainties.
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Liang, Hongji, Junli Li, and Yuanyao Zhang. "Adaptive super-twisted sliding mode trajectory tracking control for quadrotor UAV with prescribed performance based on finite-time disturbance observer." Engineering Research Express, August 19, 2024. http://dx.doi.org/10.1088/2631-8695/ad70f3.
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Abstract This study proposes a finite-time disturbed observer-based prescriptive performance adaptive super twisted sliding mode trajectory tracking control scheme for quadrotor UAV, which fully considers the dynamic characteristics of the position and attitude loops. Based on the super-twisted sliding mode algorithm, adaptive control, finite-time theory, and prescribed performance control, this scheme aims to stabilize the tracking of a quadrotor UAV along a prescribed trajectory. This is achieved even when faced with challenges such as modeling uncertainty, external uncertainty, and complex interference environments. Firstly, the complexity of controller design is simplified by transforming the trajectory tracking problem into a command tracking problem for the position and attitude system loops. Secondly, the coupling between the channels and the disturbance effects are unified as the aggregate disturbance. To address the issue of the adverse impact of aggregate disturbance on system performance, a new finite-time disturbance observer is developed to estimate the overall disturbance. The observer can effectively eliminate the negative effects of the aggregate disturbance without considering the disturbed boundary conditions during the design process. This enhances the observer's adaptability in practical applications. Then, the disturbance estimation information and the adaptive super-twisted algorithm are used to construct the adaptive super-twisted sliding mode controllers for the position and attitude loops, respectively. Additionally, a prescribed performance control is designed to predefined the time for the position loop to effectively suppress the deleterious effects of interference. This ensures that the position system can quickly meet the prescribed tracking requirements. Finally, the stability of the designed trajectory tracking control system is demonstrated using the Lyapunov theorem. Numerical simulation results verify the effectiveness and superiority of the proposed controller.
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Zhang, Yong, Zengqiang Chen, Mingwei Sun, and Xinghui Zhang. "Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control." Nonlinear Analysis: Modelling and Control 24, no. 4 (2019). http://dx.doi.org/10.15388/na.2019.4.4.
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This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately.
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Liu, Suqi, and Weimin Xu. "Model-free robust adaptive control of overhead cranes with finite-time convergence based on time-delay control." Transactions of the Institute of Measurement and Control, October 11, 2022, 014233122211225. http://dx.doi.org/10.1177/01423312221122563.
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In this paper, a model-free robust adaptive control scheme with finite-time convergence based on time-delay control is proposed for anti-sway and positioning control of two-dimensional underactuated overhead cranes. First, the whole overhead cranes system is simplified to an ultra-local model for time delay estimation (TDE). TDE brings a direct and effective model-free property but also an estimation error. Second, a sliding mode disturbance observer is designed to estimate and compensate for the TDE error. Third, sliding mode control (SMC) is used to enhance the robustness of the controller. An adaptive integral sliding surface is then designed to accelerate the sliding surface convergence rate and shorten the convergence time. To further optimize the selection of parameters, the parameter estimation is integrated to enhance the performance of model-free control. In the final analysis of the simulation, data yield that the introduction of parameter estimation increases the control performance by more than 20% on average, and the above facts verify the effectiveness of the scheme. Finally, the stability of the closed-loop control system is analyzed by using Lyapunov stability theory, and the effectiveness and robustness of the control scheme are verified through computer simulation results.
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Yang, Junqi, Fanglai Zhu, Xingguo Tan, and Yunjian Wang. "Robust Full-Order and Reduced-Order Observers for a Class of Uncertain Switched Systems." Journal of Dynamic Systems, Measurement, and Control 138, no. 2 (2015). http://dx.doi.org/10.1115/1.4032067.
Full textAbstract:
This paper deals with the problem of robust state estimation for a class of switched linear systems with unknown inputs under average dwell time (ADT) switching, where the switching of the observers is synchronous with that of the estimated system. First, based on the feasibility of an optimization problem with linear matrix inequality (LMI) constraint, a robust sliding-mode switched observer is developed such that the asymptotic state reconstruction is guaranteed even if the switched system is with unknown inputs. Second, a reduced-order switched system which avoids the influence of unknown inputs is constructed by the technique of state transformation, and a reduced-order switched observer is proposed to estimate the continuous states of the original switched system. Next, the conditions under which a full-order switched observer exists also guarantee the existence of a reduced-order switched observer. The convergence of the state estimate is proved to be exponential by appropriate Lyapunov analysis. Finally, the simulation results confirm the predicted performance and applicability by a simplified three-tank system.
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Le, Thanh‐Lam, and Min‐Fu Hsieh. "A sliding mode‐based single‐loop control strategy for permanent magnet synchronous motor drives." IET Power Electronics, November 21, 2023. http://dx.doi.org/10.1049/pel2.12616.
Full textAbstract:
AbstractA simple control structure with high anti‐disturbance ability is proposed here for permanent magnet synchronous motor (PMSM) drives. The conventional cascade structure, with an outer speed loop and an inner current loop, is simplified and merged into one single‐loop controller. To enhance the dynamic performance and efficiency of the PMSM drives, an enhanced adaptive reaching law (EARL) is proposed for the single‐loop control strategy. In comparison with conventional reaching laws, the EARL can increase the convergence speed, adapt the gain to fit the system state, and reject the chattering phenomena of conventional sliding mode control. Moreover, an improved disturbance observer (DOBS) is developed to work with the main controller. The DOBS aims to enhance the estimation accuracy of real‐time unknown disturbances in the PMSM system, thereby further improving the disturbance rejection capability through feedforward compensation for the single‐loop control strategy. The EARL and DOBS thus enhance the robustness of the control strategy and ensure high dynamic performance at various motor operating conditions. The performance and efficiency of the proposed control are validated through simulations and experimental studies.
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Zaidi, Abdelaziz, Asma Charaabi, Oscar Barambones, and Nadia Zanzouri. "Robust Passivity-Based Control Scheme for 1.26 KW Proton Exchange Membrane Fuel Cell Under Temperature and Load Variations." Journal of Electrochemical Energy Conversion and Storage 18, no. 4 (2021). http://dx.doi.org/10.1115/1.4051331.
Full textAbstract:
Abstract The model-based system engineering (MBSE) is based on simplified mathematical models that reflect the dynamic behavior of the systems. These are most of the time nonlinear and need control schemes taking in consideration of exogenous perturbations. The main contribution of this article is the design of a robust passivity-based sliding mode control scheme for a 1.26 KW proton exchange membrane fuel cell (PEMFC). The uncertainties considered in this article are temperature and load variation. The fuel cell (FC) reference current is adapted in a linear transformation by introducing a temperature sensor. This information is present in most of commercial PEMFC and not used in the closed-loop system. Moreover, the proposed approach cancels the errors caused by the average approach modeling and the observer (the part, which replaces current sensor). Robustness against load variation is assured via a proportional integral compensation of the incremental value of load resistance. The performance of the controller and the effectiveness of our approach is shown through the simulation with matlab-simulink software.