Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460444
M. Zeinali
In this paper the design, analysis and implementation of improved first-order continuous adaptive sliding mode control (CASMC) based on online estimation of the lumped time-varying uncertainties for tracking control of the robot manipulators is presented. The proposed method allows to address the main drawbacks of conventional sliding mode control: the chattering phenomenon, and the requirement for a priori knowledge of the bounds of the uncertainties, and also the chattering problem associated with adaptive discontinuous sliding mode controllers, while the robustness property of the conventional sliding mode control is preserved. Furthermore, in the previously published version of the controller [1], the estimate of robot inertia matrix is needed to realize the adaptive component of the control law. In this work, the skew-symmetry property (passivity property) of robot dynamic is used to eliminate that requirement. The global stability and robustness of the proposed controller are established in the presence of time-varying uncertainties using Lyapunov's approach and fundamentals of sliding mode theory. The robustness is achieved without knowing the bound of uncertainties. The dynamic model of a two-degrees of freedom (2-DOF) rigid robot is used for simulation study and a 2-DOF flexible-link robot is used as an experimental test-bed to evaluate the performance, and robustness of the controller. Based on the simulations and experimental results, the proposed controller performs remarkably well in terms of the tracking error convergence, estimation of lumped uncertain parameter. And it is robust against un-modeled dynamics and external disturbances.
{"title":"First-Order Continuous Adaptive Sliding Mode Control for Robot Manipulators with Finite-Time Convergence of Trajectories to Real Sliding Mode","authors":"M. Zeinali","doi":"10.1109/VSS.2018.8460444","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460444","url":null,"abstract":"In this paper the design, analysis and implementation of improved first-order continuous adaptive sliding mode control (CASMC) based on online estimation of the lumped time-varying uncertainties for tracking control of the robot manipulators is presented. The proposed method allows to address the main drawbacks of conventional sliding mode control: the chattering phenomenon, and the requirement for a priori knowledge of the bounds of the uncertainties, and also the chattering problem associated with adaptive discontinuous sliding mode controllers, while the robustness property of the conventional sliding mode control is preserved. Furthermore, in the previously published version of the controller [1], the estimate of robot inertia matrix is needed to realize the adaptive component of the control law. In this work, the skew-symmetry property (passivity property) of robot dynamic is used to eliminate that requirement. The global stability and robustness of the proposed controller are established in the presence of time-varying uncertainties using Lyapunov's approach and fundamentals of sliding mode theory. The robustness is achieved without knowing the bound of uncertainties. The dynamic model of a two-degrees of freedom (2-DOF) rigid robot is used for simulation study and a 2-DOF flexible-link robot is used as an experimental test-bed to evaluate the performance, and robustness of the controller. Based on the simulations and experimental results, the proposed controller performs remarkably well in terms of the tracking error convergence, estimation of lumped uncertain parameter. And it is robust against un-modeled dynamics and external disturbances.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122481248","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460304
P. Latosiński, A. Bartoszewicz
Discrete-time sliding variables with relative degree higher than one have been shown to reduce oscillations in switching type quasi-sliding mode strategies and to improve system robustness. In this paper we consider the variables with relative degree equal to the actual degree of the plant. For such variables, a general switching type reaching law is presented. It is demonstrated that the control signal obtained from this reaching law always ensures a finite time response of the closed-loop system. Furthermore, it is shown that our strategy reduces state error compared to the classic relative degree one approach.
{"title":"Reaching law based DSMC with higher relative degree sliding variables","authors":"P. Latosiński, A. Bartoszewicz","doi":"10.1109/VSS.2018.8460304","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460304","url":null,"abstract":"Discrete-time sliding variables with relative degree higher than one have been shown to reduce oscillations in switching type quasi-sliding mode strategies and to improve system robustness. In this paper we consider the variables with relative degree equal to the actual degree of the plant. For such variables, a general switching type reaching law is presented. It is demonstrated that the control signal obtained from this reaching law always ensures a finite time response of the closed-loop system. Furthermore, it is shown that our strategy reduces state error compared to the classic relative degree one approach.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129051544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460456
E. Abdulhamitbilal, E. M. Jafarov
In this study cooling control system design of an electrical vehicle (EV) with range extender (REX) is studied. Thermodynamic balance for each element of thermal system is written as one dimensional heat equation. Mathematical model is validated with data obtained from dynamometer tests. Sliding mode control system has been designed as a feedback control law of an heat management system of EV to cool down driveline components. Simulation results illustrate effectiveness of the proposed approach for cooling EV driveline components with suggested technique.
{"title":"Cooling Control System with Sliding Mode Approach for Electrical Vehicle with Range Extender","authors":"E. Abdulhamitbilal, E. M. Jafarov","doi":"10.1109/VSS.2018.8460456","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460456","url":null,"abstract":"In this study cooling control system design of an electrical vehicle (EV) with range extender (REX) is studied. Thermodynamic balance for each element of thermal system is written as one dimensional heat equation. Mathematical model is validated with data obtained from dynamometer tests. Sliding mode control system has been designed as a feedback control law of an heat management system of EV to cool down driveline components. Simulation results illustrate effectiveness of the proposed approach for cooling EV driveline components with suggested technique.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127248058","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-09DOI: 10.1109/VSS.2018.8460291
Tonametl Sanchez, A. Polyakov, J. Richard, D. Efimov
In this paper we propose a Sliding Mode Controller for a class of scalar bilinear systems with delay in both the input and the state. Such a class is considered since it has shown to be suitable for modelling and control of a class of turbulent flow systems. The stability and robustness analysis for the reaching phase in the controlled system are Lyapunov-based. However, since the sliding dynamics is infinite dimensional and described by an integral equation, we show that the stability and robustness analysis is simplified by using Volterra operator theory.
{"title":"A robust Sliding Mode Controller for a class of SISO bilinear delayed systems","authors":"Tonametl Sanchez, A. Polyakov, J. Richard, D. Efimov","doi":"10.1109/VSS.2018.8460291","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460291","url":null,"abstract":"In this paper we propose a Sliding Mode Controller for a class of scalar bilinear systems with delay in both the input and the state. Such a class is considered since it has shown to be suitable for modelling and control of a class of turbulent flow systems. The stability and robustness analysis for the reaching phase in the controlled system are Lyapunov-based. However, since the sliding dynamics is infinite dimensional and described by an integral equation, we show that the stability and robustness analysis is simplified by using Volterra operator theory.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132860379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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