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1.
This paper proposes a novel approach to the design of reaching law based on Sliding Mode Controller (SMC) for multi input multi output (MIMO) non-linear systems so as to overcome the drawbacks associated with conventional reaching law based SMC design strategies. The modification is proposed with an aim to completely eliminate chattering, to ensure control inputs within admissible limits and to guarantee fast response when SMC is used. Modification to conventional power rate reaching law is the point of interest here in order to ensure complete elimination of chattering. Two different modifications to power rate reaching law are presented which incorporate control constraints during controller design so that admissible control input limits are not exceeded. The first modified method ensures limited control effort as well as complete chattering free response, but does not improve the reaching characteristics. So a second adaptive modification to power rate reaching law is also presented here. This method ensures fast reaching to the sliding surface along with properties of complete elimination of chattering and bounded control inputs. However, as in power rate reaching law these modified methods retain the limitation of not possessing robustness properties. The method is applied to a three degree of freedom robotic arm which is typically a non-linear MIMO system. The ability of the presented method to satisfy attributes, viz., chattering free operation, bounded control inputs and fast response is compared with the performance of various reaching law methods available in the literature. The performance of the proposed method is validated through simulation studies on the robotic arm example.  相似文献   

2.
In this paper, the problem of tracking control for discrete cyber physical systems (DCPSs) with disturbance is studied, and the exponential sliding mode tracking strategies via event-triggered are presented. Firstly, for the purpose of reducing chattering in sliding-mode, a new exponential-type reaching law is designed, furthermore, the reachability of sliding surface is verified. Then, the sliding mode tracking schemes under event-triggered are presented, among which two event-triggered strategies are proposed to save network resources. Furthermore, the reachability of designed methods and the boundness of tracking errors are proved. Finally, the feasibility of the presented methods is proved by two simulation examples.  相似文献   

3.
This paper aims to solve the problem of sliding mode control for an uncertain two-dimensional (2-D) systems with states having time-varying delays. The uncertainties in the system dynamics are constituted of mismatched uncertain parameters and the unknown nonlinear bounded function. The proposed problem utilizes the model transformation approach. By segregating the proper Lyapunov–Krasovskii functional in concert with the improved version of Wirtinger-based summation inequality, sufficient solvability conditions for the existence of linear switching surfaces have been put forward, which ensure the asymptotical stability of the reduced-order equivalent sliding mode dynamics. Then, we solve the controller synthesis problem by extending the recently proposed reaching law to 2-D systems, whose proportional part is appropriately scaled by the factor that does not depend on some constant terms but rather on current switching surface’s value, which in turn ensures the faster convergence and better robustness against uncertainties. Finally, the proposed results have been validated through an implementation to a suitable physical system.  相似文献   

4.
Mismatched uncertainty and chattering appear as two challenges in sliding mode control. To overcome the problem of mismatched uncertainty, multiple sliding surfaces with virtual inputs are proposed. Accordingly, we have proposed two new methods based on designed neural observer: sliding mode control (SMC) and dynamic sliding mode control (DSMC) methods. Although, the proposed SMC can significantly cope with the mismatched uncertainties, but it suffers from chattering phenomenon. The chattering problem can be removed in DSMC, because an integrator is placed before the system. This results in increased number of the system states. This new state can be identified with the proposed neural observer. Note that in both proposed approaches, the robust performance (invariance property) of system is reserved, even in the presence of mismatch uncertainties. Then, to have a valid comparison the proposed DSMC is also designed using loop transfer recovery observer (LTRO). This comparison shows the good performance of the DSMC based neural networks. Moreover, the upper bound of uncertainties is not used in SMC and DSMC controllers and also in the neural observer and LTRO, which is important in practical implementation. Finally, comparing the equations, one can see the simplicity of DSMC in concept and also in realization.  相似文献   

5.
Finite time convergence based on robust synergetic control (SC) theory and terminal attractor techniques is investigated. To this end a fast terminal synergetic control law (FTSC) is applied to drive a DC–DC Buck converter via simulation and through a dSpace based experimental setup to validate the approach. As robust as sliding mode control, the synergetic approach used is chattering free and provides rapid convergence. Efficacy of the proposed fast terminal synergetic controller is tested for step load change and output voltage variation and results compared to classical synergetic and PI control. Experimental validation using dSpace DS1104 confirms the results obtained in simulation showing the soundness of this approach compared to synergetic and PI controllers.  相似文献   

6.
This paper is concerned with the global projective synchronization in fixed time for complex dynamical networks (CDNs) with nonidentical nodes in the presence of disturbances. Firstly, in order to realize the fixed-time projective synchronization of CDNs with matched disturbances, the second-order sliding mode is established, and the global fixed-time reachability of sliding manifolds is analyzed. The fixed-time stability of the sliding mode dynamics is also proved analytically based on Lyapunov stability theory. Moreover, the fixed convergence time of both reaching and sliding mode phases can be adjusted to any desired values in advance by the choice of the designable parameters. Secondly, in order to realize the fixed-time projective synchronization of CDNs with mismatched disturbances, a super-twisting-like (STL) controller, which does not require the information of the derivative of the sliding variable, is designed, and the synchronization condition is addressed in terms of linear matrix inequalities (LMIs). By the proposed controllers, continuous control signals can be provided to reduce the chattering effect and improve the control accuracy. Finally, two numerical examples are given to demonstrate the validity of the theoretical results and the the feasibility of the proposed approaches.  相似文献   

7.
In this paper, the tracking control problem of uncertain Euler–Lagrange systems under control input saturation is studied. To handle system uncertainties, a leakage-type (LT) adaptive law is introduced to update the control gains to approach the disturbance variations without knowing the uncertainty upper bound a priori. In addition, an auxiliary dynamics is designed to deal with the saturation nonlinearity by introducing the auxiliary variables in the controller design. Lyapunov analysis verifies that based on the proposed method, the tracking error will be asymptotically bounded by a neighborhood around the origin. To demonstrate the proposed method, simulations are finally carried out on a two-link robot manipulator. Simulation results show that in the presence of actuator saturation, the proposed method induces less chattering signal in the control input compared to conventional sliding mode controllers.  相似文献   

8.
《Journal of The Franklin Institute》2023,360(13):10127-10164
This paper investigates a difficult problem of nonlinear dynamics and motion control of a dual-flexible servo system with an underactuated hand (DFSS-UH). Variation in grasping mass and nonlinear factors of the DFSS-UH including complex flexible deformation and friction torque aggravate the output speed fluctuation, leading to modeling errors in the dynamics, which in turn affects the underactuated hand motion accuracy. A novel neural network sliding mode control (NNSMC) method is designed to control the DFSS-UH. The strategy utilizes neural networks to compensate for dynamics modeling errors, which takes into account neglected nonlinear factors and inaccurate friction torque. The reaching law with the hyperbolic tangent function is proposed to improve sliding mode control, thereby weakening the chattering phenomenon. First of all, the DFSS-UH mechanical model considering many nonlinear factors is established and a dynamic simplification model which ignores higher-order modes is proposed. Secondly, the adaptive law of weighted coefficients is proposed according to the stability of the DFSS-UH. Finally, the physical control platform of the DFSS-UH is built, and simulation and control experiments are conducted. Experimental results show that the improved NNSMC strategy decreases the tracking error of flexible load, thereby enhancing the control accuracy of the DFSS-UH.  相似文献   

9.
The finite-time stochastic boundedness (FTSB) via the sliding mode control (SMC) approach is analyzed for Markovian jumping systems (MJSs) with time-delays. First, an integral switching surface is constructed. And to make sure the reachability of the sliding mode surface in a finite-time, an SMC law is designed. In addition, the delay-dependent criteria for FTSB are obtained over the reaching phase and the sliding motion phase. Furthermore, in line with linear matrix inequalities (LMIs), sufficient conditions are provided to guarantee the FTSB of systems over the whole finite-time interval. Lastly, an example is given to indicate the validity of the proposed approach.  相似文献   

10.
In this paper, an observer-based sliding mode control (SMC) problem is investigated for a class of uncertain delta operator systems with nonlinear exogenous disturbance. A novel robust stability condition is obtained for a sliding mode dynamics by using Lyapunov theory in delta domain. Based on a designed sliding mode observer, a sliding mode controller is synthesized by employing SMC theory combined with reaching law technique. The robust asymptotical stability problem is also discussed for the closed-loop system composed of the observer dynamics and the state estimation error dynamics. Furthermore, the reachability of sliding surfaces is also investigated in state-estimate space and estimation error space, respectively. Finally, a numerical example is given to illustrate the feasibility and effectiveness of the developed method.  相似文献   

11.
This article is dedicated to the issue of asynchronous adaptive observer-based sliding mode control for a class of nonlinear stochastic switching systems with Markovian switching. The system under examination is subject to matched uncertainties, external disturbances, and quantized outputs and is described by a TS fuzzy stochastic switching model with a Markovian process. A quantized sliding mode observer is designed, as are two modes-dependent fuzzy switching surfaces for the error and estimated systems, based on a mode dependent logarithmic quantizer. The Lyapunov approach is employed to establish sufficient conditions for sliding mode dynamics to be robust mean square stable with extended dissipativity. Moreover, with the decoupling matrix procedure, a new linear matrix inequality-based criterion is investigated to synthesize the controller and observer gains. The adaptive control technique is used to synthesize asynchronous sliding mode controllers for error and SMO systems, respectively, so as to ensure that the pre-designed sliding surfaces can be reached, and the closed-loop system can perform robustly despite uncertainties and signal quantization error.Finally, simulation results on a one-link arm robot system are provided to show potential applications as well as validate the effectiveness of the proposed scheme.  相似文献   

12.
In this paper, a new reaching law based sliding mode control strategy for discrete time systems is introduced. Contrary to most existing approaches, the new strategy uses a sliding variable with relative degree two. It is demonstrated that the new reaching law drives the sliding variable to a narrower quasi-sliding mode band than its relative degree one equivalent, while simultaneously ensuring the desired dynamic properties of the system. Furthermore, it is shown that the smaller quasi-sliding mode band width is reflected in reduced magnitude of all state variables in the sliding mode.  相似文献   

13.
Gas flow has fractional order dynamics; therefore, it is reasonable to assume that the pneumatic systems with a proportional valve to regulate gas flow have fractional order dynamics as well. There is a hypothesis that the fractional order control has better control performance for this inherent fractional order system, although the model used for fractional controller design is integer order. To test this hypothesis, a fractional order sliding mode controller is proposed to control the pneumatic position servo system, which is based on the exponential reaching law. In this method, the fractional order derivative is introduced into the sliding mode surface. The stability of the controller is proven using Lyapunov theorem. Since the pressure sensor is not required, the control system configuration is simple and inexpensive. The experimental results presented indicate the proposed method has better control performance than the fractional order proportional integral derivative (FPID) controller and some conventional integral order control methods. Points to be noticed here are that the fractional order sliding mode control is superior to the integral order sliding mode counterpart, and the FPID is superior to the corresponding integral order PID, both with optimal parameters. Among all the methods compared, the proposed method achieves the highest tracking accuracy. Moreover, the proposed controller has less chattering in the manipulated variable, the energy consumption of the controller is therefore substantially reduced.  相似文献   

14.
The continuous finite-time nonsingular terminal sliding mode (NTSM) attitude tracking control for rigid spacecraft is investigated. Firstly, a finite-time attitude controller combined with a new adaptive update law is designed. Different from existing controllers, the proposed controller is inherently continuous and the chattering is effectively reduced. Then, an adaptive model-free finite-time state observer (AMFFTSO) and an angular velocity calculation algorithm (AVCA) are developed to estimate the unknown angular velocity. The unique feature of the proposed method is that the finite-time estimation of angular velocity is achieved and no prior knowledge of quaternion derivative upper bound is needed. Next, based on the estimated angular velocity, a finite-time attitude controller with only attitude measurement is developed. Finally, some simulations are presented and the effectiveness of the proposed control scheme is illustrated.  相似文献   

15.
In this paper, the adaptive sliding mode control issue for switched nonlinear systems with matched and mismatched uncertainties is addressed, where the persistent dwell-time switching rule is introduced to describe the switching of parameters. Besides, considering the case that the upper bound of the matched uncertainty is unknown, the purpose of this paper is to utilize an adaptive control method to estimate its upper bound parameters. To begin with, a linear sliding surface is constructed, and then the reduced-order sliding mode dynamics can be obtained through a reduced-order method. Next, sufficient conditions can be derived based on the Lyapunov stability and the persistent dwell-time switching analysis techniques ensuring that the reduced-order sliding mode dynamics is globally uniformly exponentially stable. Moreover, a switched adaptive sliding mode control law is designed, which can not only ensure the reachability of the sliding surface but also estimate the upper bound parameters of the matched uncertainty. Finally, a numerical example and a circuit model are introduced to verify the effectiveness of the proposed method.  相似文献   

16.
The earlier smooth sliding control (SSC) is revisited. New global stability and chattering alleviation analysis is presented under the more general situation of simultaneous presence of plant uncertainty, unmodeled dynamics and external disturbance. Based on an appropriate prediction error loop, it delivers a smooth filtered control signal to the plant. New explicit conditions are presented for SSC to eliminate chattering. Considering numerical examples recently used in a lively debate between continuous and discontinuous sliding mode control options, the SSC is shown to overcome chattering arising in both classical first-order sliding mode (FOSM) control and the super-twisting algorithm (STA) in the presence of unmodeled dynamics. Besides the original theoretical contribution, one main purpose here is to stir new research about chattering avoidance in both classical and higher-order sliding mode algorithms for uncertain systems.  相似文献   

17.
This paper focuses on the problem of chaos control for the permanent magnet synchronous motor with chaotic oscillation, unknown dynamics and time-varying delay by using adaptive sliding mode control based on dynamic surface control. To reveal the mechanism of motor system and facilitate controller design, the dynamic behavior of the system is investigated. Nonlinear items of system model, upper bounds of time delays and their derivatives are taken as unknown in the overall process. A RBF neural network with an adaptive law, which eliminates restrictions on accurate model and parameters, is employed to cope with unknown dynamics. In order to solve issues such as chaotic oscillation, ‘explosion of complexity’ of backstepping, and chattering associated with sliding mode control, a sliding mode controller is developed within the framework of dynamic surface control by the hybrid of adaptive technology and RBF neural network. In addition, an appropriate Lyapunov function is employed to demonstrate the system stability. Finally, the feasibility of the proposed scheme is testified by simulation.  相似文献   

18.
In this work, we developed a novel active fault-tolerant control (FTC) design scheme for a class of nonlinear dynamic systems subjected simultaneously to modelling imperfections, parametric uncertainties and sensor faults. Modelling imperfections and parametric uncertainties are dealt with using an adaptive radial basis function neural network (RBFNN) that estimates the uncertain part of the system dynamics. For sensor fault estimation (FE), a nonlinear observer based on the estimated dynamics is designed. A scheme to estimate sensor faults in real-time using the nonlinear observer and an additional RBFNN is developed. The convergence properties of the RBFNN, used in the fault FE part, are improved by using a sliding surface function. For FTC design, a sliding surface is designed that incorporates the real-time sensor FE. The resulting sliding mode control (SMC) technique-based FTC law uses the estimated dynamics and real-time sensor FE. A double power-reaching law is adopted to design the switching part of the control law to improve the convergence and mitigate the chattering associated with the SMC. The FTC works well in the presence and absence of sensor faults without the requirement for controller reconfiguration. The stability of the proposed active FTC law is proved using the Lyapunov method. The developed scheme is implemented on a nonlinear simulation of an unmanned aerial vehicle (UAV). The results show good performance of the proposed unified FE and the FTC framework.  相似文献   

19.
This paper addresses the optimal controller problem for a linear system over linear observations with respect to different Bolza–Meyer criteria, where (1) the integral control and state energy terms are quadratic and the non-integral term is of the first degree or (2) the control energy term is quadratic and the state energy terms are of the first degree. The optimal solutions are obtained as sliding mode controllers, each consisting of a sliding mode filter and a sliding mode regulator, whereas the conventional feedback LQG controller fails to provide a causal solution. Performance of the obtained optimal controllers is verified in the illustrative example against the conventional LQG controller that is optimal for the quadratic Bolza–Meyer criterion. The simulation results confirm an advantage in favor of the designed sliding mode controllers.  相似文献   

20.
A novel variable structure controller is investigated for satellite attitude control. This novel controller does not lead to a sliding mode, which avoids the chattering problem, making it suitable for practical implementation. Detailed formulation of the controller is presented along with analytical stability analysis for a second order system. The system having this nonlinear controller is homogeneous, which leads to a similar response at large and small deviations from the equilibrium. A procedure for tuning homogeneous controllers for all initial conditions is proposed. A detailed model of the satellite attitude dynamics, actuator dynamics, and delays in the system is utilized to optimize controller gains numerically. A comparative analysis shows the superiority of the proposed controller over a conventional PID controller in terms of better transients and lower energy consumption.  相似文献   

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