New methodologies for adaptive sliding mode control. The algorithm is based on input shaping control and adaptive sliding mode control. Sep 18, 2007 adaptive parameter settings, which might solve this problem, remain difficult from implementation point of view. Optimizationbased adaptive sliding mode control with application to vehicle dynamics control article pdf available in international journal of robust and nonlinear control 291 april 2018. Adaptive sliding mode control of chaotic dynamical systems. Adaptive fuzzy global fast terminal sliding mode control of. Referring to the sliding mode control with sliding mode surface s stated in equation, the fuzzy sliding mode control law can be written as follows. The simulation results show that the indirect adaptive fuzzy sliding mode variable structure control method can accurately track the joint path of the hydraulic mechanical manipulator and has strong robustness to parameter changes. The stability of the adaptive sliding mode control. The adaptive algorithm is constructed based on the sliding mode control to ensure perfect tracking and synchronization in presence of system uncertainty and external disturbance. Pdf adaptive sliding mode speed control for wind energy. Adaptive fuzzy global fast terminal sliding mode control. The delay dependent conditions of the closed loop system are formulated and the equivalent gain of the adaptive sliding mode controller is obtained in the form of linear matrix inequalities lmi. This paper is concerned with the development of a practical approach to the design of adaptive sliding mode controllers.
This paper focuses on adjusting the sliding surface slope in fuzzy sliding mode controller by sliding mode fuzzy algorithm. A modelfree control algorithm derived using the sliding. An investigation of adaptive fuzzy sliding mode control for. The matlab is used to simulate the hydraulic servo system of the manipulator. Adaptive sliding mode control and its application in. The adaptive laws, however, rely on the projection algorithms, which can hardly be satisfied in practical problems. Robust pid control with sliding mode and adaptive rules for. Discrete slidingmode adaptive algorithm for adaptive. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order supertwisting sliding mode control strategy is employed, which not only can combine the advantages. Pdf adaptive neurofuzzy control with sliding mode learning. The proposed scheme does not need a priori knowledge of upper bounds on the norm of the uncertainties, but estimates them by using the adaptation technique. Control of incommensurate sinusoids using enhanced. Pdf adaptive sliding mode control and observation researchgate.
This paper presents a thorough study of the adaptive sliding mode technique with application to singlephase shunt active power filter apf. The new adaptive sliding mode control algorithm of the system with multiple delays in system states and control inputs are proposed. Firstly, an adaptive algorithm is used to estimate the unknown parameters and angular velocity of microgyroscopes. Design adaptive fuzzy inference sliding mode algorithm. Robust adaptive sliding mode controller 693 where ms and mt are the sprung mass and the unsprung mass of the system, ks is the suspension rigidity, kt is the tyre rigidity, c is the suspension damper, zs and zt are the displacements of the sprung mass and the unsprung mass. In order to improve ride comfort and handling stability of a vehicle, this paper will present an adaptive sliding mode control algorithm for semiactive suspension systems. Adaptive sliding mode control with sliding mode observer. In order to implement this adaptive slidingmode control algorithm on a digital computer, it is necessary to discretize the adaptive laws, the reference model dynamics and the control law. Adaptive fuzzy sliding mode control for a 3dof parallel. Adaptive smooth secondorder sliding mode control method with application to missile guidance 31 december 2015 transactions of the institute of measurement and control, vol. In this paper, the issue of full control both position and orientation controls of an overactuated unmanned flying robot is addressed using an adaptive fuzzy global fast terminal sliding mode control afgftsmc scheme in the presence of external disturbances and parametric uncertainties.
Index termspid controller, robust adaptive control, sliding mode control, stability. Adaptive sliding mode control algorithm for a microgravity. The asymptotically stability of the adaptive sliding mode control system is proved based on the lyapunov stability theory. A simple example illustrates the motivation and feasibility of the proposed. The adaptive sliding mode controller is designed so that the practical system can track the state of the reference model. Free chattering sliding mode control with adaptive algorithm for ground moving target tracking.
A novel fuzzy logic based adaptive supertwisting sliding mode control algorithm for dynamic uncertain systems abdul kareem1 and dr. Lin and hsus algorithm and shahnazi et avs algorithm are redesigned for robotic manipulators. In 18, the authors have established an adaptive sliding controller design based on ts fuzzy sys. Adaptive sliding mode control with sliding mode observer for. An illustrative example and numerical simulations are performed to convey the. Mechatronic system, robot arm, adaptive method, sliding mode fuzzy algorithm, fuzzy. Adaptive sliding mode control with application to supertwist. In this paper, a discrete slidingmode adaptive algorithm for adaptive filtering in signal processing is proposed. Lee b a school of computer and communication engineering, the daegu university,712 714, korea b department of electrical engineering, the pennsylvania state university, university park, pa 16802, u. In this paper, an adaptive sliding mode speed control algorithm with an integraloperation sliding surface is proposed for a variable speed wind energy experimental system.
Adaptive sliding mode coordinated control of multiple robot. A model reference adaptive sliding mode control algorithm is proposed to implement the harmonic compensation for the singlephase shunt apf. A novel fuzzy logic based adaptive super twisting sliding. Journal of low frequency noise, adaptive backstepping. In this paper an adaptation methodology is developed to find the control gain of a sliding mode control providing a minimum value of discontinuity resulting in minimization of the chattering effect. Design of adaptive fuzzy controller with nonlinear sliding mode daesik leea and kwang y. The effects of external disturbances, with large magnitudes, can be tackled by using a high value for the controller gain, but with a. Adaptive sliding mode control with smooth switching gain. Sliding mode control algorithm is an efficient control strategy to control systems with bounded nonlinearities and parameter uncertainties. In this paper, an adaptive fuzzy sliding mode control strategy with bound estimation is proposed to control the position of a microelectromechanical systems gyroscope in the presence of model uncertainties and external disturbances. Secondly, in order to improve the performance of the system and the superiority of the supertwisting algorithm. The adaptive backstepping fuzzy sliding mode control is developed by combining the backstepping method with adaptive fuzzy strategy, where backstepping design approach is used to drive the trajectory tracking errors to converge to zero rapidly with global asymptotic stability. The simulation will show that the suspension system using adaptive sliding mode. Reference considered the development of constructive sliding mode control strategies based on measured output information only for linear, timedelay systems with bounded disturbances that are not necessarily matched.
Adaptive supertwisting sliding mode control high order sliding mode control is an effective method to overcome the chattering problem. Adaptive control of systems with time varying delay. The objective is to define an adaptive control law that presents some desired advantages such as non overestimation of the disturbance input, cancellation of the chattering phenomenon, zero overshooting response, avoid control saturation and simplicity of algorithm tuning. Research article adaptive sliding mode control based on. However, if the knowledge about the bounds is unknown, sliding mode control fails to guarantee its claimed robustness. The glowworm swarm algorithm is first used to identify both static and dynamic parameters in the lugre friction model, and then an adaptive control with sliding mode control and finitetime adaptive laws the offline gso identification results are used as the initial values for the online adaptation is designed to guarantee asymptotic. Mar 12, 2020 in this paper, the issue of full control both position and orientation controls of an overactuated unmanned flying robot is addressed using an adaptive fuzzy global fast terminal sliding mode control afgftsmc scheme in the presence of external disturbances and parametric uncertainties. Adaptive sliding mode control design for a hypersonic. Introduction the proportionalintegralderivative pid controller is widely used in many control applications because of its simplicity and effectiveness. Adaptive twisting sliding mode algorithm for hypersonic reentry vehicle attitude control based on finitetime observer isa transactions, vol. This paper presents a novel adaptive sliding mode control with a sliding mode observer for a microelectromechanical system mems gyroscope. The algorithm follows a systematic procedure for the design of adaptive control laws for the output tracking of nonlinear systems with matched and unmatched uncertainty. The application of this methodology to the supertwist control enables reducing the control action magnitude to the minimum possible value along. Pdf optimizationbased adaptive sliding mode control.
An investigation of adaptive fuzzy sliding mode control. It is possible to use slidingmode techniques to design the adaptive filter in order to further improve the performance of adaptive filters. The main contribution of this work is the design of a robust controller based on a class of adaptive sliding mode control to ensure the rejection of bounded internal and external perturbations, demonstrated by the lyapunov direct method. Artificial neural network based adaptive law is introduced to model and estimated the various uncertainties disturbances. Adaptive sliding mode control with pid tuning for uncertain. The digital version of adaptive laws can be obtained by applying the trapezoid rule to.
Adaptive neural network sliding mode control for quad tilt. The proposed adaptive sliding mode controller with a sliding mode observer can estimate the unmeasured velocities, angular velocity, and damping and stiffness coefficients of the gyroscope in the presence of parameter variations and external disturbance. This paper has proposed a new adaptive scheme for conventional, supertwisting and higherorder sliding mode control algorithms. New methodologies for adaptive sliding mode control article pdf available in international journal of control 839. Indirect adaptive fuzzy slidingmode control for hydraulic. This process is experimental and the keywords may be updated as the learning algorithm. The main obstacles for application of sliding mode control are two. Discrete slidingmode adaptive algorithm for adaptive filtering. In this paper an adaptation methodology is developed to find the control gain of a slidingmode control providing a minimum value of discontinuity resulting in minimization of the chattering effect. In order to implement this adaptive sliding mode control algorithm on a digital computer, it is necessary to discretize the adaptive laws, the reference model dynamics and the control law. Chen, x 2006 adaptive sliding mode control for discretetime multiinput. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior.
Introduction slidingmode control smc was presented by utkin in 1977 in the international literature that was previously developed in russia 1. Application of adaptive sliding mode control sigma adaption. Therefore, the resulting system can resolve the conflict between the opposing requirements of static and dynamic accuracy that are. Abstractthis paper proposes a novel adaptive sliding mode control with pid tuning method for a class of uncertain systems. Pdf free chattering sliding mode control with adaptive. Adaptive sliding mode control is useful as it only requires the. Adaptive sliding mode control based on uncertainty and. However, the derivation is only based on a simplified model, neglecting the shape of the object. Adaptive sliding mode control with smooth switching gain ieee. Adaptive sliding mode control of singlephase shunt active.
This paper proposes a novel adaptive supertwisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. Adaptive continuous higher order sliding mode control. Though the use of pid control has a long history in control engineering, the three parameters. Based on the basic principle of singlephase shunt apf, the approximate dynamic model is derived. Application of adaptive sliding mode control for nonlinear systems. This paper proposes a novel adaptive fuzzy supertwisting sliding mode control scheme for microgyroscopes with unknown model uncertainties and external disturbances. The statefeedback control law is not a continuous function of time. Dynamic adaptation or the adaptation within a sliding mode on a sliding surface, based on the, socalled, equivalent control obtained by the direct measurements of the output signals of a firstorder lowpass filter containing in the input the discontinuous control with the specially adapted magnitude value. Control of incommensurate sinusoids using enhanced adaptive filtering algorithm based on sliding mode approach byeongil kim, gregory n washington, rajendra singh, 20. This feature helps to attenuate the undesirable chattering while preserving the prosperity of the. It is based on a novel dual layer nested approach and relies on the availability of an online approximation of the equivalent control associated with the possibly embedded switched terms. The main obstacles for application of sliding mode control are two interconnected phenomena. State observer based adaptive sliding mode control for semi.
A modelfree control algorithm derived using the sliding mode control method agamemnon crassidis, arielle mizov rochester institute of technology 76 lomb memorial drive, rochester, new york 14623, u. Article information, pdf download for application of adaptive sliding mode control. Theoretical proof of the stability and the convergence of the overall. It is well known that the amplitude of chattering is proportional to the magnitude of a discontinuous control. It is possible to use sliding mode techniques to design the adaptive filter in order to further improve the performance of adaptive filters. Adaptive sliding mode control with application to super. The main idea of the prominent adaptive gain algorithms is to increase the sliding mode controller gains whenever the sliding variable leaves a certain domain around the sliding surface, see e. Adaptive fuzzy supertwisting sliding mode control for. The goal is to achieve system robustness against parameter variations and external disturbances.
Sliding mode control algorithm with adaptive gain and. On adaptive sliding mode control without switching gain. Adaptive sliding mode control design for a hypersonic flight. A hybrid reference model is proposed which combines virtues of skyhook and groundhook control logics, and chooses a more suitable compromise for a given application. This thesis examines five adaptive fuzzy sliding mode control algorithms and their suitability for use in the control of a two degree of freedom robotic manipulator. The proposed method could provide higher adaptation ability than standard sliding mode control systems. The adaptive fuzzy variable structure controller developed in this paper employs fuzzy controller with nonlinear sliding mode. At the first step, full dynamic equations of motion of a novel overactuated flying robot are developed. Adaptive sliding mode coordinated control of multiple. An adaptive fuzzy sliding mode control scheme for robotic. Two sliding mode control smc algorithms are proposed to enhance the conventional least mea. Slidingmode control, chattering elimination, adaptive gain 1.
Then for a class of multiinput multioutput nonlinear systems, the corresponding udebased asmc algorithm and robustness analysis are given. An adaptive fuzzy sliding mode control scheme for robotic systems. In this paper, we propose an adaptive fuzzy sliding mode afsm aqm algorithm to achieve fast response and yet good robustness. Design of an adaptive sliding mode control for a microauv. Pdf adaptive sliding mode control for discrete uncertain. Design and analysis of adaptive supertwisting sliding. Adaptive supertwisting sliding mode control for wind energy. Suitable pid control gain parameters can be systematically online computed according to the developed adaptive law. Adaptive sliding mode control for discrete uncertain systems using matrix rls algorithm conference paper pdf available april 2015 with 81 reads how we measure reads. Adaptive parameter settings, which might solve this problem, remain difficult from implementation point of view.
The proposed adaptive sliding mode controller with a sliding mode observer can estimate the unmeasured velocities, angular velocity, and damping and stiffness coefficients of the gyroscope in the presence. Design of an adaptive gain variation sliding mode control algorithm for extended nonsingular terminal sliding mode observer based sensorless pmsm drive. May 23, 2012 adaptive twisting sliding mode algorithm for hypersonic reentry vehicle attitude control based on finitetime observer isa transactions, vol. Design of an adaptive gain variation sliding mode control. Sliding mode control an overview sciencedirect topics. The method has several advantages such as low sensitivity to system parameter variations and robustness against external.
Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Adaptive neurofuzzy control with sliding mode learning algorithm. Pdf new methodologies for adaptive sliding mode control. A modelfree control algorithm derived using the sliding mode. In this paper, a discrete sliding mode adaptive algorithm for adaptive filtering in signal processing is proposed. Request pdf adaptive sliding mode control traditionally, adaptive control is applied to dynamic systems that have constant or slowlyvarying, uncertain or unknown parameters, such as.
Secondly, in order to improve the performance of the system and the superiority of the supertwisting. Secondly, an adaptive control algorithm is presented to eliminate the approximation error, where a radial basis function rbf neural network is used to online regulate the equivalent sliding mode control law, and the novel mcbdcs algorithm is developed to uniformly update the unknown neural network weights and essential model parameters. Robust pid control with sliding mode and adaptive rules. The efficacy of both proposed algorithms is confirmed on a tutorial example and while controlling an electropneumatic actuator. Adaptive supertwisting sliding mode control for wind. Here, a combined control consist of handsoff control and an adaptive sliding mode control is allowed to adjust the movement of system state to the interior of k,kl sector and compensate the. Aiming at the problem of fixedtime trajectory tracking control for highorder dynamic systems with external timevarying disturbance and input deadzone, an adaptive fixedtime sliding mode control algorithm is proposed by employing a fixedtime sliding mode disturbance observer ftsmdo and highorder fixedtime sliding mode algorithm. New methodologies for adaptive sliding mode control halinria. A neural network adaptive sliding mode control nnasmc method is presented to design the dynamic controller for an omnidirectional vehicle considering uncertainties and unknown external disturbances.
Pdf closedloop input shaping control of vibration in. State observer based adaptive sliding mode control for. For this purpose, two adaptivegain control algorithms are considered. Although the general sliding mode control has the robust property, bounds on. Adaptive sliding mode fixedtime tracking control based on. Adaptive fuzzy sliding mode control using adaptive sliding. A practical approach to adaptive sliding mode control. Sliding mode control using a combined adaptive backstepping sliding mode control smc algorithm, is also studied. Adaptive fuzzy sliding mode active queue management.
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