sliding mode control

List of Articles sliding mode control

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1 - Design and Implementation of a New Adaptive Sliding Mode for Current Control in Islanding Mode Operation
M. M. Ghanbarian M. Nayeripour A. H. Rajaei
20.1001.1.16823745.1395.14.3.5.1

This paper proposes a new modified adaptive sliding mode controller in order to control the inverters of DGS in the voltage and current (power) control modes in a microgrid. An observer is used to estimate the uncertain parameters in controller design and considering t More

This paper proposes a new modified adaptive sliding mode controller in order to control the inverters of DGS in the voltage and current (power) control modes in a microgrid. An observer is used to estimate the uncertain parameters in controller design and considering these estimated values, the controller is adapted to new condition. In the power management strategy, one of inverter controls the voltage and the other inverter controls the load current and balances the active power. Due to delays in startup power electronic converter and sliding mode controller, the result of controller implementation with classical controllers does not meet the requirement and so, considering these delays with adaptive controller, the performance will be improved considerably and the reference signal will be tracked with lower steady state error in comparison with classical sliding mode controller. Moreover, this controller reduces the total harmonic distortion and improves the rms and peak value tracking. Implementation of system using DSP/TMS320F28335 as well as MATLAB simulation validates the performance of system in different conditions. Manuscript profile
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2 - Adaptive Non-singular Terminal Sliding Mode Control Based On Disturbance Observer for the Microelectromechanical Vibratory Gyroscope Contro
M. R. Soltanpour
20.1001.1.16823745.1398.17.4.2.1

In this paper, an adaptive non-singular terminal sliding mode control based on disturbance observer is proposed for detection process and control of the micro-electromechanical vibratory gyroscope stimulation process. For this purpose, the dynamical equations of the vib More

In this paper, an adaptive non-singular terminal sliding mode control based on disturbance observer is proposed for detection process and control of the micro-electromechanical vibratory gyroscope stimulation process. For this purpose, the dynamical equations of the vibrational gyroscope system are initially expressed. In the following, the dynamical equations of this system are transmitted to the domain of state-space equations and then to the domain of tracking error. After that, the dynamic structure of the finite time disturbance observer is presented. Then, the design of the adaptive non-singular terminal sliding mode control based on finite time disturbance observer is expressed. The proposed strategy carries out the control of the stimulation process in the presence of structured and un-structured uncertainties existing in the dynamic equations of the microelectromechanical vibrational gyroscope system, and performs the detection process through only an adaptive law. The mathematical proof shows that the closed-loop system with the proposed control, and in the presence of the existing uncertainties, has the finite time global asymptotic stability. The presence of a disturbance observer in the proposed control structure will weaken the role of un-structured uncertainties in the gyroscope control process and reduce the control input amplitude. In order to evaluate the proposed control performance, simulations in 3 steps are implemented on the electromechanical vibrational gyroscope system. Simulation results confirm the desired performance of the proposed control. Manuscript profile
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3 - Sliding Mode Control Applied in Two-wheeled Self-Balancing Robot System in Presence of Structured and Un- Structured Uncertainties in Dynamical Equations and Without the Need for Kinematic Equations
M. R. Soltanpour R. Gholami
20.1001.1.16823745.1399.18.1.7.7

In this paper, we proposed solutions for controlling the two-wheel self-balancing robot system in the presence of uncertainties in dynamical equation and without the need for kinematic equations. For this purpose, the dynamical equations of this system are initially tra More

In this paper, we proposed solutions for controlling the two-wheel self-balancing robot system in the presence of uncertainties in dynamical equation and without the need for kinematic equations. For this purpose, the dynamical equations of this system are initially transmitted to the domain of error, then these equations are divided into two independent subsystems, one of which is an under-actuated system and the other is fully actuated system. In order to control the under-actuated subsystem, two completely different sliding mode controllers are proposed that are able to provide this subsystem in the presence of structured and un-structured uncertainties with global asymptotic stability. Subsequently, in order to control the fully under-actuated subsystem, a sliding mode control is proposed to provide this subsystem in the presence of existing uncertainties with global asymptotic stability. Since these two subsystems are completely independent of each other, their global asymptotic stability proofs prove the global asymptotic stability of the closed-loop system. The separation of two-wheeled self-balancing robot sub-systems eliminates the need to use the kinematic equations, and this causes the presence of structured uncertainties to have no effect on the accuracy of tracing the closed-loop system state variables. Finally, to evaluate the performance of the proposed controllers and compare their performance results, three-stage simulations are implemented on the two-wheeled self-balancing robot system. Mathematical proofs and simulation results show the desired performance of the proposed solutions. Manuscript profile
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4 - Design and Implementation of Fuzzy Sliding Mode Controller for Motion Control of an Electric Shake Table Using Adaptive Extended Kalman Filter
Nima rajabi Ramazan Havangi
20.1001.1.16823745.1400.19.2.6.5

In this paper, Design of a fuzzy sliding mode controller (FSMC) with adaptive extended Kalman filter (AEKF) for controlling a shake table system with electric actuator and ball-screw mechanism. Due to the uncertainties regarding the model parameters and the noise of the More

In this paper, Design of a fuzzy sliding mode controller (FSMC) with adaptive extended Kalman filter (AEKF) for controlling a shake table system with electric actuator and ball-screw mechanism. Due to the uncertainties regarding the model parameters and the noise of the data of the two encoder and accelerometer sensors, there are many problems in controlling this system. Therefore, it is crucial to employ a non-precise model-based controller and a nonlinear adaptive filter. The fuzzy sliding mode control and Extended Kalman filter are a good way to control this system. In sliding mode control, chattering at the control input is inevitable. In this paper, a simple fuzzy inference mechanism is used to reduce the undesirable phenomenon of chattering by correctly estimating the upper bound of uncertainty. In the following, a recursive method is used to determine the system and measurement noise covariance matrices. The data of the two encoder and accelerometer sensors are combined in the adaptive extended Kalman filter and the results in noise elimination and parameter estimation are investigated. Linear speed feedback available through the Kalman filter is used to stabilize and control the closed loop system. The end is examined to check the performance of the control structure provided by the seismic table test. The results show that the proposed method is very effective. Manuscript profile
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5 - Robust Finite-Time Chattering Free Sliding Mode Adaptive Impedance controller in Remote Control System in Presence of Random Delay
Abolfazl Kamali Ardakani Hadi Safdarkhani
20.1001.1.16823745.1401.20.2.11.7

Remote control of robots is one of the most relevant and practical fields in robotics. Most of the control structures of remote operation systems seek to achieve transparency and stability at the same time, which the simultaneous achievement of the both, considering the More

Remote control of robots is one of the most relevant and practical fields in robotics. Most of the control structures of remote operation systems seek to achieve transparency and stability at the same time, which the simultaneous achievement of the both, considering the uncertainty and disturbances in the system and random delay in the communication channel is very challenging. So far, many researchers have used position, speed, force or impedance information to provide various control methods, but none of these methods have achieved complete transparency and robust stability in the presence of random delay and uncertainties and disturbances and compromises between them should be made. In this paper, using a new method, a control structure including sliding mode control, adaptive control and impedance control is presented. This method has been simulated by Simulink of MATLAB software and it has been shown that this method is able to establish ideal transparency and ensure robust stability in the system with disturbances and uncertainties in the presence of random delay in the network. Manuscript profile
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6 - Data-Driven Sliding Mode Control Based on Projection Recurrent Neural Network for HIV Infection: A Singular Value Approach
Ashkan Zarghami mehdi Siahi Fereidoun Nowshiravan Rahatabad

In the present study, drug treatment of HIV infection is investigated using a Data-Driven Sliding Mode Control (DDSMC) combined with a Projection Recurrent Neural Network (PRNN). The major objective is to establish the control law that eliminates the need for HIV infect More

In the present study, drug treatment of HIV infection is investigated using a Data-Driven Sliding Mode Control (DDSMC) combined with a Projection Recurrent Neural Network (PRNN). The major objective is to establish the control law that eliminates the need for HIV infection mathematical formulae and ensures that the physical limits of the actuator are reached. This is accomplished by creating the concepts of model-free adaptive control, in which the relation between input and output is described using local dynamic linearized models based on quasi-partial derivatives. To determine the DDSMC law, a performance index is first defined based on the fulfillment of a discrete-time exponential reaching condition. By turning this index into a quadratic programming problem, the dynamics of the PRNN are extracted based on projection theory. The closed-loop system is explicitly determined using the optimizer output equation and the closed-loop stability analysis is evaluated using the singular value approach. The simulation results reveal that the proposed algorithm has robust performance in conducting the state variables of HIV infection to the healthy equilibrium point in the face of model uncertainty and external disturbances when compared to one of the newest control techniques. Manuscript profile

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List of Articles sliding mode control