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Sliding Mode Control (SMC) technique has been used in an extensive manner in many practical applications especially in motion control systems. This paper investigates non-linear discrete time systems accommodating input delay. Firstly, input delay is removed by introducing a smith predictor that converts the original discrete system into delayed free version of the system and makes it solvable. Then,...
The trend of growing penetration of renewable energy resources in power systems has become pertinent in wake of fast depleting fuel and rising carbon emission. It has, therefore, become relevant to study the dynamics of their integration with the available technologies. Of all renewable resources, Photovoltaic generation is the most prevalent resource in India. Keeping this in mind, a multistage cascaded...
This paper addresses the finite-time trajectory tracking control problem of an unmanned surface vehicle with external disturbances. The salient features of the proposed control scheme are as follows: 1) A disturbance observer is designed firstly such that the external disturbances can be exactly observed in a finite time; 2) A disturbance observer based nonsingular terminal sliding mode control law...
In this paper, the finite-time trajectory tracking control problem for Mars landing with disturbances is addressed. To improve the accuracy of Mars landing, a new nonlinear entry guidance law for low lift landers has been developed. The High-Order Sliding Mode Control(HOSMC) for a tracking a reference trajectory is proposed. The guidance method is based on HOSMC theory adapted to the problem of entry...
Cobra and Herbst are two complex post-stall air combat maneuvers popularly executed by the present-day fighter aircraft. At the end of these maneuvers, the aircraft usually develops either a high negative flight path angle or a high negative flight path angle rate apart from a considerably low velocity. Therefore, the aircraft needs to recover from such undesired flight conditions as quickly as possible...
This paper deals with the design of a robust adaptive fuzzy nonsingular fast terminal sliding mode control strategy for the relative motion control of spacecraft in formation. A nonsingular terminal sliding surface, along with a fast reaching law, has been considered for fast and finite time convergence. Adaptive tuning algorithms are derived based on Lyapunov stability theory for updating the controller...
A chatter-free sliding mode controller employing only conventional sliding surfaces is proposed for trajectory tracking of a nonholonomic wheeled mobile robot. In one sliding surface, nonlinear state variable coupling is avoided by linearly combining two indirectly controlled states into a single aggregate variable. This greatly simplifies analysis compared to the case of sophisticated sliding surfaces...
Flexible links in a robot arm often experience unwanted vibrations at the end points typically due to elastic deflections and system disturbances. This leads to reduced endpoint positioning accuracy, as well as negatively affects the overall control performance of the robot arm. Typical control strategies introduce active damping to reduce oscillations at the robot arm end points, whereas other methods...
Photovoltaic technology has been proven as an efficient renewable energy source. The power obtained from PV unit varies nonlinearly with respect to irradiance and temperature. Hence researchers are working to extract maximum power from the unit. Dc-dc boost converters are used to control power given to the load. Sliding mode control algorithms are developed to extract maximum power. First order Sliding...
Robotic manipulator is a multi-input multi-output (MIMO), highly nonlinear and coupled system. Controlling this system always has been a challenging task for control engineers. In this paper, sliding mode control (SMC) technique utilizing Proportional and Derivative (PD) surface with different reaching laws has been applied on a two-link planar rigid robotic manipulator. Performance of PD sliding...
In this paper, a sliding mode control method with time-varying sliding surface is proposed. The greatest characteristic of sliding mode control is its robustness against uncertainties, such as disturbances, modeling error, or parameter variation. Robustness is guaranteed only if uncertainties satisfy the matching condition, so it is important to shorten reaching time. We can get shorter reaching time,...
This paper is devoted to the problem of designing a robust dynamic output-feedback discrete-time sliding mode controller (ODSMC) for uncertain discrete-time systems. The basic idea behind this scheme comes from the fact that output feedback discrete-time sliding mode control (ODSMC), unlike its continuous-time counterpart, does not require to exploit a discontinuous term including the sliding function...
In this paper, a robust nonlinear control approach based on a simplified control-oriented model of an engine cooling system for vehicles is presented. An electrically driven radiator fan is considered as a control input. Based on the system description, a second-order sliding mode control is proposed to track desired trajectories of the engine outlet temperature. The second-order sliding mode control...
In this paper, a new approach of the super twisting sliding mode control of nonholonomic mobile robot system is proposed. Computer simulations and real time implementations are performed on a real mobile robot (Pioneer-3DX) with parameter uncertainties and external disturbances. The simulation results and real experiments have shown the improved performance of the proposed controller in terms of a...
In the declining stage of soft landing on asteroid, there are many problems in control system of probe such as low convergence speed, long convergence time and severe chattering. A terminal sliding mode control method based on double power reaching law is proposed in this paper. On the basis of conventional reaching law analysis, combined with nonlinear, weak gravitational field characteristics, control...
For the tracking control of a class of uncertain second order nonlinear systems, this paper proposes a robust global finite time control strategy. This control strategy consists of two parts: firstly, a time-varying sliding mode controller is designed to make the tracking errors to zero at a desired finite time tr; then, in the succeeding time t > tr, another nonsingular terminal sliding mode controller...
In this work, a dynamic feedback control law based on the well known “Twisting” algorithm is under study. Dynamic compensation is added to the Twisting algorithm, in order to use position feedback only, and keep properties such as finite time stability. Moreover, linear terms are considered to improve the robustness of the algorithm. In some mechanical applications, an observer or a differentiator...
This paper aims to design a robust discrete-time sliding mode control (DSMC) for the uncertain discrete-time networked systems involving time-varying Communication delays. To this end, the so-called Bernoulli random binary distribution is utilized to model the random time-varying delays. Then, by exploiting a specific sliding surface, a discrete-time sliding mode controller is designed such that the...
The objective of this paper is to propose a new control strategy in the context of higher order sliding mode. In fact, the main result concerns a third order sliding mode controller which requires only the sliding variable and its first time derivative (whereas standard third order sliding mode controllers are using also the second order time derivative of the sliding variable). This reduction of...
In this paper, a method of robust model predictive control for constrained linear discrete-time systems with bounded disturbances is presented. The approach is based on modifying the concept of discrete-time integral sliding mode control into an optimal constrained control problem. By introducing an additional sliding mode control term into the state feedback law, the closed-loop system can be maintained...
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