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Sliding-mode Control (sliding-mode + control)

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Engineering100%

Selected Abstracts

Sliding-mode control of a three-degrees-of-freedom nanopositioner,

ASIAN JOURNAL OF CONTROL, Issue 3 2008
Jing-Chung Shen
Abstract This paper presents the sliding-mode control of a three-degrees-of-freedom nanopositioner (Z, ,x, ,y). This nanopositioner is actuated by piezoelectric actuators. Capacitive gap sensors are used for position feedback. In order to design the feedback controller, the open-loop characteristics of this nanopositioner are investigated. Based on the results of the investigation, each pair of piezoelectric actuators and corresponding gap sensors is treated as an independent system and modeled as a first-order linear model coupled with hysteresis. When the model is identified and the hysteresis nonlinearity is linearized, a linear system model with uncertainty is used to design the controller. When designing the controller, the sliding-mode disturbance (uncertainty) estimation and compensation scheme is used. The structure of the proposed controller is similar to that of a proportional integral derivative controller. Thus, it can be easily implemented. Experimental results show that 3-nm tracking resolution can be obtained. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source]

Fuzzy sliding-mode control with rule adaptation for nonlinear systems

EXPERT SYSTEMS, Issue 4 2006
Lon-Chen Hung
Abstract: A fuzzy sliding-mode control with rule adaptation design approach with decoupling method is proposed. It provides a simple way to achieve asymptotic stability by a decoupling method for a class of uncertain nonlinear systems. The adaptive fuzzy sliding-mode control system is composed of a fuzzy controller and a compensation controller. The fuzzy controller is the main rule regulation controller, which is used to approximate an ideal computational controller. The compensation controller is designed to compensate for the difference between the ideal computational controller and the adaptive fuzzy controller. Fuzzy regulation is used as an approximator to identify the uncertainty. The simulation results for two cart,pole systems and a ball,beam system are presented to demonstrate the effectiveness and robustness of the method. In addition, the experimental results for a tunnelling robot manipulator are given to demonstrate the effectiveness of the system. [source]

Discrete output feedback sliding-mode control with integral action

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 1 2006
Nai One Lai
Abstract This paper presents a novel approach to the problem of discrete time output feedback sliding-mode control design. The method described applies to uncertain systems (with matched uncertainties) which are not necessarily minimum phase or relative degree one. A new sliding surface is proposed, which is associated with the equivalent control of the output feedback sliding-mode controller. Design freedom is available to select the sliding surface parameters to produce an appropriate reduced-order sliding motion. In order for this to be achieved, a static output feedback condition associated with a certain reduced-order system obtained from the original plant must be solvable. The practicality of the results are demonstrated through the implementation of the controller on a small DC motor test rig. Copyright © 2005 John Wiley & Sons, Ltd. [source]

A robust optimal sliding-mode control approach for magnetic levitation systems

ASIAN JOURNAL OF CONTROL, Issue 4 2010
Hsin-Jang Shieh
Abstract This paper presents a robust optimal sliding-mode control approach for position tracking of a magnetic levitation system. First, a linear model that represents the nonlinear dynamics of the magnetic levitation system is derived by the feedback linearization technique. Then, the robust optimal sliding-mode control developed from the linear model is proposed. In the proposed control scheme, the integral sliding-mode control with robust optimal approach is developed to achieve the features of high performance in position tracking response and robustness to the matched and unmatched uncertainties. Simulation and experimental results from the computer-controlled magnetic levitation system are illustrated to show the validity of the proposed control approach for practical applications. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source]

Sliding-mode control of a three-degrees-of-freedom nanopositioner,

ASIAN JOURNAL OF CONTROL, Issue 3 2008
Jing-Chung Shen
Abstract This paper presents the sliding-mode control of a three-degrees-of-freedom nanopositioner (Z, ,x, ,y). This nanopositioner is actuated by piezoelectric actuators. Capacitive gap sensors are used for position feedback. In order to design the feedback controller, the open-loop characteristics of this nanopositioner are investigated. Based on the results of the investigation, each pair of piezoelectric actuators and corresponding gap sensors is treated as an independent system and modeled as a first-order linear model coupled with hysteresis. When the model is identified and the hysteresis nonlinearity is linearized, a linear system model with uncertainty is used to design the controller. When designing the controller, the sliding-mode disturbance (uncertainty) estimation and compensation scheme is used. The structure of the proposed controller is similar to that of a proportional integral derivative controller. Thus, it can be easily implemented. Experimental results show that 3-nm tracking resolution can be obtained. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source]