Article
Engineering, Mechanical
Zhenhua Zhao, Ting Li, Dong Cao, Jun Yang
Summary: A new bilateral continuous terminal sliding mode control method is proposed to attenuate high-order time-varying disturbance in teleoperation systems using enhanced nonlinear disturbance observer (ENDOB). The control task is transformed into stabilizing position and force tracking errors. ENDOBs are introduced to estimate the high-order lumped disturbances, and a bilateral continuous terminal sliding mode controller is developed based on the estimation. The proposed method is demonstrated to be effective in a bilateral lift robot system.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Ke Shao
Summary: This paper introduces a nested adaptive integral terminal sliding mode control scheme for high-order uncertain nonlinear systems, which eliminates the reaching phase and stabilizes the system in finite time. The proposed method achieves finite-time origin convergence without reaching phase, nonoverestimation, nonsingular and chattering-free control signal, providing advantages over conventional methods.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Mathematics, Interdisciplinary Applications
Yunmei Fang, Siyang Li, Juntao Fei
Summary: In this study, a second-order sliding mode control (SOSMC) with a fractional module using an adaptive fuzzy controller is developed for an active power filter (APF). A second-order sliding surface using a fractional module is designed to reduce discontinuities and chattering, ensuring system stability and simplifying the design process. Additionally, a fuzzy logic control is employed to estimate parameter uncertainties. Simulation and experimental results demonstrate the effectiveness of the designed fractional SOSMC with adaptive fuzzy controller in satisfactorily eliminating harmonics, as well as its good robustness and stability compared to an integer order controller.
FRACTAL AND FRACTIONAL
(2022)
Article
Computer Science, Information Systems
Abdul-Wahid A. Saif, Khaled Bin Gaufan, Sami El-Ferik, Mujahed Al-Dhaifallah
Summary: This research proposes the implementation of two advanced controllers with integer and fractional order quadrotor systems to enhance control performance, robustness, and accuracy. MATLAB simulation studies verify the effectiveness of the approach, showing that the fractional order quadrotor system outperforms the traditional integer order system. The study highlights the potential of fractional order modeling and control techniques in improving quadrotor system performance, with implications for modern control engineering.
Article
Automation & Control Systems
Gian Paolo Incremona, Matteo Rubagotti, Mara Tanelli, Antonella Ferrara
Summary: Sliding mode control is widely used in various applications, but chattering is a well-known issue. To address this problem, higher order sliding mode methods have been proposed, along with the development of switched and variable-gain approaches to enhance controller flexibility and performance. The article introduces a conceptual framework merging these aspects, providing a general methodology for designing and tuning high-order sliding mode controllers.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Automation & Control Systems
Asif Chalanga, Franck Plestan
Summary: This control technique uses integral sliding-mode concept, combining nominal control and super-twisting algorithm robust control for finite-time trajectory tracking of a perturbed electropneumatic actuator. Practical implementation in SISO and MIMO contexts is discussed, along with robustness to external disturbances.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2021)
Article
Engineering, Mechanical
Zhiyu Li, Bailing Tian, Xiuyun Zhang
Summary: In this paper, a novel integrated guidance and control algorithm based on adaptive high-order sliding mode is proposed for reusable launch vehicle subject to unknown disturbances and actuator faults. We propose a time-varying barrier function-based adaptive control law to offset the effects of uncertainties. The remarkable feature of the developed algorithm is its ability to track the reference commands in finite time despite unknown disturbances and actuator faults, without designing the guidance law and attitude controller separately. Finally, the effectiveness of the proposed algorithm is confirmed by the simulation results.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Zhihong Zhang, Kemao Ma
Summary: A novel quantization-based switched second-order sliding mode control design is proposed for nonlinear uncertain systems, which employs a new quantization strategy and state-space partition to attenuate the conservatism of control gain. All quantized regions are found to be globally invariant sets, leading to a monotonously consecutive decrease of control amplitude as the sliding variable converges to the origin through various uncertainty levels. The closed-loop system performance can be enhanced by adapting the quantization parameters, as evidenced by finite-time stability analysis and an assessment of the impact of quantization parameters on total convergence time. Simulation results demonstrate the efficacy and superiority of the proposed method compared to existing approaches.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Computer Science, Information Systems
Jianping Guo
Summary: Sliding mode control (SMC) is widely used in power systems, power electronics, and vehicle suspension systems due to its robustness to system uncertainties and disturbances. However, it suffers from the problem of chattering. To mitigate this issue, this study proposes a novel adaptive high-order sliding mode control (HOSMC) method, which has the advantage of parameterizable unmodeled dynamics compared to traditional HOSMC. The proposed method is demonstrated to be effective in load frequency control with nonlinearities and exhibits robustness to parameter changes.
Article
Automation & Control Systems
Boban Veselic, Cedomir Milosavljevic, Branislava Drazenovic, Senad Huseinbegovic
Summary: This paper examines the design of sliding manifolds for higher-order sliding mode control in linear systems, highlighting unique requirements for single-input and multi-input systems. The theoretical findings are validated through numerical examples and digital simulations, emphasizing the importance of specific structural constraints in determining the existence of such manifolds.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Automation & Control Systems
Liu Yang, Zhongyang Zhao, Dongjie Li
Summary: This paper introduces a new method for reducing the rate-dependent impacts of piezoelectric actuators (PEA) on the positioning system through the development of a feedback control system. The method is based on the fractional order Hammerstein model and proposes a novel fractional order integral sliding mode surface to accurately depict the dynamic characteristics of PEA. The sliding mode surface is constructed using a fractional neural sliding mode control method. The study finds that this method has a quicker response time and lower tracking error compared to other methods.
Article
Automation & Control Systems
Akihiko Hosokawa, Yusei Mitsuhashi, Kazuki Satoh, Zi-Jiang Yang
Summary: A robust output feedback nonlinear control method is proposed for output tracking of an uncertain three-tank system using only the level sensor of the target tank. The system model is transformed into a canonical form with uncertainties through coordinate transformation. The state variables of the canonical system are estimated using a higher-order sliding mode differentiator based on the measurement of the target tank's liquid level. A continuous full-order sliding mode controller is then constructed based on the estimated state variables to eliminate the effects of both the additive and multiplicative uncertainties. Rigorous analysis is conducted to clarify the control performance, and the effectiveness of the proposed method is verified through experimental studies on the Inteco Multi-tank system.
Article
Engineering, Mechanical
Aldo Jonathan Munoz-Vazquez, Guillermo Fernandez-Anaya, Juan Diego Sanchez-Torres, Fidel Melendez-Vazquez
Summary: This paper introduces the concept of distributed-order calculus and presents a controller design that ensures predetermined-time convergence of the solution of a distributed-order dynamical system. Additionally, a predefined-time sliding mode design for a general class of uncertain distributed-order dynamical system is proposed. A numerical study is conducted to demonstrate the reliability of the proposed scheme.
NONLINEAR DYNAMICS
(2021)
Article
Engineering, Mechanical
Bo Li, Haichao Zhang, Bing Xiao, Chenghu Wang, Yongsheng Yang
Summary: This paper introduces a novel control approach for fixed-time tracking of high-order nonlinear systems, using IHOSM surface and fixed-time sliding mode disturbance observer to achieve stability and accuracy. Experimental results demonstrate the effectiveness and superiority of the proposed method.
NONLINEAR DYNAMICS
(2022)
Article
Automation & Control Systems
Emmanuel Cruz-Zavala, Jaime A. Moreno
Summary: This article presents a new Lyapunov-based design for high-order sliding-mode controllers, which divides the system into homogeneous systems near and far from the origin, and designs a family of orbit-homogeneous HOSM controllers capable of establishing sliding-mode of arbitrary order in finite-time. The novel HOSM controllers improve robustness against perturbations and enhance convergence velocity, allowing for fixed-time convergence.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
