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Showing 16 results for Sliding Mode Control

Askar Azizi, Sirus Bibak, Hamid Nourisola, Mohammadali Badamchizadeh,
Volume 2, Issue 1 (6-2014)
Abstract

Generally nonlinear modelling of aerospace system has uncertainty in model parameters and also in real situation different disturbances are applied to system. In spite of these uncertainties and disturbances, autopilot control system should be guarantee stability and desired performance of system. The conditions such as fast response, low tracking error, system robustness must be considered in autopilot design. In this paper, a new method is suggested to reduce the tracking error and increase system robustness. The proposed method is based on Backstepping approach. To reduce the tracking error, resulted from the simplification of the missile model, a nonlinear disturbance observer is used to estimate the uncertainty and also update the reference signal. In addition nonlinear disturbance observer is used to eliminate output disturbance. The advantage of the proposed method is its complete flexibility and also it can be employ for linear and nonlinear systems
Mostafa Faramin, Mohammad Ataei,
Volume 2, Issue 1 (6-2014)
Abstract

The present paper proves chaos phenomenon for a range of parameters in attitude dynamic of a satellite and designs an appropriate nonlinear controller, while ensuring optimal system performance, the controller guarantees control of a chaotic state. As the dynamic equations of a three-axis satellite are defined as a nonlinear non-autonomous system, a technique is offered for calculating the Lyapunov exponents of such systems that may express the system’s chaotic state. Using the technique, the chaotic behavior of a system is proved within a range of parameters. Then a back-stepping sliding mode controller is proposed based on the desired performance and the closed-loop system stability is proved based on the Lyapunov’s theorem. Moreover, converting the system into a compatible form with the conditions of the Melnikov theorem using this analytical method ensures removing chaos phenomenon in the controlled system. Calculating Lyapunov exponents of the closed system confirms this issue. Finally, the simulation results obtained from the proposed controlling actions for different work fields are presented.
Ali Karami-Mollaee,
Volume 2, Issue 2 (1-2015)
Abstract

This paper describes load torque estimation (LTE) issue in induction motors with uncertainty, using dynamic sliding mode control (DSMC). In DSMC the chattering is removed due to the integrator which is placed before the input control of the plant. However, in DSMC the augmented system is one dimension bigger than the actual system and then, the plant model should be completely known. To solve this problem, a new nonlinear observer called integral-chain observer (ICO) has been used. The advantage of the proposed approach is to have the system controlled as well as its main task i.e. LTE. Moreover, we assume that only output of system is accessible which is important in practical implementation. Simulation results are presented to demonstrate the approach.
Mr Vahid Behnamgol, Dr Ahmadreza Vali,
Volume 3, Issue 1 (9-2015)
Abstract

In this paper, the guidance law designing problem in the presence of the control loop dynamics using sliding mode control has been studied. For this purpose in the design process, stable control loop dynamic considered that usually not considered by the designers. In practice there is a lag for control loop that may lead to instability in the guidance loop. In this paper the control loop dynamic that is stabilized with an autopilot, approximated as first order lag and then is considered with kinematic equation of motion in designing procedure. To solve the problem because of the nonlinearity in equations and target maneuvers as uncertainty, the sliding mode control scheme is used. So just having the bounds of the uncertainty we can design guidance law and the measure or estimate of uncertainty is not required. The sliding variable is defined with respect to parallel navigation idea using relative lateral velocity between the interceptor and the target. Then a controller is designed for reaching the sliding variable to sliding surface. Therefore the line of sight rate will be zero and collision is inevitable. Also for removing chattering, the continues approximation method is used.
Peyman Ahmadi, Ahmad-Reza Vali, Vahid Behnamgol,
Volume 4, Issue 1 (3-2018)
Abstract

In this paper, a new combination of fractional order calculus and finite time sliding mode control, used to design an aircraft autopilot. This combination aims to reduce the chattering phenomena and have a smoother control signal than conventional sliding mode. Fractional order control uses fractional integrator and derivative to improved integer order control methods. The sliding surface and sliding mode control law is proposed to reduce the chattering phenomena and also, closed-loop stability is guaranteed too. Using this algorithm, a robust autopilot against aerodynamic coefficients uncertainty is designed for an aircraft and proposed control law is utilized to stabilize the close loop system by Lyapunov stability theorem. The proposed autopilot is applied to the aircraft model and simulation results illustrate the reduction of chattering phenomena.


Farhad Bayat, Mohammadmehdi Farkian,
Volume 4, Issue 1 (3-2018)
Abstract

In this paper, electric power production using airborne systems (kites) has been investigated. In the first step, an appropriate model is extracted to describe the behavior of airborne systems. Based on this model, a new path planning algorithm is proposed for the airborne system in the traction phase. Then, in order to achieve the proper operation, tracking the desired path and thus extracting optimal wind energy, a robust controller based on the sliding mode approach is designed in the presence of variations in atmospheric parameters and uncertainties in the system model. In the proposed method, the control strategy is obtained based on the speed vector angle of the airborne. In the proposed approach, six target points are used for the path designing of the kite motion in the traction phase, which increases the precision and flexibility of the designed path. Furthermore, the effect of adjusting the shape of the flight path of the airborne system during the traction phase on the system performance and extraction of the maximum wind force is also investigated.


Dr Hadi Delavari, Ms Seyede Zahra Rashidnejad Heydari,
Volume 5, Issue 2 (3-2019)
Abstract

In this paper, by combining fractional calculus and sliding mode control theory, a new fractional order adaptive terminal sliding mode controller is proposed for the maximum power point tracking in a solar cell. To find the maximum power point, the incremental conductance method has been used. First, a fractional order terminal sliding mode controller is designed in which the control law depends on knowing the upper bound of uncertainty in the system, but in practical application it is difficult or in some cases impossible to calculate this upper limit. In this paper, an adaptive law is given for online calculating of this parameter. The stability proof of the sliding surface, as well as the proof of finite time convergence of closed-loop system, are investigated using the Lyapunov theory. Finally, the performance of the proposed controller is evaluated both in normal and partial shading conditions. For a better comparison of the proposed controller, the performance of this controller is compared in the presence of load variations and the variations of system parameters with the conventional (integer order) terminal sliding mode control.


Javad Mowlaee, Akbar Sharghi, Reza Aghaei Togh,
Volume 8, Issue 2 (3-2022)
Abstract

In this paper, a control input based on terminal sliding mode control is provided for a mobile robot with four Mecanum wheels to move in a predetermined path and convergence into the path in a fixed-time. First, according to the robot structure, a dynamic model of the robot is presented. The dynamic model follows a nonlinear second-order equation. Based on terminal sliding mode control, a nonlinear sliding surface which is a function of position error vector is defined and then the control input is designed based on this sliding surface. Using the Lyapunov theorem, it has been proven that, using this control input, the robot converges to the predetermined path at a fixed time. The convergence time is a function of the constants defined in the control input. Finally, the simulation is presented based on the control input and the results are shown.
Abbas Kariminia, Hassan Zarabadipour,
Volume 8, Issue 2 (3-2022)
Abstract

In this paper, the problem of stabilization and synchronization of Lorenz and Chua chaotic in the presence of uncertainty using fractional order sliding mode control strategy based on nonlinear adaptation law has been investigated. Lorenz and Chua systems denote third order dynamics models which are chaotic for certain parameters. The proposed control law is composed of two prats sliding mode control and adaptive control law. Firstly, by supposing that instantaneous information of nonlinear part of chaotic system is not available, a linear regressor equation including an unknown section has been used. Using Lyapunov stability theorem and based on fractional calculus, adaptation law is developed to instantaneous estimation of unknown part. Moreover, by defining based on error signals and realizing exponential reaching law for insuring closed-loop stability, the sliding mode control law including equivalent and switching control has been derived. Eventually, the final control law has been derived by synthesizing sliding mode control and adaptive laws. The important aspect of the proposed approach is ability to encounter unstructured uncertainties and nonlinear effects of chaotic systems dynamic and guiding the state variables into sliding surface for arbitrary initial conditions. The performance of the proposed algorithm has been evaluated by realizing the stabilization problem of chaotic Lorenz system and synchronization of chaotic Lorenz and Chua systems.
 
Javad Mostafaee, Hossein Norouzi, Hassan Keshavarz Ziarani, Mansoor Hemmati,
Volume 8, Issue 2 (3-2022)
Abstract

In this paper, a new adaptive controller based on the barrier function is designed for high-order nonlinear systems with uncertainties in mind. Accordingly, this paper uses a sliding mode controller that can simultaneously create asymptotic convergence and deal with perturbations. The main problems controlling the slip mode can be considered asymptotic convergence, umbrella phenomenon, stimulus saturation, control gain estimation and failure to deal with time-varying uncertainties. In this paper, the terminal slip mode controller is used to deal with the phenomenon of asymptotic convergence and umbrella and the barrier function is used to overcome the uncertainties of time variable. The advantages of the proposed method include the elimination of the Chattering phenomenon, convergence in finite time, compatibility with time-varying uncertainties, no use of estimates and no need for information on the high limit of perturbations. Stability analysis shows that in the proposed controller, the tracking errors approach the convergence region in the zero range and provide faster convergence. Finally, to prove the efficiency of the controller, based on the chaos synchronization theory, we apply the proposed controller to a new 5D hyperchaotic system. The results show that the proposed controller, despite the disturbances applied to the system, provides rapid convergence and eliminates the umbrella phenomenon.
Ali Abooee,
Volume 9, Issue 1 (9-2022)
Abstract

In this paper, the finite-time path tracking problem for a typical fully-actuated unmanned marine vehicle subject to unknown physical constants, modelling uncertainties, and environmental disturbance forces (generated by sea waves) is studied and discussed. To deal and handle the mentioned tracking problem, a novel hybrid control structure (based on the finite-time adaptive-robust approach) is proposed. First, a comprehensive model is extracted and introduced to describe kinematic and dynamic behaviors of the unmanned marine vehicle. In this model, all physical constants of the unmanned marine vehicle are assumed to be unknown. Also, modelling uncertainties and unknown environmental disturbance forces are considered as a lumped vector term added to the right side of the comprehensive model. To overcome with parametric uncertainties, all terms of the left side of the comprehensive model, which include unknown physical constants, are converted to the parametric linear regression form. Second, by developing the terminal sliding mode control method, defining several types of innovative nonlinear sliding manifolds, and designing adaptation laws, a novel adaptive-robust nonlinear control structure is proposed to exactly steer the unmanned marine vehicle (in the existence of aforementioned unwanted factors) to the desired trajectory within an adjustable finite time. Time responses related to the estimation of unknown physical constants will precisely converge to the fixed values after the finite time which are not identical to the nominal values of physical constants. Third, by utilizing mathematical analysis (based on the Lyapunov stability theorem), it is proven that the proposed hybrid control approach is able to both accomplish the path tracking objective and guarantee the global finite-time stability for the closed-loop unmanned marine vehicle. Moreover, the stability analysis demonstrates that the convergence finite time is the summation of two smaller finite time (called reaching and settling times) and these times could be determined by two novel separate inequalities. Finally, by using MATLAB software, the introduced adaptive-robust nonlinear control approach is simulated onto the Cybership II and simulation results demonstrate that the finite-time path tracking aim is appropriately fulfilled and satisfied.

Mojtaba Hakimi-Moghaddam, Ali Daghestani,
Volume 9, Issue 1 (9-2022)
Abstract

Brushless direct current motors have been considered by many researchers due to their many advantages over other direct current motors. The upper band is unknown and aims to converge in a limited time. For this purpose, by rewriting the motor model in the presence of modeling uncertainties and limited external perturbations, the terminal slip mode control law is designed to stabilize the system and converge the output speed and motor flow to the desired values ​​in a finite time, using the development theorem. In this control law, the high bandwidth of total uncertainties and external disturbances is estimated online using an adaptive law. Finally, while calculating the system convergence finite time, an idea to reduce the umbrella in using the terminal slip mode control is presented. The results of the numerical simulations performed show the accuracy of the designed controllers.
Dr Ali Abooee, Mr Sajad Moradi, Dr Vahid Abootalebi,
Volume 9, Issue 2 (3-2023)
Abstract

ABSTRACT: In this paper, three different finite-time nonlinear controllers are proposed to steer a robotic surgical needle in prostate tissue subject to parametric and modeling uncertainties. The torque generated by each type of these controllers is injected to the surgical needle’s closed-loop structure and, in consequence, the system’s state variable precisely converges to the desired path in prostate tissue within an adjustable finite time. The mentioned controllers are constructed based on the developed terminal sliding mode control method (as the main approach of robust-nonlinear control) incorporated with the adaptive control technique (for designing adaptation laws and estimation of unknown physical constants). It is worth noting that the basic difference between these controllers is in the definition of their nonlinear sliding manifolds. By utilizing the Lyapunov stability theory and several applicable lemmas, it is mathematically proven that all types of the introduced control approaches are able to accomplish the finite-time steering objective and guarantee the global finite-time stability for the needle-tissue dynamical system. Adaptation laws (existing in the proposed nonlinear controllers) continuously estimate the unknown physical constants and it is demonstrated that time responses of these estimations exactly reach the constants values over the finite time. Finally, by using MATLAB software, three types of the proposed controllers are separately simulated onto a second-order needle-tissue system to illustrate their proper performance.

Marzieh Kakavand, Dr Ali Moarefianpour, Dr Mahdi Siahi,
Volume 9, Issue 2 (3-2023)
Abstract

The control of unmanned aerial vehicles is a challenging problem due to their lightweight and intense coupling between longitudinal and lateral motion. Considering this issue, in this article, an automatic landing system for a fixed-wing unmanned aircraft exposed to wind disturbances and parametric uncertainties is designed using the backstepping algorithm and the disturbance observer-based sliding mode control. Two controllers are designed based on the backstepping algorithm and sliding mode control to stabilize the attitude angles. The longitudinal speed controller uses the sliding mode technique to maintain the total speed relative to the ground at a constant desired value in all landing phases. A nonlinear disturbance-observer is considered in the sliding mode controller structure to estimate wind disturbance and parametric uncertainty. The new robust automatic landing system is software implemented, and its performance is investigated by several numerical simulations; Lateral deviation relative to the runway is eliminated while the unmanned aerial vehicle maintains its desired trajectory slope angle in all phases of the landing at the desired value. Therefore, the results of numerical simulations prove that the new control structure is stable and robust against different initial conditions, different types of wind disturbances (wind shear and discrete gust), and parametric uncertainty.
Simin Hosseinzadeh, Dr Ramazan Havangi,
Volume 10, Issue 1 (3-2023)
Abstract

Disturbance and uncertaities exist in industrial systems and greatly affect the performance and stability of these systems. The robotic manipulator is one the most widely used devices in the industry that is highly affected by various disturbances. Hence establishing a proper control algorithm to estimate and eliminate disturbances seems crucial. Since the robotic manipulator is a highly nonlinear system, we need to design a nonlinear disturbance observer. In this thesis a nonlinear disturbance observer is proposed to estimate the constant and oscillatory disturbances in the studied system. On the other hand, since proportional-derivative controllers (PD) are widely used in industrial systems, so in this thesis, a suitable proportional derivative controller will be designed. This controller is not capable of dealing with disturbances and uncertainties, so a new supervisory controller structure has been proposed to estimate disturbances and stabilize the system. The core of proposed controller uses a new sliding model controller. Finally, some comparisions with PD and super twisting sliding mode controllers have been performed in several cases and the numerical results show the advantages of the proposed controller.
Seyyed Sajjad Moosapour, Seyed Shahab Aldin Seyed Sahebi,
Volume 10, Issue 1 (3-2023)
Abstract

In this paper, formation control based on the virtual structure for the non-holonomic mobile robot system with two models of certain and uncertain kinematic equations is discussed. First, the formation equations of a certain model are calculated and then it is proved that it is possible to create a geometric shape and maintain that state by using the sliding model control theory for any two moving mobile robots. Then, after deriving the formation equations of the uncertain model, a sliding model controller is designed that is able to control the uncertain model provided that the uncertainty range of the kinematic equation is present. For each design, the stability of the system is guaranteed using the Lyapunov stability theorem. Finally, in order to compare the performance of the designed controllers, a pre-designed back-stepping controller is introduced and the results will be presented in the form of simulations. The simulation results show the effective performance of the designed controllers.

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سامانه های غیرخطی در مهندسی برق Journal of Nonlinear Systems in Electrical Engineering
نشریه سامانه‌های غیرخطی در مهندسی برق در خصوص اصول اخلاقی انتشار مقاله، از توصیه‌های «کمیته بین‌المللی اخلاق نشر» موسوم به COPE و «منشور و موازین اخلاق پژوهش» مصوب معاونت پژوهش و فناوری وزارت علوم، تحقیقات و فناوری تبعیت می‌کند.
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