Journal articles: 'Sliding mode method'

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Chen, Ta-Tau. "ADAPTIVE SLIDING-MODE CONTROL: SIMPLEX-TYPE METHOD." Transactions of the Canadian Society for Mechanical Engineering 39, no. 3 (September 2015): 367–77. http://dx.doi.org/10.1139/tcsme-2015-0027.

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The simplex method is easy and brief for designing the sliding mode, but it also has some disadvantages. Since the control vectors are constant, the chattering phenomenon also occurs when switching control takes place in simplex-type SMC scheme. Hence, we make few modifications to the simplex method that form an irregular simplex such that it improves the choice of simplex control vector and chattering phenomenon. The irregular simplex is obtained by an adaptive control law. The stabilization of a nonlinear multi-input system by using adaptive control based on simplex-type sliding-mode control philosophy is examined in this paper. The adaptive law and stabilization theorem are proposed and proved. The simulation results demonstrate that the simplex-type adaptive sliding-mode control proposed in this paper is a good solution to the chattering problem in the simplex sliding-mode control.

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Qi, Duo, Jinfu Feng, and Jian Yang. "Longitudinal Motion Control of AUV Based on Fuzzy Sliding Mode Method." Journal of Control Science and Engineering 2016 (2016): 1–7. http://dx.doi.org/10.1155/2016/7428361.

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According to the characteristics of AUV movement, a fuzzy sliding mode controller was designed, in which fuzzy rules were adopted to estimate the switching gain to eliminate disturbance terms and reduce chattering. The six-degree-of-freedom model of AUV was simplified and longitudinal motion equations were established on the basis of previous research. The influences of first-order wave force and torque were taken into consideration. The REMUS was selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode controller.

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Chegini, Somayeh, and Majid Yarahmadi. "Quantum sliding mode control via error sliding surface." Journal of Vibration and Control 24, no. 22 (January 15, 2018): 5345–52. http://dx.doi.org/10.1177/1077546317752848.

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In this paper, a new quantum sliding mode control, for improving the performance of the two-level quantum sliding mode control systems with bounded uncertainties, is introduced. The presented quantum sliding surface is based on the error which occurs between the predetermined sliding mode and the system state. The control objective is to derive the system state to reach the sliding mode domain and then maintain its motion on it. For this purpose, we use the sliding mode control method and periodic projective measurements. A theorem for facilitating the presented method is proved. The simulated example shows that both the reaching time to the sliding mode and the control amplitude are significantly decreased, which demonstrate the effectiveness and validity of the presented method.

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Ghazali, Anith Khairunnisa. "Sliding Mode Control Optimization Method Using Fuzzy-Gain Scheduling for Rgenerative Braking System." Journal of Advanced Research in Dynamical and Control Systems 12, SP4 (March 31, 2020): 1504–9. http://dx.doi.org/10.5373/jardcs/v12sp4/20201629.

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Yin, Xi Jie, and Jian Guo Xu. "The Sliding Mode Variable Structure Control Method for Brushless DC Motors." Applied Mechanics and Materials 596 (July 2014): 584–89. http://dx.doi.org/10.4028/www.scientific.net/amm.596.584.

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The sliding mode variable structure control method for brushless DC motors with uncertain external disturbances and unknown loads is studied. A neural sliding mode control scheme is proposed for reducing chattering of sliding mode control. A global sliding mode manifold is designed in this approach, which guarantees that the system states can be on the sliding mode manifold at initial time and the system robustness is increased. A radial basis function neural network (RBFNN) is applied to learn the maximum of unknown loads and external disturbances. Based on the neural networks, the switching control parameters of sliding mode control can be adaptively adjusted with uncertain external disturbances and unknown loads. Therefore, the chattering of the sliding mode controller is reduced. Simulation results proved that this control scheme is valid.

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Chen, Ta-Tau. "Fuzzy Sliding-Mode Control: Simplex-Type Method." Advanced Science Letters 8, no. 1 (April 15, 2012): 262–67. http://dx.doi.org/10.1166/asl.2012.2364.

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Choi, H. H., and K. S. Ro. "LMI-based sliding-mode observer design method." IEE Proceedings - Control Theory and Applications 152, no. 1 (January 1, 2005): 113–15. http://dx.doi.org/10.1049/ip-cta:20041123.

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SHI, Y. J., and G. F. MA. "MISSILE CONTROL DESIGN BASED ON THE LINEAR MULTIPLE SLIDING MODE RECURSIVE METHOD." ANZIAM Journal 49, no. 4 (April 2008): 573–87. http://dx.doi.org/10.1017/s1446181108000229.

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AbstractTo ensure that the elevator of a cruise missile is operating within the design specification in high-attitude flight, we present a design method for the construction of a sliding mode recursive variable structure controller. In this design method, a target sliding mode surface is first designed without considering the engineering specification of the elevator. Secondly, by using this specification, the critical state is solved. Then, the transitional sliding mode surfaces are designed recursively by using the critical state of the previous sliding mode surface so that the state will move smoothly from one transitional sliding mode surface to the next until the target sliding mode surface. This design method is based on linear sliding mode variable structure theory. Thus, the controller obtained is simple in structure and practical. Furthermore, the elevator will operate within the engineering specification. The simulation results show the effectiveness of the proposed method.

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Zhao, Guoliang, Kaibiao Sun, and Hongxing Li. "Tensor Product Model Transformation Based Adaptive Integral-Sliding Mode Controller: Equivalent Control Method." Scientific World Journal 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/726963.

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This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model.

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Sun, Xuan, Xijun Liu, and Baixing Zhang. "Mobile robot quasi-stop method based on sliding mode control." Journal of Physics: Conference Series 2383, no. 1 (December 1, 2022): 012095. http://dx.doi.org/10.1088/1742-6596/2383/1/012095.

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In this paper, the sliding mode control algorithm is designed for the deceleration curve tracking problem that affects the quasi-stop of mobile robot, and the tracking performance of the sliding mode control algorithm and PID control algorithm is simulated and analyzed in MATLAB. Through comparison, it is verified that the designed sliding mode control algorithm has better tracking performance. Finally, the parking error of the mobile robot is tested by experiments, which proves that the sliding mode control can effectively improve the quasi-stop accuracy of the mobile robot.

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Aydin, Muhammet, and Oguz Yakut. "Real-time control of triglide robot using sliding mode control method." Industrial Robot: An International Journal 45, no. 1 (January 15, 2018): 89–97. http://dx.doi.org/10.1108/ir-06-2017-0107.

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Purpose The purpose of the study is to design a three-dimensional (3D) triglide parallel robot with a different approach and to control the manufactured robot via sliding mode control method that has not been applied to the robot before. Design/methodology/approach The x, y and z coordinates of the end effector of the robot have been given as a reference. The x, y and z reference values are transformed as new reference values of the vertical movement of the robot on the endless screw by using the inverse kinematic equations of the robot. The control of the robot over these reference values is provided by a sliding mode control. The MATLAB/real-time toolbox has been used for creating the interface. The real-time control of the triglide robot has been carried out with a sliding mode controller in the Simulink environment. Findings When the results of the sliding mode control are examined, it is seen that the desired reference values are provided in about 0.6 s. The velocity of the sliding limbs in each arm of the robot is approximately 50 mm/s. The reference values have been reached using the sliding mode control method, with an average error of 0.01 mm. In addition, the problem of chattering in the system caused by using the sign function has been relatively eliminated by using the saturation function instead of the sign function. Thus, the sliding mode control method with saturation function is more feasible. Originality/value In this study, the triglide parallel robot was manufactured using a 3D model after taking into consideration the dimensions of the 3D model. After production, the necessary hardware connections were provided, and a real-time sliding mode control method was implemented to the robot by using the interface program in MATLAB/Simulink environment. The literature contribution of the paper is the real-time control of the triglide robot with the sliding mode control method.

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Zeroual, Fatima, and Lazhar Belabed. "Probabilistic Analysis of Slope Stability towards the Slip by the Kinematic Method." Advanced Materials Research 324 (August 2011): 400–403. http://dx.doi.org/10.4028/www.scientific.net/amr.324.400.

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The check of the stability of banks towards the slidings always crosses by the adoption of empirical global safety factors result, generally, of the study of the break along the deep surface of sliding. The mechanical model suited to this mode of break is subject to controversy. In this article we propose a mechanical model of calculation for the break along the deep surface of sliding based on the kinematic method of the stiff solids (limit analysis). A comparison of this model proposed with the conventional model was led according to the statico-probability concept of security. The reliability of the system is expressed by means of the indication of reliability β.

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Wang, Jun-Cheng, and Ren He. "Hydraulic anti-lock braking control strategy of a vehicle based on a modified optimal sliding mode control method." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 12 (December 19, 2018): 3185–98. http://dx.doi.org/10.1177/0954407018820445.

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The objective of this paper is to propose a modified optimal sliding mode control method for the hydraulic anti-lock braking system of a vehicle to achieve both robustness and optimal control performance. The longitudinal dynamic model of a vehicle, tyre model and hydraulic anti-lock braking system model are established, and the weakness of the common optimal sliding mode control method in designing the anti-lock braking system controller is analysed synthetically. The analyses form the basis for tracking an ideal slip ratio. A new modified optimal sliding mode controller is proposed to regulate the hydraulic anti-lock braking system for a better braking performance and robustness: the optimal sliding mode manifold function includes several virtual damping elements and infinitely small-sized items to meet the working conditions of the current optimal sliding mode control method. The control results of the proposed controller are compared with those of the common sliding mode controller. Simulation results under various road conditions demonstrate that the modified optimal sliding mode controller not only has strong robustness against uncertainties in the road adhesion coefficient but also achieves better control performance of the slip ratio.

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Guo, Yufei, Leru Luo, and Changchun Bao. "Design of a Fixed-Wing UAV Controller Combined Fuzzy Adaptive Method and Sliding Mode Control." Mathematical Problems in Engineering 2022 (January 31, 2022): 1–22. http://dx.doi.org/10.1155/2022/2812671.

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To overcome the complexity of the coupled nonlinear model of a fixed-wing UAV system and the uncertainty caused by a large number of interference factors, a control algorithm combining fuzzy adaptive control and sliding mode variable structure control was proposed. The controller algorithm mainly relies on the sliding mode variable structure control method to solve the control problem of the strongly coupled complex nonlinear system. Based on sliding mode control, a fuzzy adaptive method is introduced to reduce the chattering problem of the traditional sliding mode control, and the uncertain parameters and unknown functions caused by external disturbances are approximated by this method. In this study, two types of fuzzy adaptive sliding mode controller were designed according to the different object ranges of the fuzzy adaptive algorithm. In addition, the stability of the controllers was verified using the Lyapunov method. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed controllers by comparing with the traditional sliding mode controller.

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Huang, Shuang, Xin Wu, and Peixing Li. "Vibration Reduction of the Nonlinearly Tufted Carpet Yarn by a Modified Sliding Mode Control Method." Shock and Vibration 2019 (April 28, 2019): 1–10. http://dx.doi.org/10.1155/2019/5075983.

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The yarn vibration causes the yarn tension value to fluctuate, causing a change in the amount of yarn feed, thus causing a deviation of the carpet pile height from the predetermined value. To solve this problem, the sliding mode control algorithm is used to design the sliding mode function and the sliding mode control law. And four variables in the yarn vibration system are controlled by the MATLAB software. For solving the chattering problem of the control law, the sliding mode control law is improved. The fuzzy sliding mode control algorithm based on the quasisliding mode is adopted. The results show that the sliding mode control algorithm is effective, but the sliding mode control force needs to be switched at high frequency and there is severe chattering. The fuzzy sliding mode control algorithm based on quasisliding mode is adopted to achieve better control effect with a smaller force. In addition, the control force does not have high-frequency switching, and the change is relatively stable, which reduces the chattering phenomenon of sliding mode control.

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Ma, Qiang, and Yu Qiang Jin. "Supersonic Missile Control with PI Sliding Mode Method." Advanced Materials Research 295-297 (July 2011): 1773–76. http://dx.doi.org/10.4028/www.scientific.net/amr.295-297.1773.

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Comparing with traditional adaptive methods, a very simple PI sliding mode controller is designed for uncertain nonlinear missile systems with the help of two main assumptions which are also testified to be reasonable.The construction of PI control for sliding surface is novel and effective. Also, the proof of PI type control law is unique in this paper.

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Katebi, Javad, and Jafar Jangara. "Application of adaptive sliding mode control (sigma adaption method) for an uncertain three-story benchmark structure." Advances in Structural Engineering 23, no. 3 (September 15, 2019): 497–509. http://dx.doi.org/10.1177/1369433219875306.

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This study develops the application of adaptive sliding mode control to earthquake-excited uncertain structures. Adaptive sliding mode control is useful as it only requires the boundness feature of uncertainties and disturbances to determine control gain (and not the amplitude of bounds). Moreover, the amplitude of chattering effect, the main drawback of sliding mode control, attenuates while stability and robustness are preserved. For this purpose, two adaptive-gain control algorithms are considered. In addition, a time-varying boundary layer is considered to increase the accuracy. In order to examine the feasibility of the applied method, a three-story benchmark structure is considered. Furthermore, performance indexes are used to evaluate the effectiveness of adaptive sliding mode control in comparison to sliding mode control and fuzzy sliding mode control. Comparison of the simulation results in accordance to performance indexes demonstrates that adaptive sliding mode control not only attenuates the amplitude of control effort (i.e. chattering amplitude) but also makes the control of the maximum response of the structure applying adaptive sliding mode control more convenient. It is shown that displacement and drift performance indexes of adaptive sliding mode control are equal to or less than ones of sliding mode control, while root mean square of the control effort of adaptive sliding mode control is attenuated around 50%.

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M’hamed, Larbi, Gherabi Zakaria, and Doudar Khireddine. "A Robust Sensorless Control of PMSM Based on Sliding Mode Observer and Model Reference Adaptive System." International Journal of Power Electronics and Drive Systems (IJPEDS) 8, no. 3 (September 1, 2017): 1016. http://dx.doi.org/10.11591/ijpeds.v8.i3.pp1016-1025.

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<p>This paper is intended to study and compare the operation of two methods for estimating the position/ speed of the permanent magnet synchronous motor (PMSM) under sliding mode control. The first method is a model reference adaptive system (MRAS). The second method based on sliding mode observer (SMO). The stability condition of Sliding Mode Observer was verified using the Lyapunov method to make sure that the observer is stable in converging to the sliding mode plane. In this paper the performances of the proposed two algorithms are analyzed using SIMULINK/MATLAB. The simulations results are presented to verify the proposed sensorless control algorithms and can resolve the problem of load disturbance effects by simulations which verify that the two closed-loop control system is robust with respect to torque disturbance rejection.</p>

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Hang, Gao. "Fuzzy Adaptive Sliding Mode Control of Sandblasting and Rust Removal Parallel Robot." Applied Science and Innovative Research 5, no. 2 (March 31, 2021): p9. http://dx.doi.org/10.22158/asir.v5n2p9.

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In order to overcome the trajectory tracking distortion caused by the friction mutations of the sandblasting and rust removal parallel robot based on the Stewart parallel mechanism, a fuzzy adaptive sliding mode control method that compensates for the friction mutations is designed. Firstly, the kinematics of the mechanism is analyzed by analytic method and the dynamic model of the Stewart parallel mechanism is established based on Lagrange method. Then, the robust adaptive term of the sliding mode is designed based on the sliding mode variable to estimate the uncertain term in real time, replacing the sliding Switching items of mode control to compensate for the influence of uncertain factors such as unmodeled dynamics, external disturbances and time-varying parameters, and to effectively suppress chattering of sliding mode control; Next, by designing fuzzy control based on sliding mode variable and sliding mode variable derivative, the dynamic adjustment of the sliding mode robust adaptive term gain is realized to compensate for the interference of the frictional force mutation, thereby eliminating the trajectory tracking distortion problem of the Stewart mechanism joint commutation. Finally, using MATLAB control method for numerical simulation and verify the effectiveness of the proposed fuzzy adaptive sliding mode control method to compensate for friction mutations.

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Azimnezhad, Mohammad, Mohammad Manthouri, and Mohammad Teshnehlab. "FUZZY SLIDING MODE CONTROLLER FOR SEIR MODEL OF EPIDEMIC DISEASE." Azerbaijan Journal of High Performance Computing 5, no. 2 (July 1, 2022): 143–64. http://dx.doi.org/10.32010/26166127.2022.5.1.143.164.

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This paper proposes a vaccination approach based on robust control for the SEIR (susceptible plus exposed plus infectious plus recovered populations) model of epidemic diseases. First, a classic sliding mode controller is investigated based on the SEIR model. Next, fuzzy logic is utilized to better approximate the uncertainties in the SEIR system using the sliding mode controller. Therefore, the proposed controller is a fuzzy sliding mode controller, which, compared to the sliding mode controller, provides an appropriate estimation of systems' actual parameters and removes the chattering phenomenon from the control signal. The stability of the controlled system is guaranteed using the Lyapunov theory simulations in which the classical sliding mode and the proposed controllers are compared, Using data from previous articles. Simulation results show that the proposed controller eliminates the susceptible subpopulation, incubated disease, and infectious diseases, eradicating the disease. Comparison with other methods reveals the better efficiency of the proposed method.

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Wang, Liqiang, Xianqing Wu, and Meizhen Lei. "Continuous sliding mode control for the translational oscillator with a rotating actuator system." Transactions of the Institute of Measurement and Control 44, no. 10 (January 12, 2022): 1960–67. http://dx.doi.org/10.1177/01423312211069107.

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The stabilization and disturbance rejection of the translational oscillator with a rotating actuator (TORA) are considered in this paper. To deal with the control issues, a novel continuous sliding mode control method is designed for the TORA system. Compared with existing sliding mode control methods for the TORA system, the proposed method here is continuous. Specifically, first, a global diffeomorphism is introduced for the model of the TORA system. Then, an elaborate sliding manifold is constructed, and a continuous sliding mode control scheme is developed to ensure the convergence of the sliding manifold. Furthermore, rigorous theoretical analysis is given. Finally, simulation tests are carried out, and the obtained simulation results demonstrate that the proposed method exhibits superior stabilization control performance and strong robustness.

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Li, Hanlin, Zhiqiang Zhang, and Wei Yang. "Stability Analysis of Slope Based on Limit Equilibrium Method and Strength Reduction Method." Annales de Chimie - Science des Matériaux 45, no. 5 (October 31, 2021): 379–84. http://dx.doi.org/10.18280/acsm.450503.

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Drawing on the theories of limit equilibrium and finite-element strength reduction, this paper explores the instability modes and stability change laws of the slope in zones E, W, and S of Jiajika spodumene mine, through rock mechanics tests, field survey, and numerical simulation. The results show that the sliding mode of the slope is circular arc sliding or circular arc + plane sliding. Overall, the final slope of the open-pit mine is generally stable under the current design, and the slope of the current steps is reasonable.

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Moura, Jairo Terra, Hakan Elmali, and Nejat Olgac. "Sliding Mode Control With Sliding Perturbation Observer." Journal of Dynamic Systems, Measurement, and Control 119, no. 4 (December 1, 1997): 657–65. http://dx.doi.org/10.1115/1.2802375.

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This work introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity called perturbation. The major contribution of this work comes as the development and design of a robust observer for the state and the perturbation which is integrated into a Variable Structure Controller (VSC) structure. The proposed observer combines the procedures of Sliding Observers (Slotine et al, 1987) with the idea of Perturbation Estimation (Elmali and Olgac, 1992). The result is what is called Sliding Perturbation Observer (SPO). The VSC follows the philosophy of Sliding Mode Control (SMC) (Slotine and Sastry, 1983). This combination of controller/observer gives rise to the new routine called Sliding Mode Control with Sliding Perturbation Observer (SMCSPO). The stability analysis shows how the algorithm parameters are scheduled in order to assure the sliding modes of both controller and observer. A simplified form of the general design procedure is also presented in order to ease the practical applications of SMCSPO. Simulations are presented for a two-link manipulator to verify the proposed approach. Experimental validation of the methodology is also performed on a PUMA 560 robot. A superior control performance is obtained over some full state feedback techniques such as SMC and Computed Torque Method.

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Bartolini, G., F. Parodi, V. I. Utkin, and T. Zolezzi. "The simplex method for nonlinear sliding mode control." Mathematical Problems in Engineering 4, no. 6 (1999): 461–87. http://dx.doi.org/10.1155/s1024123x98000921.

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General nonlinear control systems described by ordinary differential equations with a prescribed sliding manifold are considered. A method of designing a feedback control law such that the state variable fulfills the sliding condition in finite time is based on the construction of a suitable simplex of vectors in the tangent space of the manifold. The convergence of the method is proved under an obtuse angle condition and a way to build the required simplex is indicated. An example of engineering interest is presented.

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Nikoo, Seied Yasser, Behrooz Rezaie, Zahra Rahmani, and Seied Jalil Sadati. "AN INTELLIGENT NEURO-FUZZY TERMINAL SLIDING MODE CONTROL METHOD WITH APPLICATION TO ATOMIC FORCE MICROSCOPE." IIUM Engineering Journal 17, no. 2 (November 30, 2016): 185–204. http://dx.doi.org/10.31436/iiumej.v17i2.569.

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In this paper, a neuro-fuzzy fast terminal sliding mode control method is proposed for controlling a class of nonlinear systems with bounded uncertainties and disturbances. In this method, a nonlinear terminal sliding surface is firstly designed. Then, this sliding surface is considered as input for an adaptive neuro-fuzzy inference system which is the main controller. A proportinal-integral-derivative controller is also used to asist the neuro-fuzzy controller in order to improve the performance of the system at the begining stage of control operation. In addition, bee algorithm is used in this paper to update the weights of neuro-fuzzy system as well as the parameters of the proportinal-integral-derivative controller. The proposed control scheme is simulated for vibration control in a model of atomic force microscope system and the results are compared with conventional sliding mode controllers. The simulation results show that the chattering effect in the proposed controller is decreased in comparison with the sliding mode and the terminal sliding mode controllers. Also, the method provides the advantages of fast convergence and low model dependency compared to the conventional methods.

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Gao, Gangyi, Cuixia Ou, and Linian Shi. "Multi-Degree-of-Freedom Manipulator Joint Trajectory Tracking Control Method Based on Decision Tree." Journal of Physics: Conference Series 2066, no. 1 (November 1, 2021): 012026. http://dx.doi.org/10.1088/1742-6596/2066/1/012026.

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Abstract For industrial-grade manipulators, the study of trajectory tracking control issues provides an important guarantee for accurate and safe work. Therefore, the trajectory control input driving torque can meet the requirements of the robot arm to accurately track a given target trajectory, and the process of building a decision tree is a process of dividing the feature space. For a given training data set, a set of if-then is summarized the rule of. Based on this, this paper launches the research of multi-degree-of-freedom manipulator joint trajectory tracking control method based on decision tree. Based on the established kinematics and dynamics model of the manipulator, this paper uses a proportional-integral-derivative (PID) sliding mode controller based on the sliding mode surface of the manipulator to perform the trajectory tracking control of the end of the manipulator, and the simulation results of the improved sliding mode control are compared with the simulation results of the improved sliding mode control. The simulation results of the PID controller and the traditional sliding mode controller are compared. This paper finally verifies the effectiveness of the proposed new sliding mode controller based on the expanded state observer through the experimental platform. The speed and chattering problems of the trajectory tracking at the end of the manipulator are better than those of the controller on the experimental platform. Finally, this paper adopts the sliding mode variable structure control strategy combining the double-power reaching law and the improved terminal sliding mode surface to study the trajectory tracking control of the planar two-degree-of-freedom manipulator.

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Chen, Yu, Guang Li, Chao Yang Dong, and Qing Wang. "Sliding Mode Predictive Control Method for Attitude Control of Networked Launch Vehicle." Key Engineering Materials 467-469 (February 2011): 962–67. http://dx.doi.org/10.4028/www.scientific.net/kem.467-469.962.

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A novel adaptive fuzzy sliding mode predictive control (AFSMPC) method for solving the networked launch vehicle attitude control system with network-induced delay, uncertain parameters and outer disturbances is proposed in this paper for the attitude stabilization of the networked launch vehicle control system. The proposed sliding mode surface includes a predictor to compensate for the network-induced delay of the NCS. Then, for the networked Launch vehicle attitude control system with uncertain parameters and outer disturbances, a total sliding-mode control system is proposed, which is designed without the reaching phase of a conventional sliding-mode control. In order to attenuate the chattering phenomena brought by the proposed control, a fuzzy logic system is designed to mimic the good behavior of a total sliding-mode predictive control system. Finally, Simulation results show that the proposed control scheme is effective.

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FALTERMEIER, R., A. ZEILER, A. M. TOMÉ, A. BRAWANSKI, and E. W. LANG. "WEIGHTED SLIDING EMPIRICAL MODE DECOMPOSITION." Advances in Adaptive Data Analysis 03, no. 04 (October 2011): 509–26. http://dx.doi.org/10.1142/s1793536911000891.

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The analysis of nonlinear and nonstationary time series is still a challenge, as most classical time series analysis techniques are restricted to data that is, at least, stationary. Empirical mode decomposition (EMD) in combination with a Hilbert spectral transform, together called Hilbert-Huang transform (HHT), alleviates this problem in a purely data-driven manner. EMD adaptively and locally decomposes such time series into a sum of oscillatory modes, called Intrinsic mode functions (IMF) and a nonstationary component called residuum. In this contribution, we propose an EMD-based method, called Sliding empirical mode decomposition (SEMD), which, with a reasonable computational effort, extends the application area of EMD to a true on-line analysis of time series comprising a huge amount of data if recorded with a high sampling rate. Using nonlinear and nonstationary toy data, we demonstrate the good performance of the proposed algorithm. We also show that the new method extracts component signals that fulfill all criteria of an IMF very well and that it exhibits excellent reconstruction quality. The method itself will be refined further by a weighted version, called weighted sliding empirical mode decomposition (wSEMD), which reduces the computational effort even more while preserving the reconstruction quality.

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Liu, Lu, Shihong Ding, Li Ma, and Haibin Sun. "A novel second-order sliding mode control based on the Lyapunov method." Transactions of the Institute of Measurement and Control 41, no. 4 (July 17, 2018): 1068–78. http://dx.doi.org/10.1177/0142331218783244.

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In this paper, a novel discontinuous second-order sliding mode control approach has been developed to handle sliding mode dynamics with a nonvanishing mismatched disturbance by using Lyapunov theory and a finite-time disturbance observer. Firstly, the finite-time disturbance observer is designed to estimate the nonvanishing mismatched disturbance. Secondly, a virtual controller has been constructed based on the estimated value such that the sliding variable can be stabilized to zero in a finite time. Then, the real discontinuous controller is designed to guarantee that the virtual controller can be well tracked in a finite time. Lyapunov analysis also verifies the finite-time stability of the closed-loop sliding mode control system. The developed discontinuous second-order sliding mode control method possesses two appealing features including strong robustness with respect to the matched and mismatched nonvanishing disturbances, and relaxation on the constant upper bound of uncertainties widely used in a conventional second-order sliding mode. Finally, an academic example is illustrated to verify the effectiveness of the proposed method.

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Yan, Gangfeng. "Design of adaptive sliding mode controller applied to ultrasonic motor." Assembly Automation 42, no. 1 (November 23, 2021): 147–54. http://dx.doi.org/10.1108/aa-04-2021-0048.

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Purpose The purpose of this paper is to achieve high-precision sliding mode control without chattering; the control parameters are easy to adjust, and the entire controller is easy to use in engineering practice. Design/methodology/approach Using double sliding mode surfaces, the gain of the control signal can be adjusted adaptively according to the error signal. A kind of sliding mode controller without chattering is designed and applied to the control of ultrasonic motors. Findings The results show that for a position signal with a tracking amplitude of 35 mm, the traditional sliding mode control method has a maximum tracking error of 0.3326 mm under the premise of small chattering; the boundary layer sliding mode control method has a maximum tracking error of 0.3927 mm without chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.1589 mm, and there is no chattering. Under the same control parameters, after adding a load of 0.5 kg, the maximum tracking errors of the traditional sliding mode control method, the boundary layer sliding mode control method and the continuous switching adaptive sliding mode control are 0.4292 mm, 0.5111 mm and 0.1848 mm, respectively. Originality/value The proposed method not only switches continuously, but also the amplitude of the switching signal is adaptive, while maintaining the robustness of the conventional sliding mode control method, which has strong engineering application value.

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Jovanović, Radiša Ž., and Zoran M. Bučevac. "Discrete-Time Exponentially Stabilizing Fuzzy Sliding Mode Control via Lyapunov’s Method." Advances in Fuzzy Systems 2015 (2015): 1–10. http://dx.doi.org/10.1155/2015/496085.

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The exponentially stabilizing state feedback control algorithm is developed by Lyapunov’s second method leading to the variable structure system with chattering free sliding modes. Linear time-invariant discrete-time second order plant is considered and the control law is obtained by using a simple fuzzy controller. The analytical structure of the proposed controller is derived and used to prove exponential stability of sliding subspace. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspaceS, in finite time and with prescribed velocity estimate. Inside the sliding subspaceS, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, DC servo motor, and simulation and experimental results are given.

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Yu, Yingxin, and Xudong Liu. "Model-Free Fractional-Order Sliding Mode Control of Electric Drive System Based on Nonlinear Disturbance Observer." Fractal and Fractional 6, no. 10 (October 16, 2022): 603. http://dx.doi.org/10.3390/fractalfract6100603.

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A model-free fractional-order sliding mode control (MFFOSMC) method based on a non-linear disturbance observer is proposed for the electric drive system in this paper. Firstly, the ultra-local model is established by using the mathematical model of electric drive system under parameter perturbation. Then, aiming at reducing the chattering of the sliding mode controller and improving the transient response, a model-free fractional-order sliding mode controller is designed based on fractional-order theory. Next, considering that the traditional sliding mode control can only suppress matched disturbance and that it is sensitive to mismatched disturbance, a non-linear disturbance observer is used to estimate disturbance, and the estimated variables are used in the design of a sliding mode surface to improve the tracking accuracy of the system. Finally, the experiment is completed on an asynchronous motor drive platform. Compared with the model-free integer-order sliding mode control (MFIOSMC), the results show that the proposed method has good dynamic response and strong robustness. Meanwhile, the proposed method reduces the dependence on mathematical models.

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Wang, Zheng, Jianping Yuan, and Yanpeng Pan. "Adaptive second-order sliding mode control: A unified method." Transactions of the Institute of Measurement and Control 40, no. 6 (April 3, 2017): 1927–35. http://dx.doi.org/10.1177/0142331217694683.

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This paper develops a unified adaptive second order sliding mode (ASOSM) control method. By using the proposed control structure, the upper bounds of uncertainties are not required, the over-estimation of the control gains are avoided, and the chattering of the conventional sliding mode controllers can be attenuated. It should be noted that the adaptive gains are obtained based on the switching function and its derivative; as a result, the gains keep updating before and after the practical sliding mode is established. Meanwhile, the finite time convergence is proved based on a quadratic Lyapunov approach. Finally, to illustrate the performance of the presented method, an ASOSM controller is designed for a pendulum system and several simulations are performed.

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QI, Zhaohui, Jin ZHANG, Yuanzhuo WANG, Jia WANG, Mengrong XU, and Cheng ZHANG. "Trajectory tracking control method based on adaptive super-twisting sliding mode." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 40, no. 5 (October 2022): 1109–15. http://dx.doi.org/10.1051/jnwpu/20224051109.

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Aiming at the problem of trajectory tracking control in the process of missile network formation flying, based on the optimal nominal trajectory obtained by solving the two-point boundary value problem, combined with the anti-jamming characteristics of the sliding mode controller, a trajectory tracking control method based on the adaptive super-twisting sliding mode is proposed. First, on the basis of the terminal guidance section model, the two-point boundary value problem is solved through the idea of nonlinear programming to obtain the optimal nominal trajectory; Secondly, the tracking controller based on state deviation is designed in combination with the adaptive super-twisting sliding mode algorithm; Finally, the LQR trajectory tracking control method is introduced as a comparison method, and the effectiveness and feasibility of the sliding mode trajectory tracking method in the presence of initial state errors are verified by simulations, and the Monte Carlo simulation shows that the proposed method has good trajectory tracking control effect in the presence of different initial state errors.

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35

Liu, T. S., and W. S. Lee. "A Repetitive Learning Method Based on Sliding Mode for Robot Control." Journal of Dynamic Systems, Measurement, and Control 122, no. 1 (April 15, 1999): 40–48. http://dx.doi.org/10.1115/1.482427.

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In order to make a robot precisely track desired periodic trajectories, this work proposes a sliding mode based repetitive learning control method, which incorporates characteristics of sliding mode control into repetitive learning control. The learning algorithm not only utilizes shape functions to approximate influence functions in integral transforms, but also estimates inverse dynamics functions based on integral transforms. It learns at each sampling instant the desired input joint torques without prior knowledge of the robot dynamics. To carry out sliding mode control, a reaching law method is employed, which is robust against model uncertainties and external disturbances. Experiments are performed to validate the proposed method. [S0022-0434(00)02001-3]

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36

Kharchenko, O. Yu, Yu T. Kostenko, and L. M. Lyubchick. "Sliding Mode Method in Inverse Motion Control Problems." IFAC Proceedings Volumes 25, no. 29 (October 1992): 145–48. http://dx.doi.org/10.1016/s1474-6670(17)50533-9.

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Zhang, Yi, and Wonshik Chee. "A New Smoothing Method for Sliding Mode Controllers." IFAC Proceedings Volumes 35, no. 2 (December 2002): 593–98. http://dx.doi.org/10.1016/s1474-6670(17)34004-1.

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Salarieh, Hassan, and Aria Alasty. "Control of stochastic chaos using sliding mode method." Journal of Computational and Applied Mathematics 225, no. 1 (March 2009): 135–45. http://dx.doi.org/10.1016/j.cam.2008.07.032.

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Jiang, Quansheng, Kai Cai, and Ming Ma. "Dynamic analysis and sliding mode control method of 5-DOF manipulator." Cobot 1 (August 25, 2022): 17. http://dx.doi.org/10.12688/cobot.17574.1.

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Background: The five degree of freedom (5-DOF) manipulator greatly improves the machining efficiency and accuracy because of its high flexibility. They see wide application in various automation fields. The dynamic analysis and modeling of manipulators is of great significance to improve the working accuracy of a manipulator. Methods: For the robot task of sheet metal bending, a 5-DOF manipulator based on sliding mode control strategy is designed in this paper. Firstly, the dynamics of the 5-DOF manipulator is analyzed and the dynamic equation is established. Secondly, based on the principle of sliding mode control, a proportional integral (PI) sliding mode control method for 5-DOF manipulator based on nominal model is proposed. Finally, the sliding mode control simulation experiment of 5-DOF manipulator is carried out to verify its stability. Results: The 5-DOF manipulator with PI sliding mode control has a good control effect by overcoming the influence of modeling error due to its strong robustness, and effectively realizes good control stability. Conclusions: The experimental results show that the 5-DOF manipulator has good response speed and stability. The results also suggest that the manipulator can be widely used in complex scenarios such as medical surgery or industrial production line with high safety requirements.

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Guo, Jianguo, Yuchao Liu, and Jun Zhou. "New adaptive sliding mode control for a mismatched second-order system using an extended disturbance observer." Transactions of the Institute of Measurement and Control 41, no. 1 (April 19, 2018): 276–84. http://dx.doi.org/10.1177/0142331218761560.

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An adaptive sliding mode control (ASMC) approach for a second-order system based on an extended disturbance observer (EDO) is proposed in this paper for systems with mismatched uncertainties. The EDO-based ASMC method is investigated to eliminate the effect of mismatched disturbance by using a novel adaptive sliding surface consisting of the disturbance estimation. The proposed method exhibits the following two attractive features: Firstly, the proposed adaptive sliding mode with disturbance estimation is insensitive to the mismatched disturbance; that is, the asymptotical stability of the adaptive sliding mode can be guaranteed in the presence of the disturbance estimation error of the EDO. Secondly, the chattering in traditional sliding mode control methods is eliminated by using an adaptive term the adaptive parameter. Compared with the disturbance-observer-based sliding mode control and the EDO-based modified sliding mode control method, numerical simulation results and application examples show that the proposed approach is robust, has the best dynamic performance and eliminates chattering.

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Chen, Ta Tau, and Sung Chun Kuo. "Fuzzy Simplex-Type Sliding-Mode Control." Applied Mechanics and Materials 284-287 (January 2013): 2244–48. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.2244.

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In this paper, a novel fuzzy simplex sliding-mode controller is proposed for controlling a multivariable nonlinear system. Here, the fuzzy logic control (FLC) algorithm and simplex sliding-mode control (SSMC) theory are integrated to improve the system states response and to reduce system states chattering phenomenon of the controlled system for simplex control method. Hence, from this motivation yields the so-called fuzzy simplex sliding mode control (FSSMC) scheme. the fuzzy logic control algorithm and simplex sliding mode control algorithm is integrated to improve the system states response and chattering phenomenon. In this paper, at first, we introduce the principle of simplex method, and then develop the fuzzy controls based on the simplex method. Finally, a numerical example is proposed to illustrate the advantages of the proposed controllers, the simulation results demonstrate that the fuzzy simplex type sliding mode control scheme is a good solution to the chattering problem in the simplex sliding mode control.

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Cui, Feng, Yu Kai Gao, and Chuan Ying Wang. "A Fuzzy Nonlinear Variable Structure Control Method for SVC." Advanced Materials Research 538-541 (June 2012): 2512–17. http://dx.doi.org/10.4028/www.scientific.net/amr.538-541.2512.

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The linear model state equation of single-machine infinity bus power system with SVC was gotten by feedback linearization technology. The SVC fuzzy sliding mode controller was designed for this model. In order to adjust the controller outputs, the value and its derivative of sliding mode switching function were chosen for fuzzy controller inputs. The simulation shows that the SVC controller effectively improves the quality of power response, and settles power oscillations quickly when a disturbance occurs.

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Qiu, Shi Ying, Peng Yi, Rui Bo Yuan, Huan Yang, Sen Hui, and Rong Ping Xue. "Trajectory Control for Cartesian Pneumatic Manipulator Using the Terminal Sliding Mode Control Method." Applied Mechanics and Materials 444-445 (October 2013): 1354–59. http://dx.doi.org/10.4028/www.scientific.net/amm.444-445.1354.

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This paper applies the terminal sliding mode control method to control the trajectory of a three axises Cartesian Pneumatic Manipulator. A mathematical model of the pneumatic servo control system was established at first, then the terminal sliding mode control method was used for trajectory control. The simulation results shows that the tracking error of the terminal sliding mode control method become large only in the time period of not fully reaching the convergence point in time when the manipulator tracks the space straight line, whereas it can fully track the target trajectory after reaching the convergence point.

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Zhang, Jing Jun, Wei Sha Han, Li Ya Cao, and Rui Zhen Gao. "The Simulation Analysis of Semi-Active Suspension System in Vehicle Based on Sliding Mode Control with Varying Structure." Advanced Materials Research 216 (March 2011): 96–100. http://dx.doi.org/10.4028/www.scientific.net/amr.216.96.

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A sliding mode controller for semi-active suspension system of a quarter car is designed with sliding model varying structure control method. This controller chooses Skyhook as a reference model, and to force the tracking error dynamics between the reference model and the plant in an asymptotically stable sliding mode. An equal near rate is used to improve the dynamic quality of sliding mode motion. Simulation result shows that the stability of performance of the sliding-mode controller can effectively improve the driving smoothness and safety.

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Zhang, Dan-xu, Yang-wang Fang, Peng-fei Yang, You-li Wu, and Tong-xin Liu. "A New Control Method for Second-Order Multiple Models Control System Based on Global Sliding Mode." Mathematical Problems in Engineering 2018 (July 30, 2018): 1–8. http://dx.doi.org/10.1155/2018/5709162.

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This paper proposed a finite time convergence global sliding mode control scheme for the second-order multiple models control system. Firstly, the global sliding surface without reaching law for a single model control system is designed and the tracking error finite time convergence and global stability are proved. Secondly, we generalize the above scheme to the second-order multimodel control system and obtain the global sliding mode control law. Then, the convergent and stable performances of the closed-loop control system with multimodel controllers are proved. Finally, a simulation example shows that the proposed control scheme is more effective and useful compared with the traditional sliding mode control scheme.

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Chen, Ta-Tau, and Sung-Chun Kuo. "FUZZY SIMPLEX-TYPE SLIDING-MODE CONTROL." Transactions of the Canadian Society for Mechanical Engineering 37, no. 3 (September 2013): 375–83. http://dx.doi.org/10.1139/tcsme-2013-0027.

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In this paper, a novel fuzzy simplex sliding-mode controller is proposed for controlling a multivariable nonlinear system. The fuzzy logic control (FLC) algorithm and simplex sliding-mode control (SSMC) theory are integrated to form the fuzzy simplex sliding mode control (FSSMC) scheme which improves the system states response and reduces system states chattering phenomenon. In this paper, at first, we introduce the principle of simplex method, and then develop fuzzy controls based on the simplex method. Finally, a numerical example is proposed to illustrate the advantages of the proposed controllers, the simulation results demonstrate that the fuzzy simplex type sliding mode control scheme is a good solution to the chattering problem in the simplex sliding mode control.

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Xiu, Chunbo, Fengnan Liu, and Guowei Xu. "General model and improved global sliding mode control of the four-rotor aircraft." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 4 (May 11, 2017): 383–89. http://dx.doi.org/10.1177/0959651817708066.

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In order to improve the versatility of the control method of the four-rotor aircraft, a general mathematical model, the rectangular four-rotor aircraft, is modeled, and two special cases, square cross structure and square X structure, are deduced. Based on the conventional global sliding mode control, an improved global sliding mode control is proposed to control the position and the attitude of the four-rotor aircraft. The dynamic sliding mode surface of the improved global sliding mode control can evolve into the linear sliding mode surface in a limited time by changing the decay function of the dynamic sliding mode surface. In this way, the controlled system has not only the strong global robustness but also the quick response rate. Simulation results show that the position and the attitude of the four-rotor aircraft can be controlled by the improved global sliding mode control, and the control performances, for instance the response speed, can be improved.

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Su, Qingyu, Fei Dong, and Xueqiang Shen. "Improved Adaptive Backstepping Sliding Mode Control of Static Var Compensator." Energies 11, no. 10 (October 14, 2018): 2750. http://dx.doi.org/10.3390/en11102750.

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The stability of a single machine infinite bus system with a static var compensator is proposed by an improved adaptive backstepping algorithm, which includes error compensation, sliding mode control and a κ -class function. First, storage functions of the control system are constructed based on modified adaptive backstepping sliding mode control and Lyapunov methods. Then, adaptive backstepping method is used to obtain nonlinear controller and parameter adaptation rate for static var compensator system. The results of simulation show that the improved adaptive backstepping sliding mode variable control based on error compensation is effective. Finally, we get a conclusion that the improved method differs from the traditional adaptive backstepping method. The improved adaptive backstepping sliding mode variable control based on error compensation method preserves effective non-linearities and real-time estimation of parameters, and this method provides effective stability and convergence.

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Zhao, Yin, Ying-kai Xia, Ying Chen, and Guo-Hua Xu. "A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction." Journal of Control Science and Engineering 2015 (2015): 1–16. http://dx.doi.org/10.1155/2015/384105.

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Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed control strategy is then proposed based on the sliding mode variable structure of fuzzy reaching law, according to nonlinearity and external variable load of the vehicle speed control system. Sliding mode variable structure control theory for the nonlinear system allows an improved control effect for movements in “sliding mode” when compared with conventional control. The fuzzy control theory is also introduced, weakening output chattering caused by the sliding mode control switchover while producing high output stability. Matlab mathematical simulation and practical test verification indicate the speed control method as effective in obtaining accurate control results, thus inferring strong practical significance for engineering applications.

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Ding, Li, and Shu Bo Qiu. "The Research Based on Fuzzy Sliding Mode Control for Linear Double Inverted Pendulum." Advanced Materials Research 926-930 (May 2014): 1463–67. http://dx.doi.org/10.4028/www.scientific.net/amr.926-930.1463.

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This paper involves a linear double inverted pendulum system whose the state space model is established by Lagrange function. In order to solve the chattering problem of the conventional quasi-sliding mode variable structure control, this linear double inverted pendulum system applies the fuzzy control theory to adjust the parameterwhich is in the sliding mode variable structure control law. Then the fuzzy theory is utilized to design the sliding mode and deduce the fuzzy sliding mode reaching law. The significance of this method is that it diffuses the control signal, reduces or avoids the chattering phenomenon of sliding mode control. For the most, the simulation results show that the linear double inverted pendulum system based on fuzzy sliding mode variable structure control not only retains the strong robustness of sliding mode variable structure control, but also improves the dynamic quality of the system and weakens the buffeting of the system. Thus the method is proved to have certain research.

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Journal articles on the topic 'Sliding mode method'

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