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A robust observer-based fuzzy incremental sliding mode control approach is proposed in this paper for a class of uncertain underactuated systems. The observer is utilized to estimate the system states that are unavailable for measurement. The first-level sliding surface is defined at first, and then one of the left states is employed to construct the next sliding surfaces until the last sliding surface...
This paper inheres presents the designing of robust control of inverted pendulum system which is a class of nonlinear system consist of a wagon, a pole and a dc motor. The mathematical modeling of inverted pendulum system is transformed into an approximate normal form using lie derivatives. The proposed controllers are designed using conventional sliding, integral sliding and super twisting sliding...
DC to DC converters are extensively used for the transforming DC voltage from one voltage level to another. Buck converter is one of a type which is used to lower the level of DC voltage. Various control strategies have been proposed in the past for performance improvement of DC to DC Buck converter. The work presented in this paper is based on Fast Terminal Sliding Mode control, which combines the...
In this paper, sliding mode approach is used to deal with the robust control of flat systems. Model of flat systems with disturbance and parametric uncertainty is established. A scheme to design sliding mode control laws is proposed to guarantee the robustness of the systems. For the case that the bounds of disturbance and parametric uncertainty are unknown, adaptive controllers are designed to estimate...
According to the requirement of brushless direct current motor (BLDCM) control system for pure electric vehicles, a control system with TMS320F2812 was designed and realized. For this control system, the double closed-loop control method is used to regulate the speed and current. The speed regulation is controlled by sliding mode control. The PID control algorithm is adopted to control the current...
The paper considers leader-follower consensus of multi-agent networks with unknown control direction. Sliding mode control is used to achieve consensus tracking under fixed topology with the assumption that the position of the leader is known to a subset of the followers. The proposed consensus law assumes unknown sign in the control input matrix of the followers and does not require the knowledge...
In this paper, the problem of robust tracking control is investigated. Simulation on the longitudinal model of a flexible air-breathing hypersonic vehicle (FAHV) with actuator saturation and uncertainties is conducted. In order to guarantee that the velocity and altitude to track their reference commands, an adaptive anti-up control strategy is presented based on sliding mode control method. The adaptive...
In this paper, a method of unmatched disturbance compensating integral sliding model predictive control for constrained linear discrete-time systems with bounded disturbances is presented. The basic idea is to shape a discrete-time integral sliding mode control into an optimal constrained control problem with model predictive control. By choosing another projection matrix in the integral sliding surface,...
This paper presents some further results on sliding mode control for a class of nonlinear systems with bounded uncertain parameters. A finite-time sliding manifold is proposed by incorporating piecewise defined function of time into the existing terminal sliding manifold, based on which a novel time-varying finite-time sliding mode controller is proposed. The proposed control strategy eliminates the...
A robust consensus controller is proposed for heterogeneous higher order nonlinear multi-agent systems (MAS), when the agent dynamics are potentially affected by mismatched uncertainties. A distributed consensus protocol based on finite time disturbance observer(FTDO) and sliding mode control is designed to realize the network consensus of higher order MAS. The control law can be used to solve the...
This paper presents a sliding mode control strategy for a Hybrid Energy Storage System (HESS) with a semi-active capacitor configuration, applied to electric vehicles. The system consists of a battery bank and ultracapacitor (UC) connected through a high efficiency DC-DC converter which controls the energy exchange with the rest of the system. The aim of HESS is to provide the power demand to the...
This paper proposes a continuous adaptive terminal sliding-mode control for nonlinear systems. The new terminal sliding-mode manifold can enable the elimination of the singularity problem associated with conventional terminal sliding-mode control. Two different schemes for continuous terminal sliding-mode controller design are utilized for the control of nonlinear systems. The global continuous terminal...
For the decentralized formation problem of multiple robots, this paper presents a kind of robust sliding mode controller based on nonlinear disturbance observer. According to the leader-follower-based formation mechanism, the dynamic model with external disturbances and system uncertainties is established. To perform a formation control and to guarantee system robustness, a novel formation algorithm...
For the purpose of probe soft landing on small bodies safely, this paper focuses on improving convergence speed, decrease the chattering and process uncertainties and perturbations from the trajectory tracking control system. This paper presents improved Terminal sliding mode control based on active disturbance reject, which changes terminal sliding mode surface to the sliding mode hyper-surface and...
This paper presents an output-feedback continuous SMC with integral action for voltage regulation of a buck DC-DC converter in continuous-conduction mode (CCM). The averaged state-space model is first transformed to normal form, with the new states being the output and its derivative. A continuous state-feedback SMC with “conditional integral action”, that is active only inside the boundary layer,...
This paper reports on the design and verification of a new output feedback-based discrete-time terminal sliding mode control (DTSMC) scheme, which is applied to achieve precision motion control of a piezoelectric nanopositioning system by overcoming the unmolded nonlinearity and external disturbance. The controller is easy to implement because it does not require a hysteresis model and a state observer...
This paper employs non-smooth control method to propose a new chattering-free reaching law for discrete-time sliding mode control (DSMC). It is shown that the newly non-smooth control-based DSMC can guarantee that not only the same level of accuracy for the sliding mode motion as that of an equivalent control-based DSMC but also no need for an overly large control effort. To show the effectiveness...
The paper presents an analysis of sliding mode control of discrete time systems with relative degree greater than one. The analysis leads us to obtain finite time stability of the output as well as the states of the system in absence of uncertainties, taking the output as the sliding variable. The simple equivalent control with state feedback guarantees this. In presence of uncertainties in the system...
This paper presents a new adaptive methodology for sliding mode control of a nonlinear dynamical system in the presence of unknown, but bounded uncertainties. A continuous control law is first developed to compensate for the uncertainties and this Lyapunov-based approach eliminates chattering by replacing a discontinuous signum function with a continuous function. By investigating the relation between...
In this paper, an alternative scheme to achieve output tracking for a class of uncertain systems which is designed using back-stepping control and sliding mode control (SMC) can provide exact tracking even in the presence of matched and unmatched disturbances. The newly proposed method is based on a nonlinear disturbance observer (NDOB) which can estimate the unmatched disturbance. Simulation verify...
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