• Title/Summary/Keyword: Integral sliding mode control

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Robust Trajectory Tracking Control of a Mecanum Wheeled Mobile Robot Using Impedance Control and Integral Sliding Mode Control (임피던스 제어와 적분 슬라이딩 모드 제어를 이용한 메카넘 휠 이동로봇의 강인한 궤도 추적 제어)

  • Woo, Cheolmin;Lee, Min-uk;Yoon, Tae-sung
    • The Journal of Korea Robotics Society
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    • v.13 no.4
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    • pp.256-264
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    • 2018
  • Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

A Highly Robust Integral Optimal Variable Structure System (고 강인성 적분 최적 가변구조 제어기)

  • Lee, Jung-Hoon
    • Journal of IKEEE
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    • v.9 no.2 s.17
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    • pp.87-100
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    • 2005
  • In this paper, a design of an integral augmented optimal variable structure system(IOVSS) is presented for the prescribed output control of uncertain SISO systems under persistent disturbances. This algorithm aims at removing the problems of the reaching phase by incorporating advanced optimal control theory. By means of an integral sliding surface, the reaching phase is completely removed, and the integral sliding surface can be defined from a given initial state to origin without any reaching phase. The ideal sliding dynamics of the integral sliding surface is obtained in the form of the state equation and is designed in an optimal sense by targeting the design of the integral sliding surface and equivalent control input. The corresponding control input is selected in order to generate the sliding mode on the predetermined integral sliding surface. As a result, the whole sliding output from a given initial state to origin is completely guaranteed against persistent disturbances. Moreover the prediction/predetermination of output is enabled, which helps in improving the performance over previously implemented VSS's. Through an illustrative example, the usefulness of the algorithm is shown.

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LMI-based Design of Integral Sliding Mode Controllers for Polytopic Models (폴리토픽 모델을 갖는 시스템을 위한 적분 슬라이딩 모드 제어기의 LMI 기반 설계)

  • Choi, Han-Ho
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.24 no.9
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    • pp.44-48
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    • 2010
  • This paper presents an LMI-based method to design an integral sliding mode controller for an uncertain system with a polytopic model. The uncertain system under consideration may have mismatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs we derive an existence condition of a sliding surface. And we give a switching feedback control law.

Adaptive second-order nonsingular terminal sliding mode power-level control for nuclear power plants

  • Hui, Jiuwu;Yuan, Jingqi
    • Nuclear Engineering and Technology
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    • v.54 no.5
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    • pp.1644-1651
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    • 2022
  • This paper focuses on the power-level control of nuclear power plants (NPPs) in the presence of lumped disturbances. An adaptive second-order nonsingular terminal sliding mode control (ASONTSMC) scheme is proposed by resorting to the second-order nonsingular terminal sliding mode. The pre-existing mathematical model of the nuclear reactor system is firstly described based on point-reactor kinetics equations with six delayed neutron groups. Then, a second-order sliding mode control approach is proposed by integrating a proportional-derivative sliding mode (PDSM) manifold with a nonsingular terminal sliding mode (NTSM) manifold. An adaptive mechanism is designed to estimate the unknown upper bound of a lumped uncertain term that is composed of lumped disturbances and system states real-timely. The estimated values are then added to the controller, resulting in the control system capable of compensating the adverse effects of the lumped disturbances efficiently. Since the sign function is contained in the first time derivative of the real control law, the continuous input signal is obtained after integration so that the chattering effects of the conventional sliding mode control are suppressed. The robust stability of the overall control system is demonstrated through Lyapunov stability theory. Finally, the proposed control scheme is validated through simulations and comparisons with a proportional-integral-derivative (PID) controller, a super twisting sliding mode controller (STSMC), and a disturbance observer-based adaptive sliding mode controller (DO-ASMC).

A New Robust Variable Structure Controller With Nonlinear Integral-Type Sliding Surface for Uncertain More Affine Nonlinear Systems with Mismatched Uncertainties and Disturbance (부정합조건 불확실성과 외란을 갖는 비선형 시스템을 위한 비선형 적분형 슬라이딩 면을 갖는 새로운 강인한 가변구조제어기)

  • Lee, Jung-Hoon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.59 no.7
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    • pp.1295-1301
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    • 2010
  • In this note, a systematic general design of a new robust nonlinear variable structure controller based on state dependent nonlinear form is presented for the control of uncertain affine nonlinear systems with mismatched uncertainties and mismatched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear variable structure controller is presented. To be linear in the closed loop resultant dynamics, the nonlinear integral-type sliding surface is applied. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the nonlinear integral-type sliding surface, which will be investigated in Theorem 1. Through a design example and simulation studies, the usefulness of the proposed controller is verified.

LMI-based Design of Integral Sliding Mode Controllers for Mismatched Uncertain Systems (비정합 불확실성을 갖는 시스템을 위한 적분 슬라이딩 모드 제어기의 LMI 기반 설계)

  • Choi, Han-Ho
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.59 no.8
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    • pp.1441-1443
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    • 2010
  • This paper presents an LMI-based method to design an integral sliding mode controller for for a class of uncertain systems with mismatched unstructured uncertainties. The uncertain system under consideration may have mismatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs we derive an existence condition of a sliding surface. And we give a switching feedback control law. Finally, we give a numerical design example in order to show that the proposed method can be better than the existing results.

A New Integral Variable Structure Controller For Incorporating Actuator Dynamics

  • Lee, Jung-Hoon
    • Journal of IKEEE
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    • v.10 no.2 s.19
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    • pp.97-102
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    • 2006
  • In this paper, a new simple integral variable structure controller is designed with incorporating the actuator dynamics. The formulation of the VSS (variable structure system) controller design includes integral augmented sliding surface and the dynamics of the actuator expressed as the state equation. An illustrative example is given to show the effectiveness of the developed controller.

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A Poof of Utkin's Theorem for the SI Uncertain Integral linear Case (Utkin 정리의 단일입력 불확실 적분 선형 시스템에 대한 증명)

  • Lee, Jung-Hoon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.4
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    • pp.843-847
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    • 2011
  • In this note, a proof of Utkin's theorem is presented for the SI(Single Input) uncertain integral linear case. The invariance theorem with respect to the two transformation methods so called the two diagonalization methods are proved clearly and comparatively for SI uncertain integral linear systems. With respect to the sliding surface transformation, the equation of the sliding mode, the sliding surface is invariant. Both the applied control inputs have the same gains. By means of the two transformation methods the same results can be obtained. Through an illustrative example and simulation study, the usefulness of the main results is verified.

Finite-Time Nonlinear Disturbance Observer Based Discretized Integral Sliding Mode Control for PMSM Drives

  • Zheng, Changming;Zhang, Jiasheng
    • Journal of Power Electronics
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    • v.18 no.4
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    • pp.1075-1085
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    • 2018
  • To deal with the operation performance degradation of permanent magnet synchronous machine (PMSM) drives with uncertainties and unmodeled dynamics, this paper presents a finite-time nonlinear disturbance observer (FTNDO) based discretized integral sliding mode (DISM) composite control scheme. Based on the reaching-law approach, a DISM speed controller featuring a superior dynamic quality and global robustness against disturbances is constructed. This controller can avoid the reaching phase and overlarge control action. In addition, a sliding mode differentiator based FTNDO is devised and extended to the discrete-time domain for disturbance estimation. The attractive features of the FTNDO are that it can provide a finite-time converging estimation and alleviate the chattering effect in conventional sliding mode observers, while retaining robustness to parameter variations. By feeding the estimate forward to the pre-stage DISM controller, both disturbances and chattering can be significantly suppressed. Moreover, considering the estimation error of a FTNDO caused by discrete sampling, a stability analysis of the composite controller is discussed. Experimental results validate the superiority of the presented scheme.

Integral sliding Mode Control with High-gain Observer (고이득 관측기를 이용한 적분 슬라이딩 모드 제어)

  • Oh, Seung-Rohk;Shin, Jun-Young
    • Proceedings of the KIEE Conference
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    • 2002.11c
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    • pp.233-236
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    • 2002
  • We consider a single-input-single-output nonlinear system which can be represented in a normal form. The nonlinear system has a modeling uncertainties including the input coefficient uncertainties. A high-gain observer is used to estimate the states variables to reject a modeling uncertainty. A globally bounded output feedback integral sliding mode control is proposed to stabilize the closed loop system. The proposed integral sliding mode control can asymptotically stabilize the closed loop system in the it presence of input coefficient uncertainty.

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