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Journal articles on the topic 'Sliding mode control. Linear control systems. Nonlinear systems'

Author: Grafiati

Published: 4 June 2021

Last updated: 6 February 2022

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Xue, Yan-Mei, Bo-Chao Zheng, and Dan Ye. "Quantized Feedback Control Design of Nonlinear Large-Scale Systems via Decentralized Adaptive Integral Sliding Mode Control." Mathematical Problems in Engineering 2015 (2015): 1–12. http://dx.doi.org/10.1155/2015/718924.

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A novel decentralized adaptive integral sliding mode control law is proposed for a class of nonlinear uncertain large-scale systems subject to quantization mismatch between quantizer sensitivity parameters. Firstly, by applying linear matrix inequality techniques, integral-type sliding surface functions are derived for ensuring the stability of the whole sliding mode dynamics and obtaining the prescribed boundedL2gain performance. Secondly, the decentralized adaptive sliding mode control law is developed to ensure the reachability of the sliding manifolds in the presence of quantization mismatch, interconnected model uncertainties, and external disturbances. Finally, an example is shown to verify the validity of theoretical results.

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Zhang, Jie, Ming Lyu, Hamid Reza Karimi, and Yuming Bo. "Fault Detection of Networked Control Systems Based on Sliding Mode Observer." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/506217.

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This paper is concerned with the network-based fault detection problem for a class of nonlinear discrete-time networked control systems with multiple communication delays and bounded disturbances. First, a sliding mode based nonlinear discrete observer is proposed. Then the sufficient conditions of sliding motion asymptotical stability are derived by means of the linear matrix inequality (LMI) approach on a designed surface. Then a discrete-time sliding-mode fault observer is designed that is capable of guaranteeing the discrete-time sliding-mode reaching condition of the specified sliding surface. Finally, an illustrative example is provided to show the usefulness and effectiveness of the proposed design method.

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Du, Chunyan, and Guansheng Xing. "Control of Nonlinear Distributed Parameter Systems Based on Global Approximation." Journal of Applied Mathematics 2014 (2014): 1–6. http://dx.doi.org/10.1155/2014/845370.

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We extend an iterative approximation method to nonlinear, distributed parameter systems given by partial differential and functional equations. The nonlinear system is approached by a sequence of linear time-varying systems, which globally converges in the limit to the original nonlinear systems considered. This allows many linear control techniques to be applied to nonlinear systems. Here we design a sliding mode controller for a nonlinear wave equation to demonstrate the effectiveness of this method.

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Ding, Runze, and Lingfei Xiao. "Quadratic Integral Sliding Mode Control for Nonlinear Harmonic Gear Drive Systems with Mismatched Uncertainties." Mathematical Problems in Engineering 2018 (July 22, 2018): 1–18. http://dx.doi.org/10.1155/2018/2372305.

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For a class of nonlinear harmonic gear drive systems with mismatched uncertainties, a novel robust control method is presented on the basis of quadratic integral sliding mode surface, and the closed-loop system has satisfying performance and strong robustness against mismatched uncertainties and nonlinear disturbances. Considering time-varying nonlinear torques and parameters variations which are caused by nonlinear frictions and backlash, a nonlinear harmonic gear drive system mathematic model is established and the effect of nonlinear parts is compensated during control system design. It is proven that the quadratic integral sliding mode surface can be reached in finite time and the closed-loop system is asymptotic stable robustly. The simulation studies are carried out in comparison with traditional linear sliding mode control and integral sliding mode control, verifying the effectiveness of the proposed method.

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Saad, Wajdi, Anis Sellami, and Germain Garcia. "Robust stabilization of one-sided Lipschitz nonlinear systems via adaptive sliding mode control." Journal of Vibration and Control 26, no. 7-8 (2019): 399–412. http://dx.doi.org/10.1177/1077546319889413.

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In this paper, the problem of adaptive sliding mode control for varied one-sided Lipschitz nonlinear systems with uncertainties is investigated. In contrast to existing sliding mode control design methods, the considered models, in the current study, are affected by nonlinear control inputs, one-sided Lipschitz nonlinearities, unknown disturbances and parameter uncertainties. At first, to design the sliding surface, a specific switching function is defined. The corresponding nonlinear equivalent control is extracted and the resulting sliding mode dynamic is given. Novel synthesis conditions of asymptotic stability are derived in terms of linear matrix inequalities. Thereafter, to ensure the reachability of system states and the occurrence of the sliding mode, the sliding mode controller is designed. Any knowledge of the upper bound on the perturbation is not required and an adaptation law is proposed. At last, two illustrative examples are introduced.

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DO, PHU XUAN, and HUNG QUOC NGUYEN. "Robustness control for nonlinear systems based on homogeneous prescribed sliding mode control." Science & Technology Development Journal - Engineering and Technology 4, no. 2 (2021): 1019–35. http://dx.doi.org/10.32508/stdjet.v4i2.805.

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This paper presents a new homogeneous control using dual sliding mode control, and robustness control using linear matrix inequality (LMI) constraints. The controller is applied for the severe disturbance. A sliding surface function, which relates to an exponential function and itself t-norm, is applied to save the energy consumption of the control system. The constraints related LMI are proposed with the matrices and vectors of the systems following the chosen matrices in control the energy for control. Solution of the constraints is also presented with new approach to save the time of calculation. In addition, the proof for the proposed controller is also presented by using the candidate Lyapunov function. In the input control function, the t-norm type is embedded to improve its performance in control disturbance. Besides of the t-norm, the modified sliding surface in the input control is also improve the energy for controlling. The combination of these robustness control elements would bring a new view for the design of control. The advantages of the controller are demonstrated via computer simulation for a seat suspension system. A magneto-rheological fluid seat suspension with its random disturbances is used. To prove the flexibility of the controller, the proposed approach is compared with an existing controller. The compared control has the same structure as shown in the proposed model. However, its design has a disadvantage in control the severe disturbance. The comparison between two controls is a clear view of distinct improvement. The results of simulations show that the controller provides better performance and stability of the system. The stability is also analyzed through the variation of the input control and power spectral density related energy consumption.

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Azelhak, Younes, Loubna Benaaouinate, Hicham Medromi, Youssef Errami, Tarik Bouragba, and Damien Voyer. "Exhaustive Comparison between Linear and Nonlinear Approaches for Grid-Side Control of Wind Energy Conversion Systems." Energies 14, no. 13 (2021): 4049. http://dx.doi.org/10.3390/en14134049.

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In this paper, we propose a comparative study of linear and nonlinear algorithms designed for grid-side control of the power flow in a wind energy conversion system. We performed several simulations and experiments with step and variable power scenarios for different values of the DC-link capacity with the DC storage element being the key element of the grid-side converter. The linear control was designed on the basis of the internal model control theory where an active damping was added to avoid steady state errors. Nonlinear controls were built using first and second order sliding mode controls with theoretical considerations to ensure accuracy and stability. We observed that the first order sliding mode control was the most efficient algorithm for controlling the DC-link voltage but that the chattering degraded the quality of the energy injected into the grid as well as the efficiency of the grid-side converter. The linear control caused overshoots on the DC-link voltage; however, this algorithm had better performance on the grid side due to its smoother control. Finally, the second order sliding mode control did not prove to be more robust than the other two algorithms. This can be explained by the fact that this control is theoretically more sensitive to converter losses.

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Ren, Qi Feng, Cun Che Gao, and Shu Hui Bi. "Sliding Mode Control Based on Novel Nonlinear Sliding Surface for a Class of Time-Varying Delay Systems." Applied Mechanics and Materials 615 (August 2014): 375–81. http://dx.doi.org/10.4028/www.scientific.net/amm.615.375.

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The sliding mode control (SMC) design is discussed for a class of time-varying delay systems which is delay-range-dependent and rate-range-dependent. A novel time-varying nonlinear sliding surface is employed. The choice of nonlinear sliding surface is to change the state matrix of sliding mode system, which can combine the advantages of different conventional linear sliding surfaces. Thus the better transient qualities of system states, i.e., quicker response and smaller overshoot, can be achieved. The sufficient conditions ensuring the asymptotic stability of sliding mode are derived in terms of linear matrix inequalities. The algorithms deciding unknown parameters of the nonlinear sliding surface and the corresponding sliding mode controller are also presented. Finally, A numerical example is given to illustrate the effectiveness of the result here.

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Zhao, Zhan Shan, Lian Kun Sun, and Jing Zhang. "Sliding Mode Control for a Class of Unmatched Uncertain Linear System." Advanced Materials Research 422 (December 2011): 846–49. http://dx.doi.org/10.4028/www.scientific.net/amr.422.846.

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A novel method of designing nonlinear robust sliding mode controller is presented to a class of nonlinear unmatched uncertain systems based on integral sliding mode and self-tuning law. Firstly, the unmatched is will not be amplified by the discontinuous control. Then the controller based on integral sliding mode is constructed to ensure the robustness. The stability of proposed procedure is proven by using the Lyapunov theory and guarantees robustness against uncertainties. The upper bounds of uncertainties are not required to be known in advance. Finally, simulation studies demonstrate that the proposed controller is robust with respect to the perturbation.

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Zhu, Yue, and Sihong Zhu. "Adaptive Sliding Mode Control Based on Uncertainty and Disturbance Estimator." Mathematical Problems in Engineering 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/982101.

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This paper presents an original adaptive sliding mode control strategy for a class of nonlinear systems on the basis of uncertainty and disturbance estimator. The nonlinear systems can be with parametric uncertainties as well as unmatched uncertainties and external disturbances. The novel adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, discontinuous sign function does not exist in the proposed adaptive sliding mode controller, and it is not replaced by saturation function or similar approximation functions as well. Therefore, chattering is avoided in essence, and the chattering avoidance is not at the cost of reducing the robustness of the closed-loop systems. Secondly, the uncertainties do not need to satisfy matching condition and the bounds of uncertainties are not required to be unknown. Thirdly, it is proved that the closed-loop systems have robustness to parameter uncertainties as well as unmatched model uncertainties and external disturbances. The robust stability is analyzed from a second-order linear time invariant system to a nonlinear system gradually. Simulation on a pendulum system with motor dynamics verifies the effectiveness of the proposed method.

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Pang, Haiping, and Xiuqin Yang. "Robust Optimal Sliding-Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems." Journal of Applied Mathematics 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/863168.

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This paper addresses the problem of tracking a reference trajectory asymptotically given by a linear time-varying exosystem for a class of uncertain nonlinear MIMO systems based on the robust optimal sliding-mode control. The nonlinear MIMO system is transformed into a linear one by the input-output linearization technique, and at the same time the input-output decoupling is realized. Thus, the tracking error equation is established in a linear form, and the original nonlinear tracking problem is transformed into an optimal linear quadratic regulator (LQR) tracking problem. A LQR tracking controller (LQRTC) is designed for the corresponding nominal system, and the integral sliding-mode strategy is used to robustify the LQRTC. As a result, the original system exhibits global robustness to the uncertainties, and the tracking dynamics is the same as that of LQRTC for the nominal system. So a robust optimal sliding-mode tracking controller (ROSMTC) is realized. The proposed controller is applied to a two-link robot system, and simulation results show its effectiveness and superiority.

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Kim, Wonhee, Chang Mook Kang, Young Seop Son, and Chung Choo Chung. "Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances." Complexity 2019 (February 7, 2019): 1–13. http://dx.doi.org/10.1155/2019/7941302.

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A nonlinear backstepping control is proposed for the coupled normal form of nonlinear systems. The proposed method is designed by combining the sliding-mode control and backstepping control with a disturbance observer (DOB). The key idea behind the proposed method is that the linear terms of state variables of the second subsystem are lumped into the virtual input in the first subsystem. A DOB is developed to estimate the external disturbances. Auxiliary state variables are used to avoid amplification of the measurement noise in the DOB. For output tracking and unmatched disturbance cancellation in the first subsystem, the desired virtual input is derived via the backstepping procedure. The actual input in the second subsystem is developed to guarantee the convergence of the virtual input to the desired virtual input by using a sliding-mode control. The stability of the closed-loop is verified by using the input-to-state stable (ISS) property. The performance of the proposed method is validated via numerical simulations and an application to a vehicle system based on CarSim platform.

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Ebrahimi, Nahid, Sadjaad Ozgoli, and Amin Ramezani. "Model-free sliding mode control, theory and application." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 10 (2018): 1292–301. http://dx.doi.org/10.1177/0959651818780597.

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In this article, a novel data-driven sliding mode controller for a single-input single-output nonlinear system is designed from a new perspective. The proposed controller is model-free, that is, it is based on just input and output data. Therefore, it is suitable for systems with unknown models. The approach to design the controller is based on an optimization procedure. First, a linear regression estimation is assumed to exist for the system behavior. Then an optimal controller is designed for this estimated model. The cost function is proposed in a way that minimization of it, could guarantee that the sliding function and its first derivative converge to zero. Based on rigorous theoretical analysis, boundedness of the tracking error is then proved. Uncertainty is then considered and the control law is modified to cope with it. To demonstrate the validity and the performance of the proposed method in different situations, different computer simulations and experimental tests have been provided. Results show the effectiveness of the proposed method for different systems in different situations.

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Cao, Lei, Shouli Gao, and Dongya Zhao. "Data-driven model-free sliding mode learning control for a class of discrete-time nonlinear systems." Transactions of the Institute of Measurement and Control 42, no. 13 (2020): 2533–47. http://dx.doi.org/10.1177/0142331220921022.

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This paper proposes a data-driven model-free sliding mode learning control (MFSMLC) for a class of discrete-time nonlinear systems. In this scheme, the control design does not depend on the mathematical model of the controlled system. The nonlinear system can be transformed into a dynamic linear data system by a novel dynamic linearization method. A recursive learning control algorithm is designed for the nonlinear system that can drive the sliding variable reach and remain on the sliding surface only by using output and input data. Moreover, the chattering is reduced because there is no non-smooth term in MFSMLC. After the strict stability analysis, the effectiveness of MFSMLC is validated by MATLAB simulations.

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IHEDRANE, Yasmine, Chakib El Bekkali, Madiha El Ghamrasni, Sara Mensou, and Badre Bossoufi. "Improved wind system using non-linear power control." Indonesian Journal of Electrical Engineering and Computer Science 14, no. 3 (2019): 1148. http://dx.doi.org/10.11591/ijeecs.v14.i3.pp1148-1158.

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<p>This article, present a new contribution to the control of wind energy systems, a robust nonlinear control of active and reactive power with the use of the Backstepping and Sliding Mode Control approach based on a doubly fed Induction Generator power (DFIG-Generator) in order to reduce the response time of the wind system. In the first step, a control strategy of the MPPT for the extraction of the maximum power of the turbine generator is presented. Subsequently, the Backstepping control technique followed by the sliding mode applied to the wind systems will be presented. These two types of control system rely on the stability of the system using the LYAPUNOV technique. Simulation results show performance in terms of set point tracking, stability and robustness versus wind speed variation. </p>

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Yang, Guowei, Yonggui Kao, and Wei Li. "Sliding Mode Control for Markovian Switching Singular Systems with Time-Varying Delays and Nonlinear Perturbations." Discrete Dynamics in Nature and Society 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/507828.

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This paper is devoted to investigating sliding mode control (SMC) for Markovian switching singular systems with time-varying delays and nonlinear perturbations. The sliding mode controller is designed to guarantee that the nonlinear singular system is stochastically admissible and its trajectory can reach the sliding surface in finite time. By using Lyapunov functional method, some criteria on stochastically admissible are established in the form of linear matrix inequalities (LMIs). A numerical example is presented to illustrate the effectiveness and efficiency of the obtained results.

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Chen, Liping, Ranchao Wu, Yigang He, and Yi Chai. "Adaptive sliding-mode control for fractional-order uncertain linear systems with nonlinear disturbances." Nonlinear Dynamics 80, no. 1-2 (2014): 51–58. http://dx.doi.org/10.1007/s11071-014-1850-y.

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Shiri, Reza, Saeed Rafee Nekoo, Moharam Habibnejad Korayem, and Shahab Kazemi. "Finite-time nonsingular terminal sliding mode control: A time setting approach." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, no. 10 (2019): 1392–412. http://dx.doi.org/10.1177/0959651819844339.

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This article proposes a combination of linear and nonlinear sliding surfaces to design a new structure for terminal sliding mode control, capable of accepting a definite final time as an input data. The structures of both single-input-single-output and multi-input-multi-output systems are expressed. The controller operates in two modes: first, reaching the states to linear sliding surface, defining control parameters and rise time; second, switching to nonlinear sliding surface and defining a convergence time. Sum of rise time and convergence time, both of which as inputs, sets the final time. The control gains are adaptively tuned and parameter uncertainty in dynamics is considered in the design. The proposed method is implemented theoretically and experimentally on Scout robot in point-to-point motion and trajectory tracking. The results are compared to conventional terminal sliding mode control and finite-time state-dependent Riccati equation to assess the improvement.

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Haus, Benedikt, Paolo Mercorelli, and Harald Aschemann. "Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators." Information 10, no. 5 (2019): 182. http://dx.doi.org/10.3390/info10050182.

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In this contribution, a gain adaptation for sliding mode control (SMC) is proposed that uses both linear model predictive control (LMPC) and an estimator-based disturbance compensation. Its application is demonstrated with an electromagnetic actuator. The SMC is based on a second-order model of the electric actuator, a direct current (DC) drive, where the current dynamics and the dynamics of the motor angular velocity are addressed. The error dynamics of the SMC are stabilized by a moving horizon MPC and a Kalman filter (KF) that estimates a lumped disturbance variable. In the application under consideration, this lumped disturbance variable accounts for nonlinear friction as well as model uncertainty. Simulation results point out the benefits regarding a reduction of chattering and a high control accuracy.

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Ben Brahim, Ali, Slim Dhahri, Fayçal Ben Hmida, and Anis Sellami. "Multiplicative Fault Estimation-Based Adaptive Sliding Mode Fault-Tolerant Control Design for Nonlinear Systems." Complexity 2018 (June 26, 2018): 1–15. http://dx.doi.org/10.1155/2018/1462594.

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This article deals with the sliding mode fault-tolerant control (FTC) problem for a nonlinear system described under Takagi-Sugeno (T-S) fuzzy representation. In particular, the nonlinear system is corrupted with multiplicative actuator faults, process faults, and uncertainties. We start by constructing the separated FTC design to ensure robust stability of the closed-loop nonlinear system. First, we propose to conceive an adaptive observer in order to estimate nonlinear system states, as well as robust multiplicative fault estimation. The novelty of the proposed approach is that the observer gains are obtained by solving the multiobjective linear matrix inequality (LMI) optimization problem. Second, an adaptive sliding mode controller is suggested to offer a solution to stabilize the closed-loop system despite the occurrence of real fault effects. Compared with the separated FTC, this paper provides an integrated sliding mode FTC in order to achieve an optimal robustness interaction between observer and controller models. Thus, in a single-step LMI formulation, sufficient conditions are developed with multiobjective optimization performances to guarantee the stability of the closed-loop system. At last, nonlinear simulation results are given to illustrate the effectiveness of the proposed FTC to treat multiplicative faults.

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Kim, C., and P. I. Ro. "A sliding mode controller for vehicle active suspension systems with non-linearities." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 212, no. 2 (1998): 79–92. http://dx.doi.org/10.1243/0954407981525812.

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In this paper, the control of an active suspension system using a quarter car model has been investigated. Due to the presence of non-linearities such as a hardening spring, a quadratic damping force and the ‘tyre lift-off’ phenomenon in a real suspension system, it is very difficult to achieve desired performance using linear control techniques. To ensure robustness for a wide range of operating conditions, a sliding mode controller has been designed and compared with an existing nonlinear adaptive control scheme in the literature. The sliding mode scheme utilizes a variant of a sky-hook damper system as a reference model which does not require real-time measurement of road input. The robustness of the scheme is investigated through computer simulation, and the efficacy of the scheme is shown both in time and frequency domains. In particular, when the vertical load to the sprung mass is changed, the sliding mode control resumes normal operation faster than the nonlinear self-tuning control and the passive system by factors of 3 and 6, respectively, and suspension deflection is kept to a minimum. Other results showed advantages of the sliding mode control scheme in a quarter car system with realistic non-linearities.

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Zhou, Qing Kun, Sheng Jian Bai, and Zhi Yong Zhang. "Design of Variable Structure Control with Bounded Inputs." Applied Mechanics and Materials 29-32 (August 2010): 1175–80. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.1175.

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The design of variable structure system inputs which are constrained by saturation is studied. For a LTI system which satisfies some conditions, it is shown that appropriate bounded controllers guarantee the system’s global stability and maximize the sliding mode domain on the switching surfaces. Stability conditions of variable structure systems with constrained inputs are relaxed, and the stability of the closed-loop system is guaranteed by using passivity theory of linear passive systems. Moreover, nonlinear sliding surfaces are discussed for variable structure controller design, and a novel nonlinear switching surface is proposed. Finally, the proposed methods are applied to a 2nd order LTI system to show their usefulness.

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Šabanović, Asif, Karel Jezernik, and Kenzo Wada. "Chattering-free sliding modes in robotic manipulators control." Robotica 14, no. 1 (1996): 17–29. http://dx.doi.org/10.1017/s0263574700018907.

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SummaryIn this paper sliding mode motion design is considered for nonlinear plants which are linear with respect to control input. The dynamics of the robotic manipulators is treated with and without those of the actuators. When the dynamics of the actuators is included a design of the sliding modes for the systems with discontinuous control is performed. If actuators' dynamics is negelected the control is assumed to be continuous quantity. By combining the variable structure systems and Lyapunov designs a new algorithm is developed which has all the good properties of the sliding mode systems while avoiding unnecessary discontinuity of the control thus eliminating chattering. Neither the explicit calculation of the equivalent control, nor high gain inside the boundary layer are used. The parameters of the control depend on the plant's gain matrix, and the gradients of the sliding mode manifold. This control method is then applied to develop a unified control strategy for the motion control systems including the path tracking control, the impedance control and the force control of a robotic manipulator. It is shown that all these tasks can be formulated in the same mathematical form in which selected so-called sliding mode functions must track their references. In this way the systems state is forced to remain on the selected manifold in the state space after reaching it. The solution is interpreted in both the Joint space and the Work space for n -degrees of freedom robotic manipulators.

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Loubar, Hocine, Razika Zamoum Boushaki, Ayoub Aouati, and Mahdi Bouanzoul. "Sliding Mode Controller for Linear and Nonlinear Trajectory Tracking of a Quadrotor." International Review of Automatic Control (IREACO) 13, no. 3 (2020): 128. http://dx.doi.org/10.15866/ireaco.v13i3.18522.

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Sarvi, M., I. Soltani, N. NamazyPour, and N. Rabbani. "A New Sliding Mode Controller for DC/DC Converters in Photovoltaic Systems." Journal of Energy 2013 (2013): 1–7. http://dx.doi.org/10.1155/2013/871025.

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DC/DC converters are widely used in many industrial and electrical systems. As DC/DC converters are nonlinear and time-variant systems, the application of linear control techniques for the control of these converters is not suitable. In this paper, a new sliding mode controller is proposed as the indirect control method and compared to a simple direct control method in order to control a buck converter in photovoltaic applications. The solar arrays are dependent power sources with nonlinear voltage-current characteristics under different environmental conditions (insolation and temperature). From this point of view, the DC/DC converter is particularly suitable for the application of the sliding mode control in photovoltaic application, because of its controllable states. Simulations are performed in Matlab/Simulink software. The simulation results are presented for a step change in reference voltage and input voltage as well as step load variations. The simulations results of proposed method are compared with the conventional PID controller. The results show the good performance of the proposed sliding mode controller. The proposed method can be used for the other DC/DC converter.

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

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

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Chih-Lyang Hwang. "Fuzzy linear pulse-transfer function-based sliding-mode control for nonlinear discrete-time systems." IEEE Transactions on Fuzzy Systems 10, no. 2 (2002): 187–97. http://dx.doi.org/10.1109/91.995120.

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Liu, Shuang, and Qingyun Wang. "Outer synchronization of general colored networks with different-dimensional node via sliding mode control." International Journal of Modern Physics B 32, no. 31 (2018): 1850342. http://dx.doi.org/10.1142/s0217979218503423.

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In this paper, a separated sliding mode strategy is proposed for the synchronization of network systems. To break the predicament caused by the inhomogeneity of nodes coupling in complex network, a colored network with different node systems and edges is given. According to the nonlinear subsystem of the colored complex networks, a separated sliding mode controller is designed, while for the linear subsystem, some appropriate system parameters are established to implement synchronization. Then, based on the Lyapunov stability theory, the performance of the sliding mode controller is appraised through the synchronization for the colored networks consisting of different-dimensional systems and nonidentical interactions. In the end, two simulation illustrations are employed to demonstrate the presented control method.

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Lu, Hua Cai, Ming Jiang, Qi Gong Chen, Li Sheng Wei, and Wen Gen Gao. "Sliding Mode Control of PMLSM for High Speeding Gringding Machine." Advanced Materials Research 462 (February 2012): 701–6. http://dx.doi.org/10.4028/www.scientific.net/amr.462.701.

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Permanent magnet linear synchronous motors (PMLSM) offer several advantages over their rotary counterparts in many precision manufacturing applications requiring linear motion, which can achieve a much higher speed and a higher position accuracy. However, linear motors are more sensitive to disturbance and parameter variations. Furthermore, the linear motor systems are subject to significant nonlinear effects due to friction and force ripple. A sliding mode controller with an adaptive disturbance observer is processed to achieve high accuracy in the presence of external disturbance and parameter uncertainty. The position control for the gringding machine of a PMLSM feed drive using the proposed control strategies is illustrated. Simulation results show that the proposed controllers provide high-performance dynamic characteristics and are robust with regard to external load disturbance.

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Hou, Yi-You, and Zhang-Lin Wan. "Robust Stability for Nonlinear Systems with Time-Varying Delay and Uncertainties via theH∞Quasi-Sliding Mode Control." International Journal of Antennas and Propagation 2014 (2014): 1–7. http://dx.doi.org/10.1155/2014/897179.

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This paper considers the problem of the robust stability for the nonlinear system with time-varying delay and parameters uncertainties. Based on theH∞theorem, Lyapunov-Krasovskii theory, and linear matrix inequality (LMI) optimization technique, theH∞quasi-sliding mode controller and switching function are developed such that the nonlinear system is asymptotically stable in the quasi-sliding mode and satisfies the disturbance attenuation (H∞-norm performance). The effectiveness and accuracy of the proposed methods are shown in numerical simulations.

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Zhang, Xuefeng, and Wenkai Huang. "Adaptive Neural Network Sliding Mode Control for Nonlinear Singular Fractional Order Systems with Mismatched Uncertainties." Fractal and Fractional 4, no. 4 (2020): 50. http://dx.doi.org/10.3390/fractalfract4040050.

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This paper focuses on the sliding mode control (SMC) problem for a class of uncertain singular fractional order systems (SFOSs). The uncertainties occur in both state and derivative matrices. A radial basis function (RBF) neural network strategy was utilized to estimate the nonlinear terms of SFOSs. Firstly, by expanding the dimension of the SFOS, a novel sliding surface was constructed. A necessary and sufficient condition was given to ensure the admissibility of the SFOS while the system state moves on the sliding surface. The obtained results are linear matrix inequalities (LMIs), which are more general than the existing research. Then, the adaptive control law based on the RBF neural network was organized to guarantee that the SFOS reaches the sliding surface in a finite time. Finally, a simulation example is proposed to verify the validity of the designed procedures.

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Khan, Qudrat, Aamer Iqbal Bhatti, and Antonella Ferrara. "Dynamic Sliding Mode Control Design Based on an Integral Manifold for Nonlinear Uncertain Systems." Journal of Nonlinear Dynamics 2014 (January 2, 2014): 1–10. http://dx.doi.org/10.1155/2014/489364.

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An output feedback sliding mode control law design relying on an integral manifold is proposed in this work. The considered class of nonlinear systems is assumed to be affected by both matched and unmatched uncertainties. The use of the integral sliding manifold allows one to subdivide the control design procedure into two steps. First a linear control component is designed by pole placement and then a discontinuous control component is added so as to cope with the uncertainty presence. In conventional sliding mode the control variable suffers from high frequency oscillations due to the discontinuous control component. However, in the present proposal, the designed control law is applied to the actual system after passing through a chain of integrators. As a consequence, the control input actually fed into the system is continuous, which is a positive feature in terms of chattering attenuation. By applying the proposed controller, the system output is regulated to zero even in the presence of the uncertainties. In the paper, the proposed control law is theoretically analyzed and its performances are demonstrated in simulation.

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Ramezani, Sepehr, and Keivan Baghestan. "Observer-based nonlinear precise control of pneumatic servo systems." Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering 233, no. 2 (2018): 165–76. http://dx.doi.org/10.1177/0954408918756906.

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Pneumatic systems are used in a wide range of industrial robotic and automation systems due to their interesting properties. However, air compressibility, friction, and the other nonlinear characteristics of a servo pneumatic system are difficulties, which contribute to use modern controllers. Conventional linear controllers face steady-state error and uncertainty. Nonlinear modeling with model-based control is a good choice to deal with this problem. In this paper, behavior equation of flow and pressure, friction, and other nonlinear factors are studied. Afterward to reach precise position tracking and low steady error, sliding mode control is proposed. In this way, measurement of pressures and other states of system is required. To reduce the cost of using pressure sensor, observation of pressure with nonlinear high gain observer is suggested. It was seen that the new proposed approach solved the observability problem of servo pneumatic systems. Pressure signal of each sides of cylinder are observed simultaneously by measurement of piston position. Finally, stability of designed controller is studied in the presence of observed states. Experimental results validate the advantage of using designed controller-observer instead of conventional proportional–integral–derivative controller with different input signals in the presence of high friction actuator.

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Mahgoun, M. S., and A. E. Badoud. "New design and comparative study via two techniques for wind energy conversion system." Electrical Engineering & Electromechanics, no. 3 (June 23, 2021): 18–24. http://dx.doi.org/10.20998/2074-272x.2021.3.03.

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Introduction. With the advancements in the variable speed direct drive design and control of wind energy systems, the efficiency and energy capture of these systems is also increasing. As such, numerous linear controllers have also been developed, in literature, for MPPT which use the linear characteristics of the wind turbine system. The major limitation in all of those linear controllers is that they use the linearized model and they cannot deal with the nonlinear dynamics of a system. However, real systems exhibit nonlinear dynamics and a nonlinear controller is required to handle such nonlinearities in real-world systems. The novelty of the proposed work consists in the development of a robust nonlinear controller to ensure maximum power point tracking by handling nonlinearities of a system and making it robust against changing environmental conditions. Purpose. In the beginning, sliding mode control has been considered as one of the most powerful control techniques, this is due to the simplicity of its implementation and robustness compared to uncertainties of the system and external disturbances. Unfortunately, this type of controller suffers from a major disadvantage, that is, the phenomenon of chattering. Methods. So in this paper and in order to eliminate this phenomenon, a novel non-linear control algorithm based on a synergetic controller is proposed. The objective of this control is to maximize the power extraction of a variable speed wind energy conversion system compared to sliding mode control by eliminating the phenomenon of chattering and have a good power quality by fixing the power coefficient at its maximum value and the Tip Speed Ratio maintained at its optimum value. Results. The performance of the proposed nonlinear controllers has been validated in MATLAB/Simulink environment. The simulation results show the effectiveness of the proposed scheme, suppression of the chattering phenomenon and robustness of the proposed controller compared to the sliding mode control law.

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Roohi, Majid, Mohammad-Hassan Khooban, Zahra Esfahani, Mohammad Pourmahmood Aghababa, and Tomislav Dragicevic. "A switching sliding mode control technique for chaos suppression of fractional-order complex systems." Transactions of the Institute of Measurement and Control 41, no. 10 (2019): 2932–46. http://dx.doi.org/10.1177/0142331219834606.

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Switching sliding mode control (SSMC) can be utilized as a robust control technique, which is appropriate for the control of highly non-linear power systems like chaotic systems. The present study proposes a switching sliding mode control technique for control and chaos suppression of non-autonomous fractional-order (FO) nonlinear power systems with uncertainties and external disturbances. In the first step, a novel fractional switching sliding surface is introduced as well as its stability analysis to the origin is demonstrated. In the second step, based on the fractional version of the Lyapunov stability theory, a robust non-singular control law is designed to ensure the convergence of the system trajectories to the proposed sliding surface. Next, the proposed SSMC approach is utilized for designing a single input switching control technique for the stabilization of a class of 3D FO chaotic power systems. In order to evaluate the effectiveness and robustness of the suggested approach in practice, two examples including control and the stabilization of FO chaotic electric motors are illustrated.

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Schmidt, Lasse, Torben O. Andersen, Henrik C. Pedersen, and Michael M. Bech. "Sliding Control with Chattering Elimination for Hydraulic Drives." Applied Mechanics and Materials 233 (November 2012): 168–71. http://dx.doi.org/10.4028/www.scientific.net/amm.233.168.

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This paper presents the development of a sliding mode control scheme with chattering elimination, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives. The proposed control scheme requires only common data sheet information, no knowledge on load characteristics, and employs piston- and valve spool positions- and load- and supply pressure feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems. In order to accomplish this task, an integral sliding mode controller is developed for the control derivative based on a reduced order model. Simulation results demonstrate strong robustness when subjected to parameter perturbations and that chattering is eliminated.

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Ozcan, Sinan, Metin U. Salamci, and Volkan Nalbantoglu. "Multiloop state-dependent nonlinear time-varying sliding mode control of unmanned small-scale helicopter." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 234, no. 3 (2019): 585–606. http://dx.doi.org/10.1177/0954410019872116.

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Time delays, parameter uncertainties, and disturbances are the fundamental problems that hinder the stability and reduce dramatically the tracking performance of dynamical systems. In this paper, a new state-dependent nonlinear time-varying sliding mode control autopilot structure is proposed to cope with these dynamical and environmental complexities for an unmanned helicopter. The presented technique is based on freezing the nonlinear system equations on each time step and designing a controller using the frozen system model at this time step. The proposed method offers an improved performance in the presence of major disturbances and parameter uncertainties by adapting itself to possible dynamical varieties without a need of trimming the system on different operating conditions. Unlike the existing linear cascade autopilot structure, this study also proposes a nonlinear cascade state-dependent coefficient helicopter autopilot structure consisting of four separate nonlinear sub-systems. The proposed method is tested through the real time and PC-based simulations. To show the performance of the proposed robust method, it is also bench-marked against a linear sliding control control in PC-based simulations.

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Zhang, Dong, Lin Cao, and Shuo Tang. "Fractional-order sliding mode control for a class of uncertain nonlinear systems based on LQR." International Journal of Advanced Robotic Systems 14, no. 2 (2017): 172988141769429. http://dx.doi.org/10.1177/1729881417694290.

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This article presents a new fractional-order sliding mode control (FOSMC) strategy based on a linear-quadratic regulator (LQR) for a class of uncertain nonlinear systems. First, input/output feedback linearization is used to linearize the nonlinear system and decouple tracking error dynamics. Second, LQR is designed to ensure that the tracking error dynamics converges to the equilibrium point as soon as possible. Based on LQR, a novel fractional-order sliding surface is introduced. Subsequently, the FOSMC is designed to reject system uncertainties and reduce the magnitude of control chattering. Then, the global stability of the closed-loop control system is analytically proved using Lyapunov stability theory. Finally, a typical single-input single-output system and a typical multi-input multi-output system are simulated to illustrate the effectiveness and advantages of the proposed control strategy. The results of the simulation indicate that the proposed control strategy exhibits excellent performance and robustness with system uncertainties. Compared to conventional integer-order sliding mode control, the high-frequency chattering of the control input is drastically depressed.

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Zhang, Yu Lin. "Sliding Mode Control for Magneto-Rheological Vehicle Suspension Accounting for its Nonlinearity." Applied Mechanics and Materials 433-435 (October 2013): 1072–77. http://dx.doi.org/10.4028/www.scientific.net/amm.433-435.1072.

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The non-linear characteristics of magneto-rheological (MR) suspension systems have limited control performance of modern control theory based on linear feedback control. In this paper, a four DOF half car suspension model with two nonlinear MR dampers is adopted. In order to account for the nonlinearity, a sliding mode controller, which has inherent robustness against system nonlinearity, is formulated to improve comfort and road holding of the car under industrial specifications and it is fit to semi-active suspensions. The numerical result shows that the semi-active suspension using the sliding mode controller can achieve better ride comfort than the passive and also improve stability.

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Lu, Yingtao, Cao Tan, Wenqing Ge, Bo Li, and Jiayu Lu. "Improved Sliding Mode-Active Disturbance Rejection Control of Electromagnetic Linear Actuator for Direct-Drive System." Actuators 10, no. 7 (2021): 138. http://dx.doi.org/10.3390/act10070138.

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The electromagnetic linear actuator is used as the core drive unit to achieve high precision and high response in the direct-drive actuation system. In order to improve the response performance and control accuracy of the linear drive unit, an improved sliding mode-active disturbance rejection control (ISM-ADRC) method was proposed. A motor model was established based on improved LuGre dynamic friction. The position loop adopts the improved integral traditional sliding mode control based on an extended state observer, and the current loop adopts PI control. The stability of the system is verified based on the Lyapunov theory. A nonlinear dilated state observer is used to effectively observe the electromagnetic linear actuator position and velocity information while estimating and compensating the internal and external uncertainty perturbations. At the same time, the saturation function sat(s) is used to replace the sign(s) and introduce the power function of the displacement error variable. The improved integral sliding mode control law further improves the response speed and control accuracy of the controller while reducing the jitter inherent in the conventional sliding mode. Simulation and experimental data show that the proposed improved sliding mode-active disturbance rejection control reduces the 8-mm step response time of the electromagnetic linear actuator by 21.9% and the steady-state error by less than 0.01 mm compared with the conventional sliding-mode control, while the system has 49.4% less adjustment time for abrupt load changes and is more robust to different loads and noise.

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Hung, Meei-Ling, and Her-Terng Yau. "Circuit Implementation and Synchronization Control of Chaotic Horizontal Platform Systems by Wireless Sensors." Mathematical Problems in Engineering 2013 (2013): 1–6. http://dx.doi.org/10.1155/2013/903584.

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Horizontal platform system (HPS) produces a nonlinear behavior from precision machinery systems. This mechanical system is implemented mainly in offshore areas or earthquake engineering. However, elucidating or controlling this non-linear behavior of mechanical systems is extremely difficult and time consuming. Therefore, in addition to developing an electronic circuit to implement HPS, this work designs a sliding mode control (SMC) for synchronizing the state trajectories of two horizontal platform systems, subsequently allowing us to easily understand the HPS, perform more detailed analysis, and achieve further control. Experimental results demonstrate the feasibility of implementing the HPS by the proposed electronic circuit system. Comparing the proposed electronic circuitry designs and the HPS of computer simulation reveals that the results of the non-linear dynamic behavior correlate well with each other. Finally, based on use of the control technology, master-slave chaos synchronization with sliding mode control is achieved by wireless sensors.

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CHEN, CHENG-WU, KEN YEH, and KEVIN FONG-REY LIU. "ADAPTIVE FUZZY SLIDING MODE CONTROL FOR SEISMICALLY EXCITED BRIDGES WITH LEAD RUBBER BEARING ISOLATION." International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems 17, no. 05 (2009): 705–27. http://dx.doi.org/10.1142/s0218488509006224.

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This study examines the feasibility of applying adaptive fuzzy sliding mode control (AFSMC) strategies to reduce the dynamic responses of bridges constructed using a lead rubber bearing (LRB) isolation hybrid protective system. Recently developed control devices for civil engineering structures, including hybrid systems and semi-active systems, have been found to have inherent nonlinear properties. It is thus necessary to develop non-linear control methods to deal with such properties. Generally, controller fuzziness increases the robustness of the control system to counter uncertain system parameters and input excitation, and the non-linearity of the control rule increases the effectiveness of the controller relative to linear controllers. Adaptive fuzzy sliding mode control (AFSMC) is a combination of sliding mode control (SMC) and fuzzy control. The performance and robustness of these proposed control methods are all verified by numerical simulation. The results demonstrate the viability of the presented methods. The attractive control strategy derived there-from is applied to seismically excited bridges using LRB isolation.

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Lei, Jing, Xin Wang, Yu-Mei She, and Tian-Jun Zhang. "Variable Structure Disturbance Rejection Control for Nonlinear Uncertain Systems with State and Control Delays via Optimal Sliding Mode Surface Approach." Abstract and Applied Analysis 2013 (2013): 1–16. http://dx.doi.org/10.1155/2013/141058.

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The paper considers the problem of variable structure control for nonlinear systems with uncertainty and time delays under persistent disturbance by using the optimal sliding mode surface approach. Through functional transformation, the original time-delay system is transformed into a delay-free one. The approximating sequence method is applied to solve the nonlinear optimal sliding mode surface problem which is reduced to a linear two-point boundary value problem of approximating sequences. The optimal sliding mode surface is obtained from the convergent solutions by solving a Riccati equation, a Sylvester equation, and the state and adjoint vector differential equations of approximating sequences. Then, the variable structure disturbance rejection control is presented by adopting an exponential trending law, where the state and control memory terms are designed to compensate the state and control delays, a feedforward control term is designed to reject the disturbance, and an adjoint compensator is designed to compensate the effects generated by the nonlinearity and the uncertainty. Furthermore, an observer is constructed to make the feedforward term physically realizable, and thus the dynamical observer-based dynamical variable structure disturbance rejection control law is produced. Finally, simulations are demonstrated to verify the effectiveness of the presented controller and the simplicity of the proposed approach.

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Cheng, Ning Bo, Li Wen Guan, Li Ping Wang, and Jian Han. "Chattering Reduction of Sliding Mode Control by Adopting Nonlinear Saturation Function." Advanced Materials Research 143-144 (October 2010): 53–61. http://dx.doi.org/10.4028/www.scientific.net/amr.143-144.53.

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This paper proposes a simple method dealing with chattering phenomenon of sliding mode control. Instead of using a linear function to smooth the discontinuous control when the system is within the boundary layer, the controller adopts a smooth nonlinear function which we call a nonlinear saturation function (nsat function). Compared with the conventional linear saturation function (sat function), the nsat function can be constructed arbitrarily and shall satisfy eight conditions. Seven of the conditions are used to get a better effect in reducing chattering and one is used to keep a fast response performance by adjusting one constant parameter . As the nsat function can be specified by , it can be calculated in advance; this makes the nsat function of high computation efficiency and makes it acceptable in real time control systems. One candidate nsat function is constructed by adopting a hyperbolic tangent function and it is adopted in the simulations running on a second order system. Simulation results show that the nsat function also results in a smaller tracking error.

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Wang, Rongrong, Yangchun Wei, and Ronghu Chi. "Enhanced data-driven optimal iterative learning control for nonlinear non-affine discrete-time systems with iterative sliding-mode surface." Transactions of the Institute of Measurement and Control 42, no. 11 (2020): 1923–34. http://dx.doi.org/10.1177/0142331219900593.

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In this work, an enhanced data-driven optimal iterative learning control (eDDOILC) is proposed for nonlinear nonaffine systems where a new iterative sliding mode surface (ISMS) is designed to replace the traditional tracking error in the controller design and analysis. It is the first time to extend the sliding mode surface to the iteration domain for systems operate repetitively over a finite time interval. By virtual of the new designed ISMS, the control design becomes more flexible where both the time and the iteration dynamics can be taken into account. Before proceeding to the controller design, an iterative dynamic linear data model is built between two consecutive iterations to formulate the linear input-output data relationship of the repetitive nonlinear nonaffine discrete-time system. The linear data model is virtual and does not have any physical meanings, which is very different to the traditional mechanism mathematical model. In the sequel, the eDDOILC is proposed by designing an objective function with respect to the proposed two-dimensional ISMS. Rigorous proof is provided to show the convergence of the proposed eDDOILC method. Furthermore, the results have been extended to a multiple-input multiple-output (MIMO) nonaffine nonlinear discrete-time repetitive system. In general, the proposed eDDOILC is data-driven where no explicit model information is included. It is illustrated that the presented eDDOILC is effective when applied to the nonlinear nonaffine uncertain systems.

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Ding, Liang, Haibo Gao, Kerui Xia, Zhen Liu, Jianguo Tao, and Yiqun Liu. "Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints." Journal of Applied Mathematics 2012 (2012): 1–24. http://dx.doi.org/10.1155/2012/414315.

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The hybrid joints of manipulators can be switched to either active (actuated) or passive (underactuated) mode as needed. Consider the property of hybrid joints, the system switches stochastically between active and passive systems, and the dynamics of the jump system cannot stay on each trajectory errors region of subsystems forever; therefore, it is difficult to determine whether the closed-loop system is stochastically stable. In this paper, we consider stochastic stability and sliding mode control for mobile manipulators using stochastic jumps switching joints. Adaptive parameter techniques are adopted to cope with the effect of Markovian switching and nonlinear dynamics uncertainty and follow the desired trajectory for wheeled mobile manipulators. The resulting closed-loop system is bounded in probability and the effect due to the external disturbance on the tracking errors can be attenuated to any preassigned level. It has been shown that the adaptive control problem for the Markovian jump nonlinear systems is solvable if a set of coupled linear matrix inequalities (LMIs) have solutions. Finally, a numerical example is given to show the potential of the proposed techniques.

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Qin, Wu, Wen-Bin Shangguan, and Kegang Zhao. "A research of sliding mode control method with disturbance observer combining skyhook model for active suspension systems." Journal of Vibration and Control 26, no. 11-12 (2019): 952–64. http://dx.doi.org/10.1177/1077546319890747.

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Based on a nonlinear two-degree-of-freedom model of active suspension systems, an approach of the sliding mode control with disturbance observer combining skyhook model sliding mode control with disturbance observer combining is proposed for improving the performance of active suspension systems, and the effectiveness of the proposed approach is validated by the active suspension system plant. Two problems of active suspension systems are solved by using the proposed approach when the tire is excited by the step displacement. One problem is that the suspension deflection of active suspension systems, i.e. the difference between the sprung mass displacement and the unsprung mass displacement, using conventional sliding mode control with disturbance observer not converges to zero in finite time, and the phenomenon of the impact of suspension against the limit block is produced. This problem is solved by providing a reference value of the sprung mass displacement in an active suspension system, which is obtained from the skyhook model. The other problem is that disturbances exist in active suspension systems, which are caused by the inaccurate parameters of stiffness and damping. This problem is solved by designing a disturbance observer to estimate the summation of the disturbances. Finally, the performance indexes of the active suspension system with the sliding mode control with disturbance observer combining skyhook model are calculated and compared with those of using the conventional sliding mode control with disturbance observer and the linear quadratic regulator approach.

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Cen, Hua, and Bhupesh Kumar Singh. "Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure." Wireless Communications and Mobile Computing 2021 (June 17, 2021): 1–9. http://dx.doi.org/10.1155/2021/2974839.

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Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

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Dinh, To Xuan, and Kyoung Kwan Ahn. "Adaptive-gain fast nonsingular terminal sliding mode for position control of a piezo positioning stage." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 8 (2018): 994–1014. http://dx.doi.org/10.1177/0959651818771810.

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This article proposed a variable gain fast terminal sliding mode controller with an estimator of the uncertainty model for a piezo positioning stage system. The designed terminal sliding mode control has some advantages over the linear sliding mode control such as fast convergence and chattering reduction while maintains its robustness to the uncertainties. Next, an indirect technique is developed to enable the elimination of the singularity problem corresponding to initial terminal sliding mode control. In addition, a cerebellar model articulation controller is carried out to estimate the nonlinear dynamics of the piezo positioning stage. To deal with unknown bounds of uncertainties and disturbances, the proposed scheme consists of using online tuning control gains that ensure the establishment of a real terminal sliding mode in a finite time. Moreover, a fuzzy logic scheme is presented to smooth out the discontinuity part of the control signal, hence improve the control performance. Stability analysis of closed loop system is provided using the Lyapunov function method. Experiment results are presented to evaluate the effectiveness of the designed control approach.

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Ben Brahim, Ali, Slim Dhahri, Fayçal Ben Hmida, and Anis Sellami. "Adaptive sliding mode fault tolerant control design for uncertain nonlinear systems with multiplicative faults: Takagi–Sugeno fuzzy approach." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 2 (2019): 147–59. http://dx.doi.org/10.1177/0959651819857385.

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The present article deals with adaptive sliding mode fault tolerant control design for uncertain nonlinear systems, affected by multiplicative faults, that is described under Takagi–Sugeno fuzzy representation. First, we propose to conceive robust adaptive observer in order to achieve states and multiplicative faults estimation in the presence of nonlinear system uncertainties. Under the nonlinear Lipschitz condition, the observer gains are attained by solving the multi-objective optimization problem. Second, sliding mode controller is suggested to offer a solution of the closed-loop system stability even the occurrence of real fault effects. The main objective is to compensate multiplicative fault effects based on output feedback information. Sufficient conditions are developed with [Formula: see text] performances and expressed as a set of linear matrix inequalities subject to compute controller gains. Finally, simulation results, using the nonlinear model of a single-link flexible joint robot system, are given to illustrate the capability of the suggested fault tolerant control strategy to treat multiplicative faults.

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