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sliding mode variable structure control for smith prediction monitoring AGC system based on double power reaching law

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JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2016年第6期38卷 1731-1743页

作者： Yin Fang-chen Sun Jie Zhang Dian-hua Ma Geng-sheng Northeastern Univ State Key Lab Rolling & Automat Shenyang 110819 Peoples R China

To overcome unfavorable influence of the large time delay existing in monitoring automatic gauge control (AGC) of tandem hot mill and model mismatching greatly on strip rolling process on system stability, a sliding mode variable structure control for Smith prediction monitoring AGC system based on double power reaching law was designed. The mathematical model of the hydraulic gap control (HGC) system was established based on the 7(#) stand in 1450 mm tandem hot mill of a factory and model parameters were identified by Levy curve fitting method. Based on the identified model, conventional Smith prediction monitoring AGC system (SP-MNAGC), sliding mode variable structure control for Smith prediction monitoring AGC system based on constant rate reaching law (CR-SPSMC-MNAGC) and sliding mode variable structure control for Smith prediction monitoring AGC system based on double power reaching law (DP-SPSMC-MNAGC) were researched with Matlab/Simulink software. The results show that the three different controllers acquire good control effect during model matching. But during model mismatching, for SP-MNAGC system, the maximum value of rising time will increase to 2102.3 ms, the overshot will increase to 39.6 %;for CR-SPSMC-MNAGC system, the maximum value of rising time will increase to 348.3 ms, the overshot will increase to 13.1 %;for DP-SPSMC-MNAGC system, the overshot is less than 8.7 %, and the rising time is less than 36.1 ms in any case. Besides this, DP-SPSMC-MNAGC system can weaken the chattering of sliding mode effectively.

关键词： Monitoring AGC HGC system modeling Smith predictor control sliding mode variable structure control Double power reaching law

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sliding mode variable structure control of mobile manipulators

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INTERNATIONAL JOURNAL OF modeLLING IDENTIFICATION AND control 2011年第1-2期12卷 166-172页

作者： Ge, Weimin Ye, Duofang Tianjin Univ Technol Sch Mech Engn Extended Line Hongqi South Rd Tianjin 300384 Peoples R China

For the extreme non-linear and strong coupling characteristics of mobile manipulators, and based on the theory of sliding mode variable structure control, this paper proposes a control approach of mobile manipulators. The entire control system is composed of two parts, including the sliding mode trajectory tracking control of the mobile platform and the non-singular terminal sliding mode control of the manipulator. The simulation results show the effectiveness of the presented approach.

关键词： mobile manipulator sliding mode variable structure control trajectory tracking underactuated manipulator

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sliding mode variable structure control Combining With Disturbance Observer for mobile Vehicle 38

Sliding Mode Variable Structure Control Combining With Distu...

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38th Chinese control Conference (CCC)

作者： Wang, Jianmei Li, Mengjie Fan, Yanyan Yan, Jing Luo, Xiaoyuan Yanshan Univ Sch Elect Engn Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Sch Mech Engn Qinhuangdao 066004 Hebei Peoples R China

ISBN: (纸本)9789881563972

In this paper, a sliding mode variable structure control strategy based on disturbance observer (DO) is developed for a mobile vehicle with second order dynamics. The system of the vehicle consists of nonlinear acceleration uncertainties. Firstly, the DO is proposed to estimate the disturbance in the system, and the estimation error of the disturbance converges fleetly in finite time. In addition, the bound of the disturbance is not required to be known. Secondly, an integral sliding mode variable structure control strategy combining with multiple power reaching laws is developed for the vehicle system. The proposed strategy improves the performance of the system, and alleviates the chattering problem effectively. The stability of the vehicle is achieved via Lyapunov stability theory. Finally, the numerical simulation results verify the validity and advantages of the proposed strategy in this paper.

关键词： Mobile vehicle sliding mode variable structure control Disturbance Observer (DO) Finite Time

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sliding mode variable structure control for Electric Power Steering System

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International Conference on Frontiers of Manufacturing and Design Science (ICFMD2010)

作者： Shi, Peilin Xu, Guanlin Tang, Shaofeng Tang, Junjie Shandong Univ Technol Sch Traff & Vehicle Engn Zibo 255091 Peoples R China

ISBN: (纸本)9783037850046

There are many uncertain factors because of the nonlinearity of system and the road surface interference in the electric power steering system (EPS), and a PID controller is only used suitably when the system is a linear system and the system parameters are certain. A sliding mode variable structure controller which is based on the exponential approach law is proposed for EPS for the nonlinear system and the road surface disturbance. Simulation shows that the proposed controller has the steady performance and the dynamic performance, and its sliding mode is absolutely self-adaptive, so the sliding mode controller can be used to robust control for electric power steering system.

关键词： Electric power steering system sliding mode variable structure control exponential approach law

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sliding mode variable structure control Design for A Kind of Nonlinear Discrete Singular Uncertain Systems with Time-Delay

Sliding Mode Variable Structure Control Design for A Kind of...

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International Conference on Manufacturing Science and Technology (ICMST 2011)

作者： Wang Yongxu Zhang Caihong Gao Cunchen Yantai Occupat Coll Dept Leather Prod Yantai 264001 Peoples R China Ocean Univ China Sch Math Sci Qingdao 266001 Peoples R China

ISBN: (纸本)9783037852958

In this paper, the quasi-sliding mode variable structure control problem for interval coefficients nonlinear discrete singular uncertain systems with time-delay is researched, and it can be decomposed to two lower dimension systems with ordinary coefficients. According to some results on robust stability of discrete singular systems with time-delay, the quasi-switching manifold with difference compensator are designed, then with the quasi-sliding mode variable structure control law, the system comes to stability. At last, the feasibility and effectiveness of the results are explained by a numerical example.

关键词： time-delay nonlinear interval coefficient sliding mode variable structure control uncertain systems

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sliding mode variable structure control for inverted pendulum visual servo systems 5th

Sliding mode variable structure control for inverted pendulu...

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5th IFAC Conference on Intelligent control and Automation Sciences (ICONS)

作者： Song, Yuehua Du, Dajun Sun, Qing Zhou, Huiyu Fei, Minrui Shanghai Univ Sch Mechatron Engn & Automat Shanghai Key Lab Power Stn Automat Technol Shanghai 200072 Peoples R China Univ Leicester Dept Informat Leicester Leics England

This paper investigates the sliding mode variable structure control (SMVSC) for a class of typical Cyber-Physical Systems (CPSs), Inverted Pendulum Visual Servo Systems (IPVSSs). In the current CPSs SMVSC studies, the visual servo is rarely involved and there is a lack of the corresponding verification platform. In this paper, we propose an SMVSC algorithm for the self-developed IPVSS to encounter the time-varying Image Processing Computation Delay (IPCD) caused by visual servo. Within this framework, a linear sliding surface is constructed based on the Ackermann pole assignment method and an SMVSC law is given. In addition, the relationship between the IPCD and the stability of sliding motion on the specified linear sliding surface is quantified. Furthermore, we prove that the designed SMVSC law can guarantee the system state to reach the linear sliding surface in a finite time and remain stable for all subsequent time. Finally, the simulation and real-time control experiments verify the feasibility and effectiveness of the proposed method. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Inverted pendulum Visual servo sliding mode variable structure control Image processing Computational delay

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Neural network-based sliding mode variable structure control for Mars entry

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2012年第G11期226卷 1373-1386页

作者： Li, S. Peng, Y-M Nanjing Univ Aeronaut & Astronaut Coll Astronaut Nanjing 210016 Jiangsu Peoples R China Shanghai Inst Satellite Engn Shanghai Peoples R China

To deliver a Mars entry vehicle through the Martian atmosphere to the prescribed parachute deployment point, active Mars entry guidance and control is essential. This article addresses the problem of Mars atmospheric entry control by a neural network-based sliding mode variable structure control (NNSMVSC) to reduce the effect of the bounded uncertainties on the atmospheric density and aerodynamic coefficients. First, NNSMVSC is designed to robustly track the prescribed nominal trajectory under high uncertainties and to effectively reduce the downrange error. Then, the heading alignment logic is adopted in the lateral plane to reduce the cross-range error. Finally, the validity of the control algorithm proposed in this article is demonstrated by computer simulation analysis.

关键词： Mars entry sliding mode variable structure control neural networks atmospheric uncertainties Monte Carlo simulation

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Delay-Dependent sliding mode variable structure control of Vehicle Magneto-Rheological Semi-Active Suspension

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IEEE ACCESS 2022年 10卷 51128-51141页

作者： Zhu, Maofei Lv, Gang Zhang, Chunpeng Jiang, Jianman Wang, Huiran Hefei Univ Sch Adv Mfg Engn Hefei 230601 Peoples R China Anhui Prov Engn Technol Res Ctr Intelligent Vehic Hefei 230601 Peoples R China Anhui Jianghuai Automobile Co Ltd Tech Ctr Hefei 230601 Peoples R China

The vehicle semi-active suspension with Magneto-Rheological Damper (MRD) has been a hot research topic of this decade, featuring the challenging task of the robust control with actuator time delay considerations. In this study, a delay dependent sliding mode variable structure control, based on the Linear Matrix Inequality (LMI), is proposed to suppress the vibration of the Magneto-Rheological Semi-Active Suspension (MRSS) control system. In accordance with the nonlinear characteristics of MRD, a dynamic model of automotive semi-active suspension system, considering time delay, is established. By defining a parameter-dependent Lyapunov switching functional, the conditions for asymptotic stability of closed-loop time delay system are derived, while the sliding mode variable structure control with reduced conservatism is designed. According to the method of LMI, the asymptotic stability problem of sliding mode is transformed into a feasibility problem, which can be solved by the solver 'feasp' in LMI toolbox. In addition, the calculation of the critical time delay of MRSS is expressed as a generalized eigenvalue optimization problem. For comparison purposes, three representative controllers, including a conventional sliding mode controller, a delay dependent controller, and a smith compensation, are studied. Simulation and real vehicle testing on bump and random road responses show that, the designed delay dependent controller can ensure the stability of the suspension system, weaken the influence of time delay on the control performance and effectively improve the ride comfort of the vehicle.

关键词： Delay effects control systems Delays Damping Asymptotic stability Magnetomechanical effects Actuators Semi-active suspension magneto-rheological damper time delay sliding mode variable structure control linear matrix inequality

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sliding mode variable structure control for inverted pendulum visual servo systems

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IFAC-PapersOnLine 2019年第11期52卷 262-267页

作者： Yuehua Song Dajun Du Qing Sun Huiyu Zhou Minrui Fei Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronic Engineering and Automation Shanghai University Shanghai 200072 PR China Department of Informatics University of Leicester UK

关键词： Inverted pendulum Visual servo sliding mode variable structure control Image processing Computational delay

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control of chaos in vehicle lateral motion using the sliding mode variable structure control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2019年第4期233卷 776-789页

作者： Chen, Wuwei Zhang, Rongyun Zhao, Linfeng Wang, Hongbo Wei, Zhenya Hefei Univ Technol Sch Automot & Traff Engn Hefei Anhui Peoples R China Anhui Polytech Univ Sch Mech & Automot Engn Beijing Middle Rd Wuhu 241000 Peoples R China

A 3-degree of freedom (DOF) nonlinear model including yaw, lateral, and roll motions was constructed, and a numerical simulation of chaotic behavior was performed using the Lyapunov exponent method. The vehicle motion is complex, manifesting double-periodic, quasi-periodic, and chaotic phases, which negatively affects the vehicle lateral stability. To control this chaotic behavior, a controller was designed based on the sliding mode variable structure control (SM-VSC) method. To decrease chattering and further improve lateral stability of the vehicle under extreme operating conditions, the adaptive power reaching law was realized by using a fuzzy control method. The performance of the SM-VSC system was simulated by using Matlab/simulink. The simulation results including the uncontrol, SM-VSC control, and adaptive-reaching SM-VSC control were compared, which demonstrated that the adaptive-reaching SM-VSC control method is more effective in suppressing the chaotic phase of the vehicle lateral motion. The approach proposed in this paper can significantly improve a vehicle's lateral stability under extreme operating conditions.

关键词： Adaptive power reaching law bifurcation chaos sliding mode variable structure control vehicle lateral motion

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