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This paper presents a discrete-time variable-structure-based control and a speed estimator designed for a Permanent Magnet Synchronous Motor (PMSM). A cascade control scheme is proposed which provides accurate speed tracking performance. In this control scheme the speed estimator is a robust digital differentiator that provides the first derivative of the encoder position measurement. The analysis...
Sliding mode observer has unique properties, in that the ability to generate a sliding motion on the error between the measure plant output and the output of the observer ensures that a sliding mode observer produces a set of state estimates that are precisely commensurate with the actual output of the plant. Sliding mode observer exists for bounded initial conditions and also observer gain has to...
In this paper, a novel robust nonlinear sliding mode controller for a class of nonlinear system with parameter uncertainty and disturbance is proposed. The controller is designed in a backstepping manner, proportional-integral-derivative(PID) stabilizing signal of the virtual error is introduced in the design procedure. First, according to the backstepping approach, series Lyapunov functions are constructed...
A novel smooth second order sliding mode controller based on a modified “twisting” algorithm for relative degree two systems is discussed to provide robustness as well as accuracy. A robust exact observer is introduced in the closed loop system to reject the drift signals. A Lyapunov method combined with homogeneity concept is used to prove finite time stability of the overall system. The method is...
In this paper, a new variable structure position control law for a Six Phase Induction Machine (6PIM) is proposed. The algorithm based on a time-varying switching line guarantees the existence of sliding mode since the beginning of the shaft motion. Indeed, the surface is initially designed to pass through the initial representative point and subsequently moved towards a predetermined desired surface...
A chattering-free robust nonlinear controller is proposed for the speed control of an IPMSM drive system to compensate for the parameter uncertainties and load disturbances. First, the input-output feedback linearization technique is used with a load torque estimator. Next, the upper bounds of the uncertainties are defined in design of the chattering-free robust controller. After that, in order to...
This paper presents a new approach for integral sliding mode controller for a class of unmatched uncertain systems. A nominal control is computed using sliding mode techniques which works for unmatched uncertain system. Integral sliding mode is further added to ensure robust reaching phase. A control system for slosh-free motion of a partially filled liquid container is sought. This is representative...
This paper proposes a high-order nonsingular terminal sliding mode control method for induction motor velocity servo systems. Based on the vector control principle, high-order nonsingular terminal sliding mode controllers in velocity loop, current loop and flux loop are designed respectively. The nonsingular terminal sliding mode control is utilized to improve the response speed and robustness of...
A novel simplified stator flux oriented control (SFOC) for three-level inverter-fed induction motor drive is proposed to achieve high performance torque control in both steady state and transient conditions. Sliding mode control (SMC) is designed, in stead of conventional PI controller, to obtain the continuous commanding voltage vectors. The speed accuracy and dynamic tracking performance, as well...
This paper presents a second order sliding mode current controller for the switched reluctance machine (SRM). This strategy is first analysed theoretically, then tested by simulation and on an experimental test bench. Dynamic, current ripples and robustness of this controller are discussed.
For the problems of parameters disturbance, nonlinear and uncertainty of distribution static compensator (DSTATCOM), this paper studies on sliding mode control based on radial basis function (RBF) network. The fast tracking of DSTATCOM reactive current is achieved by using of RBF neural networks and equivalent sliding mode control. The method has a strong adaptability and robustness for load disturbances...
This paper presents a neural networks based discrete time variable structure control and a robust speed estimator designed for a Permanent Magnet Synchronous Motor (PMSM). Radial basis function neural networks are used to learn about uncertainties affecting the system. A cascade control scheme is proposed which provides accurate speed tracking performance. In this control scheme the speed estimator...
The Frequency-Shaped Sliding Surface Control (FSSSC) has been recently applied to the Active Vibration Isolation System (AVIS) and the robust skyhook performance is experimentally validated. However, the performance of this approach is theoretically limited by the sensor dynamics. This paper generalizes the FSSSC approach as a two-step AVIS control design method. The first step is to design the sliding...
The system states error using classical sliding mode control cannot converge to zero in finite time, so in this paper, a dynamic Terminal sling mode control method based on back stepping design is presented. Terminal sliding mode control strategy is employed to make tracking error converge to zero in finite time. A novel sliding differential dynamic surface is designed to attenuate the chatting. Furthermore,...
In this article, the goal is to design an Atomic Force Microscopy (AFM) based nano-telemanipulation system for indenting on a human chromosome. The existence of unmodeled/uncertain parameters in robot dynamics weakens the stability robustness and performance of the system, therefore by designing an impedance-based sliding mode controller on the slave side, the master-slave position coordination despite...
This paper studies a design of Sliding Mode Control (SMC) for Negative Output Elementary Super Lift Luo Converter (NOESLLC) operated in Continuous Conduction Mode (CCM). The NOESLLC performs the voltage conversion from positive DC source voltage to negative DC load voltage. In order to improve the dynamic performances of NOESLLC for both static and dynamic specifications, we propose a sliding mode...
Non linear control of the squirrel induction motor propelling an Electric Vehicle (EV) is designed using sliding mode theory. The proposed scheme uses an adaptive flux and speed observer that is based on a full order model of the induction motor in the indirect vector-controlled drive. The sliding mode tools allow us to separate the control from these two outputs torque and flux. To take account of...
This paper is aimed at robust control of a Permanent magnet DC motor based actuator used in the control of the inlet swirl valve of a diesel engine. The actuator has uncertainty issues related to parameter identification and variation, and load disturbance. These issues lead to faults in controllers, resulting in poor performance and failure. The actuator has been modeled taking parameter uncertainties...
Sliding mode methods have been historically studied because of their strong robustness properties to a certain class of uncertainty. This is achieved by employing nonlinear control/injection signals to force the system trajectories to attain in finite time a motion along a surface in the state-space. This paper will consider how these ideas can be exploited for fault detection (specifically fault...
The flow field surrounding an underwater vehicle will change due to the influence from seabed terrains, when it navigates near seabed. The hydrodynamic coefficients of the underwater vehicle will change, and then produce a force and pitch moment, which could pull the underwater vehicle to the seabed. So it's very important for the safety of underwater vehicles while navigating near seabed to predict...
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