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Second-order Sliding Mode Approaches for the Control of a Class of Underactuated Systems

International Journal of Automation and computing 2015年第2期12卷 134-141页

作者： Sonia Mahjoub Faical Mnif Nabil Derbel Advanced Control and Energy Management Laboratory University of SfaxSfax Engineering School Department of Electrical and Computer Engineering Sultan Qaboos University

In this paper, first-order and second-order sliding mode controllers for underactuated manipulators are proposed. Sliding mode control(SMC) is considered as an effective tool in different studies for control systems. However, the associated chattering phenomenon degrades the system performance. To overcome this phenomenon and track a desired trajectory, a twisting, a supertwisting and a modified super-twisting algorithms are presented respectively. The stability analysis is performed using a Lyapunov function for the proposed controllers. Further, the four different controllers are compared with each other. As an illustration, an example of an inverted pendulum is considered. Simulation results are given to demonstrate the effectiveness of the proposed approaches.

关键词： Underactuated manipulator sliding mode control twisting algorithm super-twisting algorithm inverted pendulum.

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Steering Control for Rollover Avoidance of Heavy Vehicles

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2012年第8期61卷 3499-3509页

作者： Imine, Hocine Fridman, Leonid M. Madani, Tarek Lab Rd Operat Percept Simulat & Simulators LEPSIS Lab Rd Operat Percept Simulators & Simulat F-75732 Paris France Univ Nacl Autonoma Mexico Dept Ingn Control & Robot Div Ingn Elect Fac Ingn Mexico City 04510 DF Mexico Lab Ingn Syst Versailles F-78140 Velizy Villacoublay France

The aim of this paper is to develop an active steering assistance system to avoid the rollover of heavy vehicles (HV). The proposed approach is applied on a single body model of HV presented in this paper. An estimator based on the high-order sliding mode observer is developed to estimate the vehicle dynamics, such as lateral acceleration limit and center height of gravity. Lateral position and lateral speed are controlled using a twisting algorithm to ensure the stability of the vehicle and avoid accidents. At the same time, the identification of unsprung masses and suspension stiffness parameters of the model have been computed to increase the robustness of the method. Some simulation and experimental results are given to show the quality of the proposed concept.

关键词： Estimation identification rollover sliding mode control sliding mode observers steering control twisting algorithm vehicle modeling

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Application of Higher Order Sliding-Mode Concepts to a Throttle Actuator for Gasoline Engines

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2009年第9期56卷 3322-3329页

作者： Reichhartinger, Markus Horn, Martin Alpen Adria Univ Klagenfurt Fac Tech Sci Inst Smart Syst Technol A-9020 Klagenfurt Austria

In this paper, the control of an electronic throttle valve based on second-order sliding-mode concepts is presented. The so-called twisting algorithm is chosen as the control law. It is shown that the tracking performance for discontinuous reference signals is significantly improved by introducing nonlinear damping by appropriately specifying the sliding surface. The control concept requires the measured plate angle as well as its time derivative, which is computed with the help of a robust exact differentiator. The effectiveness of the proposed concept, consisting of a twisting algorithm for control and supertwisting algorithm for differentiation, is demonstrated by experimental results.

关键词： Electronic throttle control robust exact differentiator sliding-mode control supertwisting algorithm twisting algorithm

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Synchronous Pitch and Yaw Orientation Control of a Twin Rotor MIMO System Using State Varying Gain Sliding Mode Control

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ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2024年第12期49卷 16169-16182页

作者： Palepogu, Koteswara Rao Mahapatra, Subhasish VIT AP Univ Sch Elect Engn Guntur 522237 Andhra Pradesh India

This study introduces a novel control approach for a twin rotor multi-input multi-output system (TRMS), specifically targeting the pitch and yaw movements. The proposed method employs a sliding mode controller (SMC) with variable gains, aiming to overcome limitations like chattering and excessive control effort. Unlike traditional controllers, the gains here dynamically adjust based on the error state, enhancing the robustness of the system against external disturbances and parameter uncertainties. The control algorithm draws inspiration from both first-order and higher-order sliding mode controllers. To rigorously assess the robustness of the controller, Gaussian White noise is incorporated into the model. By dynamically adjusting gains, the proposed approach aims to minimize control effort while mitigating control signal overestimation arising from model uncertainties. Furthermore, stability analysis confirms that the operating point of the closed-loop system converges within a finite time. The effectiveness of this novel controller is validated through simulations using the MATLAB/Simulink environment.

关键词： TRMS Helicopter model Sliding mode control twisting algorithm Variable gains

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Fault Tolerant Control of Satellite Formation Flying Using Second Order Sliding Mode Control

Fault Tolerant Control of Satellite Formation Flying Using S...

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IEEE International Conference on Systems, Man and Cybernetics (SMC)

作者： Saif, M. Ebrahimi, B. Vali, M. Simon Fraser Univ Sch Engn Sci Vancouver BC Canada Minist Sci Res & Technol Aerosp Res Inst Tehran Iran Univ Kashan Sch Mech Engn Kashan Iran

ISBN: (纸本)9781457706530

twisting, second order sliding mode control is presented to accommodate the thruster faults in the nonlinear MIMO picosatellite formation flying system with unknown time-varying disturbances. Robustness and stability of the proposed scheme is proved using twisting algorithm and its capability for formation keeping demonstrated against periodic thruster faults and external disturbances through simulations.

关键词： Fault tolerant control second order sliding mode control twisting algorithm satellite formation flying

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Sliding Mode Control for a Minimum Phase Unstable Second Order System

Sliding Mode Control for a Minimum Phase Unstable Second Ord...

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1st International Conference on Advancements in Automation and Control (ICAAC)

作者： Kumar, Senthil B. Manic, K. Suresh Anna Univ Madras 600025 Tamil Nadu India

ISBN: (纸本)9783038351245

Sliding Mode Control is a robust Controller for Linear and Nonlinear plants where uncertainty in the model exists. Convetional controllers such as PID, Lead-lag Compensators do not to compensate for the uncertainties due to modeling and rejection to either matched or unmatched disturbances. The proposed method for controlling Unstable Second Order System with a zero by padmashree et al(2) is taken from the literature for a Jacketed Continous Stirred-Tank Reactor.

关键词： Second Order Plus Time Delay Sliding Mode Control First Order Sliding Mode Control Intergral Sliding Mode Control twisting algorithm Super twisting algorithm

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Second Order Sliding Mode Control for Inverted Pendulum 12

Second Order Sliding Mode Control for Inverted Pendulum

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International Multi-Conference on Systems, Signals and Devices (SSD)

作者： Jedda, Olfa Ghabi, Jalel Douik, Ali Univ Monastir Natl Engn Sch Monastir Monastir Tunisia Univ Sousse Natl Engn Sch Sousse Sousse Tunisia

ISBN: (纸本)9781479917587

This paper presents a second order sliding mode control for an inverted pendulum which is a nonlinear and unstable system. Two second order sliding mode algorithms are presented: twisting algorithm and super- twisting algorithm. They are used to ensure not only a better robustness against parametric uncertainties, modeling errors and external disturbances, by the attenuation of chattering, but also a finite time convergence of state variables. Simulations results are shown to manifest the efficiency of these approaches.

关键词： inverted pendulum second order sliding mode control twisting algorithm super-twisting algorithm

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Lyapunov Method for Unperturbed Double Integrator Systems 13

Lyapunov Method for Unperturbed Double Integrator Systems

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13th International Conference on Control Automation Robotics & Vision (ICARCV)

作者： Jang, W. Almurib, H. A. F. Kumar, T. Nandha Univ Nottingham Dept Elect & Elect Engn Semenyih Malaysia

ISBN: (纸本)9781479951994

In this paper a strong Lyapunov function is proposed, for the first time, for a parameterized family of homogeneous sliding mode based controllers. Indeed, from twisting algorithm, to the linear PD control law, to the uniformly stable control law, a general homogeneous family of control algorithms are considered. The strict locally Lipschitz homogeneous Lyapunov function allows the possibility to estimate an upper bound for the convergence time of the trajectories of the system to the equilibrium point, in finite-time, exponentially, or uniformly asymptotically, by exploiting the homogeneity properties of the system. Moreover, the introduction of Lyapunov function allows the analysis of the relationship between the control gains and its convergence time.

关键词： Lyapunov function Sliding mode twisting algorithm Stability analysis

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Adaptive Continuous Sliding Mode Control of Buck Converters Based on Zero-Crossing Checking 47

Adaptive Continuous Sliding Mode Control of Buck Converters ...

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47th Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Wang, Yanmin Zhang, Weiqi Zhang, Zekun Cai, Haoran Harbin Inst Technol Sch Elect Engn & Automat Harbin Peoples R China

ISBN: (纸本)9781665435543

In this paper, an adaptive continuous sliding mode (SM) control approach is proposed for buck converters by introducing a novel zero-crossing checking mechanism into the twisting algorithm. Instead of the traditional first-order SM approaches, the twisting algorithm can solve their inherent chattering problem and realize the control continuity at the price of unnecessary constant control gain and low precision. Differing from the traditional adaptive mechanisms based on fuzzy logic or Lyapunov stability, the convergence characteristics of the controlled buck converter system are analyzed and further an adaptive twisting algorithm is proposed based on zero-crossing checking online to achieve a time-varying control gain. The number of the zero-crossing checking points can be calculated and the system stability is investigated. Comparative simulations with the traditional twisting algorithm validate the improved algorithm with advantages of high accuracy and excellent performance.

关键词： Sliding mode buck converter adaptive control zero-crossing checking twisting algorithm

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Second-Order Sliding Mode Control for DC-DC Buck Converter with Input Voltage Ripple Elimination 32

Second-Order Sliding Mode Control for DC-DC Buck Converter w...

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32nd International Conference on Electrical Engineering (ICEE)

作者： Azimi, Maede Asadi, Mehdi Zakipour, Adel Arak Univ Technol Arak Iran

ISBN: (纸本)9798350376357;9798350376340

In this paper, a second-order sliding mode controller is proposed for the DC-DC buck converter. The proposed SOSMC scheme has been developed to reduce the voltage ripple in the output rectifier stage, improve the control system robustness, and guarantee finite-time convergence properties under load variations and parameter uncertainties. Also, the capability of the proposed controller is verified and compared with the other sliding mode controllers using the MATLAB/Simulink toolbox. To evaluate the performance of this control system, three different cases are studied: response to start-up, turbulence in load, and change in reference voltage level. The results show that the proposed SOSMC eliminates the voltage ripple, improves the steady-state error, and reduces the settling time of the output voltage.

关键词： DC-DC buck converter ripple elimination sliding mode control twisting algorithm

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