摘要 :
The theory of sliding mode control (SMC) to switch mode power supplies have been widely investigated in literature, but most of the papers have focused on the theoretical aspects of this control without any practical implementatio...
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The theory of sliding mode control (SMC) to switch mode power supplies have been widely investigated in literature, but most of the papers have focused on the theoretical aspects of this control without any practical implementations. This paper links the theory to practical power supply design. Analysis and experimental study of Buck converter is presented, and nonlinear state feedback control is derived to achieve desired output voltage. The paper focuses on modelling a control circuit in Matlab/Simulink~(TM) and implementing it to the Buck converter. Next, a prototype with SMC is build up. The output voltage and inductor current of the both models are compared in steady state mode and under line and load variations. The efficiency is also calculated from the measurements made with the prototype. All these measurements showed advantageous results.
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摘要 :
This paper proposes a new method for sliding mode control of systems with mismatched uncertainties. The proposed method employs a multiple sliding surface (MSS) approach combined with inertial delay control (IDC) for estimating un...
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This paper proposes a new method for sliding mode control of systems with mismatched uncertainties. The proposed method employs a multiple sliding surface (MSS) approach combined with inertial delay control (IDC) for estimating unmatched disturbances. It has the advantage of tackling constant as well as time-variant and state dependent disturbances/uncertainties. The proposed method is validated by simulation and compared with traditional sliding mode control (SMC) and integral sliding mode control (I-SMC) method.
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摘要 :
This paper proposes a new method for sliding mode control of systems with mismatched uncertainties. The proposed method employs a multiple sliding surface (MSS) approach combined with inertial delay control (IDC) for estimating un...
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This paper proposes a new method for sliding mode control of systems with mismatched uncertainties. The proposed method employs a multiple sliding surface (MSS) approach combined with inertial delay control (IDC) for estimating unmatched disturbances. It has the advantage of tackling constant as well as time-variant and state dependent disturbances/uncertainties. The proposed method is validated by simulation and compared with traditional sliding mode control (SMC) and integral sliding mode control (I-SMC) method.
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This paper proposes a nonlinear scheme for guidance and longitudinal control of Unmanned Aerial Vehicle(UAV). The main objective of the guidance algorithm is to minimize the errors in altitude and flight path angle of the vehicle ...
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This paper proposes a nonlinear scheme for guidance and longitudinal control of Unmanned Aerial Vehicle(UAV). The main objective of the guidance algorithm is to minimize the errors in altitude and flight path angle of the vehicle during flight. The guidance scheme must perform well in the case of small as well as large longitudinal errors, without saturating the pitch angle of the vehicle, which act as the control input. Integral Sliding Mode Control(ISMC) is used in longitudinal control of UAV. It is an improved sliding control method. Initially a linear sliding surface is employed for longitudinal guidance but it cannot provide satisfactory performance for both large and small errors in altitude and flight path angle and hence a nonlinear sliding surface is proposed. The simulations are carried out in MATLAB~R/SMULINK~R.The simulation results show the effectiveness and robustness of the proposed control scheme.
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Due to their complicated dynamics coupled with kinematics and non-holonomic underactuated behavior, spherical robots cannot unveil their full maneuverability when linear controllers are applied. Because of that, position and traje...
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Due to their complicated dynamics coupled with kinematics and non-holonomic underactuated behavior, spherical robots cannot unveil their full maneuverability when linear controllers are applied. Because of that, position and trajectory tracking of spherical robots have been the main challenges recently tackled in the literature. In this paper, two controllers are introduced to provide the effective path following of a 2-DOF spherical robot. A sliding mode controller (SMC) and a fuzzy sliding mode controller (FSMC) are designed and compared. The Lyapunov stability theorem is employed to analyze the stability of the controller and the tracking error. The simulation results indicate that the spherical robot controlled by the proposed methods is capable of moving to a desired point from any given initial point with minimum tracking error.
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摘要 :
Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. In many of cases, however, it is preferable to design a controller such that the error gets to zero in ...
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Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. In many of cases, however, it is preferable to design a controller such that the error gets to zero in a finite time. In this paper, we propose a novel circular sliding surface to get a finite time convergence. To show the effectiveness of the proposed method, simulation results for 2-link robot manipulators are given.
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摘要 :
Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. In many of cases, however, it is preferable to design a controller such that the error gets to zero in ...
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Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. In many of cases, however, it is preferable to design a controller such that the error gets to zero in a finite time. In this paper, we propose a novel circular sliding surface to get a finite time convergence. To show the effectiveness of the proposed method, simulation results for 2-link robot manipulators are given.
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摘要 :
Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. In many of cases, however, it is preferable to design a controller such that the error gets to zero in ...
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Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. In many of cases, however, it is preferable to design a controller such that the error gets to zero in a finite time. In this paper, we propose a novel circular sliding surface to get a finite time convergence. To show the effectiveness of the proposed method, simulation results for 2-link robot manipulators are given.
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In this paper, a robust controller of ship nonlinear fin stabilizer system based on sliding mode control (SMC) with PID sliding surface is proposed. SMC is an effective method to increase the performance of the control system with...
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In this paper, a robust controller of ship nonlinear fin stabilizer system based on sliding mode control (SMC) with PID sliding surface is proposed. SMC is an effective method to increase the performance of the control system with a robust controller which is used to reduce the ship roll motion to the lowest level. However, one of the constraints with SMC is the phenomenon of oscillation around the sliding surface when the amplitude of the control law varies greatly. To overcome this problem, a robust SMC with PID sliding surface is applied to a nonlinear system with time-varying parameters and external disturbances. Lyapunov stability theory is used to analyze the stability of the system. In order to verify the effectiveness of the controller, a nonlinear model of ship fin stabilizer system is used in the simulation model, and emphasize the robust effect of the method.
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摘要 :
Super Twisting Sliding Mode (ST-SMC) controller belongs to a class of controller known as Sliding Mode Control (SMC). SMC is widely known as a robust controller and has been shown in literature to be an effective medium for excell...
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Super Twisting Sliding Mode (ST-SMC) controller belongs to a class of controller known as Sliding Mode Control (SMC). SMC is widely known as a robust controller and has been shown in literature to be an effective medium for excellent control performance especially regarding disturbance force rejection. However, the control performance of SMC is often affected by chattering phenomenon thus reducing the applicability of SMC as position controller of choice in machine tools application where chattering induced vibration cannot be tolerated. ST-SMC is constituted as a higher order SMC. This paper explores control performances of ST-SMC in term of chattering reduction by introducing two types of switching functions in the control laws of the controller; namely, a hyperbolic tangent function (HST-SMC) and an arc tangent function (Arc-ST-SMC). The control performances are analysed based on reduction in magnitude of the tracking error (RMSE) and reduction in magnitude component of the chattering elements observed in frequency domain. The optimized ST-SMC produced the best tracking performance but chattering effect is still persistent. In comparison, HST-SMC produced a comparable tracking performance to ST-SMC with minimal difference of only 12.5% (RMSE). HST-SMC offers a fair trade-off between tracking accuracy and chattering attenuation. On the other hand, arc-ST-SMC produced the most reduction in chattering.
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