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Journal articles on the topic 'Sliding mode control based on reaching law'

Author: Grafiati

Published: 3 June 2025

Last updated: 31 July 2025

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1

Padmalatha, Pournami, and Susy Thomas. "Discrete time reaching law based variable structure control for fast reaching with reduced chattering." IAES International Journal of Robotics and Automation (IJRA) 9, no. 1 (2020): 51–61. https://doi.org/10.11591/ijra.v9i1.pp51-61.

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In this paper, a variable structure control law is proposed for discrete time sliding mode control so as to reduce both reaching time and quasi sliding mode band reduction. This new law is composed of two different sliding variable dynamics; one to achieve fast reaching and the other to counter its effect on widening the quasi sliding mode band. This is accomplished by introducing a boundary layer around the sliding surface about which the transformation of the sliding variable dynamics takes place. This provides the flexibility to choose the initial dynamics

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2

Padmalatha, Pournami, and Susy Thomas. "Discrete time reaching law based variable structure control for fast reaching with reduced chattering." IAES International Journal of Robotics and Automation (IJRA) 9, no. 1 (2020): 51. http://dx.doi.org/10.11591/ijra.v9i1.pp51-61.

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In this paper, a variable structure control law is proposed for discrete time sliding mode control so as to reduce both reaching time and quasi sliding mode band reduction. This new law is composed of two different sliding variable dynamics; one to achieve fast reaching and the other to counter its effect on widening the quasi sliding mode band. This is accomplished<br />by introducing a boundary layer around the sliding surface about which the transformation of the sliding variable dynamics takes place. This provides the flexibility to choose the initial dynamics in such a way as to spe

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3

Sridhara, Somaguddu Ningappa, Kondapur Basavarajan Siddesh, Mungasavalli Katappa Sudharashan, Velur Ramareddy Sandeep, Tavane Basavarajappa Lavakumar, and Sutikno Tole. "Sliding mode control technique of step down converter using reaching law." International Journal of Applied Power Engineering 12, no. 01 (2023): 102~108. https://doi.org/10.11591/ijape.v12.i1.pp102-108.

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The robust reaching law based sliding mode control is used for chattering suppression, minimization of steady state error and reaching speed kept minimized. With fine tuning of parameters of robust reaching law, the sliding mode reaches the equilibrium point at the earliest. The stability of the proposed reaching law is analyzed. In one hand, they guarantee the system reach the sliding face rapidly and stay on it, in another way they decline the chattering effectively, even unmatched certainties and disturbances. Such that the system response can better realize the unification of rapidity. A p

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4

Xuan, Sheng Yi, Chuan Xue Song, and Guang Wei Meng. "ABS Sliding Mode Variable Structure Control Based on Index Reaching Law." Advanced Materials Research 915-916 (April 2014): 439–43. http://dx.doi.org/10.4028/www.scientific.net/amr.915-916.439.

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ABS(antilock brake system) is one of the most important active safety technology for modern vehicles which could enhance vehicle active safety. In this paper, an improved sliding mode control method based on reaching law has been proposed to solve the vibration problem in traditional sliding mode control. The ABS control strategy has been designed based on the sliding mode variable structure control. On this basis, the ABS single wheel depending on control strategy has been designed to ensure the braking stability. By hardware-in-loop simulation, the results demonstrate that ABS sliding mode v

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5

Xu, Yaru, Rong Liu, Jia Liu, and Jiancheng Zhang. "A novel constraint tracking control with sliding mode control for industrial robots." International Journal of Advanced Robotic Systems 18, no. 4 (2021): 172988142110297. http://dx.doi.org/10.1177/17298814211029778.

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As industrial robots are characterized by flexibility, load variation, and unknown interference, it is necessary to develop a control strategy with strong robustness and adaptability, fast convergence rate, and simple structure. Sliding mode control is a special method widely used to handle nonlinear robot control. However, the existing control law for sliding mode control has limitations in the chattering and convergence rate. The sliding mode manifold and reaching law are firstly discussed in this article. In the meanwhile, a proposed control law for sliding mode control combining linear sli

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6

Huang, Chong-Li, Tao Wang, Meng Li, and Yang Yu. "Sliding Mode Control of Servo Feed System Based on Fuzzy Reaching Law." Applied Sciences 13, no. 10 (2023): 6086. http://dx.doi.org/10.3390/app13106086.

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An adaptive sliding mode control method based on the fuzzy exponential convergence law is proposed to solve the jitter problem caused by the sliding mode control of the servo-feed system and to improve the tracking performance of the system. The design of fuzzy rules for adaptive adjustment of convergence law parameters in sliding mode control improves the convergence speed of the sliding mode function, eliminates unknown disturbances in the system, and weakens the chattering of the system. The proposed method is simulated and experimentally verified by a parallel mobile platform. The results

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7

Jiang, Changhong, Qiming Wang, Zonghao Li, Niaona Zhang, and Haitao Ding. "Nonsingular Terminal Sliding Mode Control of PMSM Based on Improved Exponential Reaching Law." Electronics 10, no. 15 (2021): 1776. http://dx.doi.org/10.3390/electronics10151776.

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When a permanent magnet synchronous motor runs at low speed, the inverter will output discontinuous current and generate torque ripple; when the motor is runs at high speed, a large amount of stator harmonic current generates, which affects its speed following ability and torque stability. To ensure the fast and smooth switching of a permanent magnet synchronous motor in the full speed domain, this paper proposes the nonsingular terminal sliding mode control of PMSM speed control based on the improved exponential reaching law. Firstly, the improved exponential reaching law is composed of the s

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8

Leśniewski, Piotr, and Andrzej Bartoszewicz. "Reaching Law Based Sliding Mode Control of Sampled Time Systems." Energies 14, no. 7 (2021): 1882. http://dx.doi.org/10.3390/en14071882.

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In this paper, discrete time reaching law-based sliding mode control of continuous time systems is considered. In sliding mode control methods, usually the assumption of bounded absolute values of disturbances is used. However in many cases, the rate of change of the disturbance is also bounded. In the presented approach, this knowledge is used to improve the control precision and reduce the undesirable chattering. Another advantage of the proposed method is that the disturbance does not have to satisfy the matching conditions. In the paper two new reaching laws are analyzed, one of them ensur

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9

Xiu, Chunbo, Jianguo Hou, Guowei Xu, and Yakun Zang. "Improved fast global sliding mode control based on the exponential reaching law." Advances in Mechanical Engineering 9, no. 2 (2017): 168781401668796. http://dx.doi.org/10.1177/1687814016687967.

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In order to improve the control performance of the global sliding mode control method, a fast global sliding mode control method is proposed to accelerate the response of the system by changing the exponential decay function in the sliding surface as an exponential bilateral decay function which can make the dynamic sliding mode surface evolve into the linear sliding mode surface in the finite time. The exponential reaching law is used to design the control law, and Lyapunov stability theory is used to prove the stability of the system. The control method proposed in this article can be applie

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10

Sun, Chungeng, Xiangxiang Dong, Mingjin Wang, and Jipeng Li. "Sliding Mode Control of Electro-Hydraulic Position Servo System Based on Adaptive Reaching Law." Applied Sciences 12, no. 14 (2022): 6897. http://dx.doi.org/10.3390/app12146897.

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For the problem of the system state variable taking a long time to reach the sliding mode surface and the chattering frequency being high in the sliding mode surface, a sliding mode control method based on the adaptive reaching law is proposed, the system state variable is introduced based on the subreaching law, and an improved variable-speed reaching law is added with reference to the characteristics of the hyperbolic tangent function. The sliding mode control method is divided into two stages, namely, the initial state to the critical value s = ±1 and the system state variable reaching the

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11

Wang, Hengqiang, Guangming Zhang, and Xiaojun Liu. "Speed Control for PMSM with Fast Variable-Speed Sliding Mode Control via High-Gain Disturbance Observer." Mathematics 12, no. 13 (2024): 2036. http://dx.doi.org/10.3390/math12132036.

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Since robustness only exists on the sliding mode/surface, sliding mode control is non-globally stable. Therefore, shortening the time to reach the sliding mode is an important method of improving sliding mode robustness. However, there is an inherent contradiction between rapidity and overshoot. Therefore, ensuring rapid convergence without overshoot is a worthwhile research problem. Consequently, this paper proposes a design for a fast variable speed reaching law (FVSRL) to improve the quality of sliding mode control. The constructed approach rate is based on a variable speed term, an exponen

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12

Wang, Dongwen, Dongheng Wang, Wei Zhou, and Libo Niu. "Research on PMSM Sliding-mode Vector Combined Speed Controller Based on Improved Exponential Reaching Law." Journal of Physics: Conference Series 2260, no. 1 (2022): 012024. http://dx.doi.org/10.1088/1742-6596/2260/1/012024.

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Abstract Sliding mode control has good robustness, but the traditional sliding mode has the problem of chattering. Aiming at the conflict between velocity and chattering in the approach stage of sliding mode control, a new reaching law is put forward. By improving the isokinetic approach term of the traditional exponential reaching law, the system’s requirements in different stages of sliding mode motion are met, and this contradiction has been effectively improved. At the same time, to better improve the control effect of permanent magnet synchronous motor (PMSM) speed regulation system, comb

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13

Sarif, Nira Mawangi, 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 (2020): 798–804. https://doi.org/10.11591/ijeecs.v20.i2.pp798-804.

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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

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14

Bartoszewicz, Andrzej, and Katarzyna Adamiak. "A Reference Trajectory Based Discrete Time Sliding Mode Control Strategy." International Journal of Applied Mathematics and Computer Science 29, no. 3 (2019): 517–25. http://dx.doi.org/10.2478/amcs-2019-0038.

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Abstract This study presents a new, reference trajectory based sliding mode control strategy for disturbed discrete time dynamical systems. The desired trajectory, which is generated externally according to an existing switching type reaching law, determines the properties of the emerging sliding motion of the system. It is proved that an appropriate choice of the trajectory generator parameters ensures the existence of the quasi-sliding motion of the system according to the definition by Gao et al. (1995) in spite of the influence of disturbances. Moreover, the paper shows that the applicatio

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15

Zhang, Yan, Ya-Jun Wang, and Jia-Qi Yu. "A Novel MPPT Algorithm for Photovoltaic Systems Based on Improved Sliding Mode Control." Electronics 11, no. 15 (2022): 2421. http://dx.doi.org/10.3390/electronics11152421.

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Due to the poor tracking performance and significant chattering of traditional sliding mode control in the maximum power point tracking (MPPT) algorithm, a novel MPPT algorithm based on sliding mode control for photovoltaic systems is proposed in this paper. The sliding mode control structure and new sliding mode surface of the multi-power reaching law are designed with the boost converter as the carrier of the photovoltaic system, and the sigmoid function is proposed to replace the symbolic function and saturation function in the power reaching law to improve the reaching rate and control qua

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16

Hu, Sheng Bin, and Min Xun Lu. "Backstepping Fuzzy Sliding Mode Control for a Three-Links Spatial Robot Based on Variable Rate Reaching Law." Applied Mechanics and Materials 105-107 (September 2011): 2213–16. http://dx.doi.org/10.4028/www.scientific.net/amm.105-107.2213.

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To achieve the tracing control of a three-links spatial robot, a backstepping fuzzy sliding mode controller based on variable rate reaching law is proposed in this paper. The sliding mode controller is designed by means of backstepping way. To reduce the adjustment time, a fuzzy controller is designed to adjust the slope of sliding mode surface. To diminish the chattering of traditional sliding mode control, the variable rate reaching law is proposed. The variable rate reaching law is composed of the distance from current point to sliding mode surface in phase plane. The simulation studies for

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17

Wei, Shouwei, and Xiaoyu Su. "Optimization of the New Index Reaching Law of the Active Suspension Sliding Mode Controller Based on the Cuckoo Search Algorithm." Complexity 2021 (October 26, 2021): 1–10. http://dx.doi.org/10.1155/2021/5585327.

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To facilitate the performance of the active suspension system, the optimization of a new reaching law of the active suspension sliding mode controller based on cuckoo algorithm is addressed in this paper. Firstly, a linear model of the active suspension system is built. Then, according to the features of the new exponential reaching law, an active sliding mode control scheme based on the new sliding mode reaching law is designed. Finally, the simulation results are separated into two stages to verify the suitability and superiority of the proposed control scenario.

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18

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 (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

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19

Liu, Zhiqiang, and Wenkai Chen. "Research on an Improved Sliding Mode Observer for Speed Estimation in Permanent Magnet Synchronous Motor." Processes 10, no. 6 (2022): 1182. http://dx.doi.org/10.3390/pr10061182.

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Aimed at the problems of system chattering and large observation errors in the sensorless control of a permanent magnet synchronous motor (PMSM) based on a traditional sliding mode observer (SMO), a combined reaching law algorithm based on the exponential reaching law and arcsine saturation function reaching law is proposed to improve the sliding mode observer. An appropriate positive real number is taken and compared with the product of controller gain and stator current observation error to judge the system position in sliding mode motion. In the early stage of sliding mode motion, the expon

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20

Zhang, Hao, Yulin Gong, and Jianhua Liu. "Formation Control of Multiple Mobile Robots Based on Fuzzy Adaptive Sliding Mode Control." Journal of Physics: Conference Series 2400, no. 1 (2022): 012036. http://dx.doi.org/10.1088/1742-6596/2400/1/012036.

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Abstract In order to solve the problems of slow convergence and chattering in formation control of multiple mobile robots, and to optimize the dynamic characteristics of formation system, a hybrid adaptive controller is proposed by analyzing the characteristics of different sliding mode reaching laws, which can accelerate the convergence speed and effectively suppress the chattering of the system. Firstly, the saturation function is introduced into the double power reaching law to form the saturation double power reaching law; Secondly, the hyperbolic tangent reaching law is used to improve th

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21

Hu, Sheng Bin, Wen Hua Lu, Zhi Yi Chen, Lei Lei, and Yi Xuan Zhang. "Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle Based on Variable Rate Reaching Law." Applied Mechanics and Materials 178-181 (May 2012): 2801–4. http://dx.doi.org/10.4028/www.scientific.net/amm.178-181.2801.

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A fuzzy sliding mode control scheme based on variable rate reaching law for attitude control of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a sliding mode controller is designed. To faster response speed, a fuzzy controller is designed to adaptively tune the slope of sliding mode surface. To reduce the chattering, the variable rate reaching law is proposed. The variable rate reaching law is composed of the distance from current point to sliding mode surface in phase plane. The simulation studies for attitude control of a flapping

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22

Li, Ji Chen, Feng Qi Gao, Guang Long Wang, Ming Wang, Wen Jie Zhu, and Qi Chang Li. "Nonsingular Terminal Sliding Mode Control Based on Novel Reaching Law for Nonlinear Uncertain System." Applied Mechanics and Materials 347-350 (August 2013): 302–6. http://dx.doi.org/10.4028/www.scientific.net/amm.347-350.302.

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Novel reaching law to nonsingular terminal sliding mode control for the control of the second order nonlinear uncertain system is introduced in this paper. The problems of singularity, chattering and slow convergence of the terminal sliding mode control, and verify the stability of the new controller is analyzed. Due to the premise of eliminating the singular value in the nonsingular terminal sliding mode control, the new reaching law based on the power reaching law enables the finite time convergence of the system equilibrium. By applying the new controller to the inverted pendulum system, th

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23

Xu, Feng, Na An, Jianlin Mao, and Shubo Yang. "A New Variable Exponential Power Reaching Law of Complementary Terminal Sliding Mode Control." Complexity 2020 (October 8, 2020): 1–11. http://dx.doi.org/10.1155/2020/8874813.

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In this article, a new nonlinear algorithm based on the sliding mode control is developed for the ball and plate control system to improve dynamic response and steady-state tracking accuracy of the control system. First, a new sliding mode reaching law is proposed, variable exponential power reaching law (VEPRL), which is expressed in two different forms including a nonlinear combination function term and a variable exponential power term, so that it can be adjusted adaptively according to the state of the system by the variable exponential power reaching term during the reaching process. The

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24

Yang, Mu, Jing Chen, Meng Zhang, and Siyilang You. "Simulation research on sliding mode PID control of Buck converters with improved approaching law." Journal of Physics: Conference Series 2369, no. 1 (2022): 012055. http://dx.doi.org/10.1088/1742-6596/2369/1/012055.

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To solve the problem that Buck converters under traditional control strategies will be affected by various disturbances, resulting in poor stability, a new sliding mode PID control strategy based on improved power exponential reaching law is proposed. The sliding mode PID control model of Buck converter is constructed by using the state space average method. On this basis, the traditional reaching law is improved, and the system equivalent control expression of the improved reaching law is obtained by calculation. Finally, according to the equivalent control expression, the control models are

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25

Ji, Peng, Chenglong Li, and Fengying Ma. "Sliding Mode Control of Manipulator Based on Improved Reaching Law and Sliding Surface." Mathematics 10, no. 11 (2022): 1935. http://dx.doi.org/10.3390/math10111935.

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Aiming at the problem of convergence speed and chattering in sliding mode variable structure control of manipulator, an improved exponential reaching law and nonlinear sliding surface are proposed, and the Lyapunov function is used to analyze its stability. According to the dynamic model of the 6-DOF UR5 manipulator and the proposed reaching law and sliding surface, the corresponding control scheme is designed. The control performance of the proposed control scheme is verified by tracking the end trajectory of the manipulator on the MATLAB and CoppeliaSim robot simulation platform. The experim

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26

Ma, Haifeng, and Yangmin Li. "Multi-Power Reaching Law Based Discrete-Time Sliding-Mode Control." IEEE Access 7 (2019): 49822–29. http://dx.doi.org/10.1109/access.2019.2904103.

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27

Bartoszewicz, Andrzej, and Piotr Leśniewski. "Reaching law-based sliding mode congestion control for communication networks." IET Control Theory & Applications 8, no. 17 (2014): 1914–20. http://dx.doi.org/10.1049/iet-cta.2014.0503.

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Qian, Junzhang, Ai Xiong, and Wenli Ma. "Extended State Observer-Based Sliding Mode Control with New Reaching Law for PMSM Speed Control." Mathematical Problems in Engineering 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/6058981.

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In order to improve the performance of external disturbance rejection of permanent magnet synchronous motor (PMSM) in speed control, sliding mode control with extended state observer is adopted in this paper. First, an exponential function-based sliding mode reaching law (ESMRL) is developed. The ESMRL can dynamically adapt to the variations of the controlled system, which decrease the reaching time in reaching stage and void chattering in sliding motion stage while maintaining high tracking accuracy of the servo system. Then, an extended state observer (ESO) is introduced to the controller to

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Zhu, Peikun, Yong Chen, and Meng Li. "Terminal sliding mode control of permanent magnet synchronous motor based on the reaching law." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 7 (2019): 849–59. http://dx.doi.org/10.1177/0959651819893170.

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Aiming at the parameter uncertainty and load torque disturbance of permanent magnet synchronous motor system, a terminal sliding mode control algorithm for permanent magnet synchronous motor based on the reaching law is proposed. First, a sliding mode control algorithm for sliding mode reaching law is proposed, which can dynamically adapt to the changes in system state. Second, a sliding mode disturbance observer is designed to estimate the lumped disturbance in real time and to compensate the controller for disturbance. On this basis, an online identification method based on disturbance obser

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Zhang, Dan-xu, Yang-wang Fang, Peng-fei Yang, You-li Wu, and Tong-xin Liu. "A New Control Method for Second-Order Multiple Models Control System Based on Global Sliding Mode." Mathematical Problems in Engineering 2018 (July 30, 2018): 1–8. http://dx.doi.org/10.1155/2018/5709162.

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This paper proposed a finite time convergence global sliding mode control scheme for the second-order multiple models control system. Firstly, the global sliding surface without reaching law for a single model control system is designed and the tracking error finite time convergence and global stability are proved. Secondly, we generalize the above scheme to the second-order multimodel control system and obtain the global sliding mode control law. Then, the convergent and stable performances of the closed-loop control system with multimodel controllers are proved. Finally, a simulation example

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31

Zhang, Chao, Liwei Zhang, Bo Peng, and He Zhao. "PMLSM Nonlinear Integral Sliding Mode Control Based on Gain Time- Varying Reaching Law." Recent Advances in Electrical & Electronic Engineering (Formerly Recent Patents on Electrical & Electronic Engineering) 13, no. 5 (2020): 743–50. http://dx.doi.org/10.2174/2352096512666191021114047.

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Background: The permanent magnet synchronous linear motor is a strongly coupled, nonlinear system. It has been applied in many fields, especially in the field of machining lathes and rail transportation. In order to ensure the permanent magnet synchronous linear motor has good dynamic performance and robustness, sliding mode control is gradually applied to the control system of permanent magnet synchronous linear motor. However, in the traditional sliding mode control, the convergence speed is slow, and the robust performance is poor when the sliding surface is not reached. Objective: The main

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Zhao, Yu-Xin, Tian Wu, and Yan Ma. "A Double Power Reaching Law of Sliding Mode Control Based on Neural Network." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/408272.

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For discrete system, the reaching law election and controller design are two crucial and important problems. In this paper, an improved double power reaching law of SMC and a controller combined with neural network have been investigated. Theory proves that this method can eliminate the chattering and increase the reaching rate. Furthermore, when there is a certain external interference, the regulating function of neural network can ensure strong robustness of the system. Simulation results show that compared with exponential reaching law, single power reaching law, and traditional double powe

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Ma, Shuhang, Jinghong Zhao, Yiyong Xiong, Hanming Wang, and Xing Yao. "Sliding-Mode Control of Linear Induction Motor Based on Exponential Reaching Law." Electronics 13, no. 12 (2024): 2352. http://dx.doi.org/10.3390/electronics13122352.

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As a strongly coupled, multivariable, high-order nonlinear, time-varying complex system, a linear induction motor is susceptible to outside disturbances and mismatched parameters. Because of its straightforward control mechanism and fixed PI value, the traditional PI regulator is frequently utilized in linear induction motor speed control systems. However, because of these limitations, it frequently falls short of meeting the high-performance control needs of the motor in complex operating conditions. In order to solve the contradiction between the sliding-mode motion reaching time and vibrati

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Zheng, Chenyang, Xin Qin, and Guochu Chen. "Sliding Mode Control of PMSM Control Based on Novel Exponential Reaching Law." Journal of Physics: Conference Series 2503, no. 1 (2023): 012085. http://dx.doi.org/10.1088/1742-6596/2503/1/012085.

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Abstract To overcome the issue that the commonly used linear PI controller is not strong in the nonlinear system and cannot be satisfied with the performance requirements of fast and stable speed modulation of PMSM, a new type of exponential convergence law is devised on the basis of the exponential approximation law of conventional sliding mode controller to accelerate the convergence of the Speed control system and improve the jitter problem of the system. Three models of rotational speed controllers built in Simulink are compared in cases of no-load start-up and sudden load addition, and th

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Ahn, Hyeongki, Mingyuan Hu, Yoonuh Chung, and Kwanho You. "Sliding-Mode Control for Flight Stability of Quadrotor Drone Using Adaptive Super-Twisting Reaching Law." Drones 7, no. 8 (2023): 522. http://dx.doi.org/10.3390/drones7080522.

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In this study, a sliding-mode controller is designed using an adaptive reaching law with a super-twisting algorithm. A dynamic model of a drone is designed with a quadrotor that has four motors and considers disturbances and model uncertainties. Given that the drone operates as an under-actuated system, its flight stability and maneuverability are influenced by the discontinuous signal produced by the reaching law of the sliding-mode control. Therefore, this study aims to improve the sliding-mode control and stability of drone flight using the proposed adaptive law, which is based on exponenti

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Wang, Meng, Jian Liu, Lijun Jiang, Kun Tan, and Yiyong Wang. "Position Sensorless Control of Permanent Magnet Synchronous Motor Based on Improved Model Reference Adaptive Systems." Energies 18, no. 10 (2025): 2531. https://doi.org/10.3390/en18102531.

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To address the issues of poor stability and susceptibility to external disturbances in traditional model reference adaptive systems (MRASs) for permanent magnet synchronous motors (PMSMs), this paper proposes a sliding mode control strategy based on an improved model reference adaptive observer. First, the dynamic equations of the PMSM are used as the reference model, while the stator current equations incorporating speed variables are constructed as the adjustable model. Subsequently, a novel adaptive law is designed using Popov’s hyperstability theory to enhance the estimation accuracy of ro

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Ningappa, Sridhara Somaguddu, Siddesh Kondapur Basavarajan, Sudharashan Mungasavalli Katappa, Sandeep Velur Ramareddy, Lavakumar Tavane Basavarajappa, and Tole Sutikno. "Sliding mode control technique of step down converter using reaching law." International Journal of Applied Power Engineering (IJAPE) 12, no. 1 (2023): 102. http://dx.doi.org/10.11591/ijape.v12.i1.pp102-108.

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<p>The robust reaching law based sliding mode control is used for chattering suppression, minimization of steady state error and reaching speed kept minimized. With fine tuning of parameters of robust reaching law, the sliding mode reaches the equilibrium point at the earliest. The stability of the proposed reaching law is analyzed. In one hand, they guarantee the system reach the sliding face rapidly and stay on it, in another way they decline the chattering effectively, even unmatched certainties and disturbances. Such that the system response can better realize the unification of rapi

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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

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Wang, Xiaoyuan, Yaopeng Zhang, and Peng Gao. "Design and Analysis of Second-Order Sliding Mode Controller for Active Magnetic Bearing." Energies 13, no. 22 (2020): 5965. http://dx.doi.org/10.3390/en13225965.

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An active magnetic bearing (AMB) is a kind of high-performance bearing that uses controllable electromagnetic force to levitate the rotor. Its control performance directly affects the operation characteristics of high-speed motors and other electromechanical products. The magnetic bearing control model is nonlinear and difficult to control. Sliding mode control algorithm can be used in the magnetic bearing control system, but the traditional sliding mode control has the problem of high-frequency chattering, which affects the operation stability of magnetic bearings. Based on the second-order s

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Zhao, Xi Jun, Wei Zhang, Hai Ou Liu, and Hui Yan Chen. "Analysis and Design of Automatic Steering Sliding Mode Control." Advanced Materials Research 179-180 (January 2011): 762–67. http://dx.doi.org/10.4028/www.scientific.net/amr.179-180.762.

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A kind of intelligent vehicle–road model based on look-ahead reference system is established. According to the state equation, a novel sliding mode variable structure control algorithm is proposed. The sliding function is defined using pole placement technology, while the trending motion is determined by exponential reaching law. Accordingly, the effect of poles and reaching law parameters to close loop control system is analyzed in depth in order to design a good performance automatic control system. Finally, the developed sliding mode controller is validated by simulation study. Simulation r

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Li, Shuai, Hai Wang, Henian Li, and Chunlai Yang. "PMSM sliding mode control based on novel reaching law and extended state observer." Advances in Mechanical Engineering 14, no. 8 (2022): 168781322211199. http://dx.doi.org/10.1177/16878132221119960.

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To improve the dynamic quality and control performance of the permanent magnet synchronous motor speed control system, a novel sliding mode control method with improved reaching law for PMSM was proposed, which has a shorter reaching time and small system chattering. An extended state observer (ESO) based on the hyperbolic tangent function for the sliding mode controller is designed to realize the real-time tracking of the mechanical angular velocity and load disturbance of the motor, which can weaken the influence of the internal parameter perturbation and external load disturbance. The perfo

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Sun, Hui, Jinming Li, Rui Wang, and Kaixin Yang. "Attitude Control of the Quadrotor UAV with Mismatched Disturbances Based on the Fractional-Order Sliding Mode and Backstepping Control Subject to Actuator Faults." Fractal and Fractional 7, no. 3 (2023): 227. http://dx.doi.org/10.3390/fractalfract7030227.

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Considering mismatched disturbances, aerodynamic interference, chattering, and actuator failure in the attitude control of the quadrotor unmanned aerial vehicle (UAV), this paper establishes a new quadrotor UAV model with mismatched disturbances, based on quaternion, and designs a fault tolerant controller. First, in order to reduce the chattering of the traditional reaching law, a new reaching law based on the sigmoid function is introduced into the design. Second, the sliding mode control and backstepping control methods are adopted, based on the new fractional-order sliding mode surface whe

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Zheng, Chuanxi, and Yuandong Gu. "Non-singular terminal extended sliding mode control of permanent magnet synchronous motor based on variable exponential reaching law." Journal of Physics: Conference Series 2365, no. 1 (2022): 012035. http://dx.doi.org/10.1088/1742-6596/2365/1/012035.

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Abstract A non-singular terminal extended sliding mode control method based on variable exponential reaching law is presented because the permanent magnet synchronous motor speed control system is subject to parameter disturbance, external disturbance, and end effect. In order to accomplish global rapid convergence and get rid of singularity, a non-singular terminal extended sliding mode surface is first created. After the system reaches the sliding mode surface, a new extended state variable is constructed in accordance with the first-order angular velocity model, and a new better exponential

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Xia, Yan, Wei Xie, and Jiachen Ma. "Research on trajectory tracking control of manipulator based on modified terminal sliding mode with double power reaching law." International Journal of Advanced Robotic Systems 16, no. 3 (2019): 172988141984789. http://dx.doi.org/10.1177/1729881419847899.

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This article proposes a control strategy that combines the double power reaching law with the modified terminal sliding mode for tracking tasks of rigid robotic manipulators quickly and accurately. As a significant novelty, double power reaching law can reach the sliding surface in finite time when the system is in any initial state. At the same time, modified terminal sliding surface guarantees the system that position and velocity error converge to be zero approximately. In other words, the control law is able to make the system slip to the equilibrium point in a finite time and improves the

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Gao, Yu, Chu Zhou, Bin Zhou, and Shao Cheng Qu. "A Buck Converter Design Based on Sliding Mode Control Strategy." Applied Mechanics and Materials 401-403 (September 2013): 2033–36. http://dx.doi.org/10.4028/www.scientific.net/amm.401-403.2033.

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A sliding mode controller for buck converter based on PWM technology is discussed.Firstly, the schematic diagram of buck converter circuit based on a slidingmode control strategy is designed. Then a sliding mode control approach basedon reaching law is constructed. A circuit model based on MULTISIM is proposed.Finally, the simulation result show that the proposed method can effectively improvethe system dynamic characteristics.

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Wang, Tao, Shenhui Chen, Xin Li, Jihui Zhang, and Jinghao Ma. "Direct Power Control of Vienna Rectifier Based on Fractional Order Sliding Mode Control." World Electric Vehicle Journal 15, no. 12 (2024): 543. http://dx.doi.org/10.3390/wevj15120543.

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Taking a Vienna rectifier as the research object, the power mathematical model based on a switching function is established according to its working principle. A sliding mode variable structure control algorithm based on the reaching law is examined in order to address the issues of the slow response speed and inadequate anti-interference of classical PI control in the face of abrupt changes in the DC-side load. In response to the sluggish convergence rate and inadequate chattering suppression of classical integer order sliding mode control, a fractional order exponential reaching law sliding

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Park, Seungyun, Jaepil Ban, and Suyoung Doh. "Hybrid Reaching Law of Sliding Mode Position-Sensorless Speed Control for Switched Reluctance Motors." Electronics 14, no. 3 (2025): 577. https://doi.org/10.3390/electronics14030577.

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This study presents a method to reduce the chattering phenomenon and the reaching time of sliding mode speed control for switched reluctance motors (SRMs). In order to simultaneously reduce the chattering phenomenon and reaching time, we propose a hybrid reaching law (HRL) for sliding mode controller (SMC). Furthermore, to address the absence of a position sensor, a sliding mode observer (SMO) is integrated into the proposed HRL-based SMC, enabling accurate estimation of rotor angle and angular speed. Comprehensive simulation results are conducted to verify the effectiveness of the proposed me

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He, Jing, Lin Mi, Songan Mao, Changfan Zhang, and Houguang Chu. "Fault-Tolerant Control of a Nonlinear System Actuator Fault Based on Sliding Mode Control." Journal of Control Science and Engineering 2017 (2017): 1–13. http://dx.doi.org/10.1155/2017/8595960.

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This paper presents a fault-tolerant control scheme for a class of nonlinear systems with actuator faults and unknown input disturbances. First, the sliding mode control law is designed based on the reaching law method. Then, in view of unpredictable state variables and unknown information in the control law, the original system is transformed into two subsystems through a coordinate transformation. One subsystem only has actuator faults, and the other subsystem has both actuator faults and disturbances. A sliding mode observer is designed for the two subsystems, respectively, and the equivale

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Ding, Li, and Shu Bo Qiu. "The Research Based on Fuzzy Sliding Mode Control for Linear Double Inverted Pendulum." Advanced Materials Research 926-930 (May 2014): 1463–67. http://dx.doi.org/10.4028/www.scientific.net/amr.926-930.1463.

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This paper involves a linear double inverted pendulum system whose the state space model is established by Lagrange function. In order to solve the chattering problem of the conventional quasi-sliding mode variable structure control, this linear double inverted pendulum system applies the fuzzy control theory to adjust the parameterwhich is in the sliding mode variable structure control law. Then the fuzzy theory is utilized to design the sliding mode and deduce the fuzzy sliding mode reaching law. The significance of this method is that it diffuses the control signal, reduces or avoids the ch

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Li, Shuai, Henian Li, Hai Wang, Chunlai Yang, Jingsong Gui, and Ronghua Fu. "Sliding Mode Active Disturbance Rejection Control of Permanent Magnet Synchronous Motor Based on Improved Genetic Algorithm." Actuators 12, no. 5 (2023): 209. http://dx.doi.org/10.3390/act12050209.

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Sliding mode control has been widely used to control permanent magnet synchronous motors (PMSM). However, the parameters of the sliding mode controller are difficult to be tuned, which makes the control performance of PMSM hard to be improved. A nonlinear sliding mode control method that integrated a nonlinear reaching law (NRLSMC) and extended state observer (ESO) is proposed in this paper, whose parameters are tuned by an improved genetic algorithm (IGA). The control performance of the nonlinear reaching law in the nonlinear sliding mode controller is analyzed, whose stability is verified ba

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