• Title, Summary, Keyword: Sliding mode control

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A Study on Development of SCARA robot Using Fuzzy-Sliding mode control (퍼지-슬라이딩 모드를 이용한 스카라 로보트의 제어에 관한 연구)

  • 고석조;이민철;이만형
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.241-245
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    • 1995
  • This paper shows that the proposed fuzzy-sliding mode for SCARA robot control could reduce chattering problemed in sliding mode control and is robust against parameter uncertainties. It was very small quantities of chattering in the fuzzy-sliding mode control conpared with that in sliding mode control with two dead-band. In here, the sliding mode control with two dead-band is the method to reduce some chattering by changing into a continuous variable lower control input gain when a state value in pahase palne converged sithin two dead-band. But, the fuzzy-sliding mode control for more reducing chattering is the method to change control input by slicing mode into that by fuzzy rule within two dead-band. Simulations show that the effect of reducing chattering by the fuzzy-sliding mode is superior to sliding mode control with two dead-band.

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The performance analysis of multiple sliding mode control (다중 슬라이딩 모드 제어 방법의 성능 평가)

  • Chang, Wook;Joo, Jin-Man;Park, Jin-Bae
    • Proceedings of the KIEE Conference
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    • pp.658-660
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    • 1995
  • This paper presents a performance analysis of the multiple sliding mode control for SISO system. The multiple sliding mode control technique uses sliding surfaces for each state. The performance analysis is done by comparison between the multiple sliding mode control and the sliding mode control. Overall performance of the multiple sliding mode control is improved over that of the sliding mode control. Results of numerical simulations are presented.

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Design of SPMSM Robust Speed Servo Controller Switching PD and Sliding Mode Control Strategies (PD-슬라이딩 모드 제어의 절환을 통한 강인한 SPMSM 속도 제어기 설계)

  • Son, Ju-Beom;Seo, Young-Soo;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.249-255
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    • 2010
  • The paper proposes a new type of robust speed control strategy for permanent magnet synchronous motor by using PD-sliding mode hybrid control. The PD control has a good performance in the transient region while the sliding mode controller provides the robustness against system uncertainties. Taking advantages of the two control strategies, the proposed control method utilizes the PD control in the approaching region to the sliding surface and the sliding mode control near at the sliding surfaces. The chattering problem of the sliding mode controller is eliminated by applying the saturation function for the switching function of the sliding mode control. The stability of the sliding mode control is verified by using Lyapunov function with the proper selection of variable gains. It is shown that with this simple switching algorithm, stability of the overall hybrid control system is ensured. Through the simulations, the PD-sliding mode algorithm is shown to have a good performance in the transient response as well as being robust against disturbances. The robustness of the PD-sliding mode algorithm is further demonstrated against various external disturbances in the real experiments of SPMSM motor control.

Design of a DC Motor Current Controller Using a Sliding Mode Disturbance Observer and Controller (슬라이딩 모드 외란 관측기와 제어기를 이용한 DC 모터 전류 제어기 설계)

  • Kim, In Hyuk;Son, Young Ik
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.6
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    • pp.417-423
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    • 2016
  • Using a sliding mode controller and observer techniques, this paper presents a robust current controller for a DC motor in the presence of parametric uncertainties. One of the most important issues in the practical application of sliding mode schemes is the chattering phenomenon caused by switching actions. This paper presents a novel sliding mode controller that incorporates an integral control with a sliding mode disturbance observer to attenuate the chattering by reducing the controller/observer switching gains. The proposed sliding mode disturbance observer is designed to estimate a relatively slow varying signal in the equivalent lumped disturbance owing to system uncertainties. Combining the estimated uncertainty with the sliding mode control input, the proposed controller can achieve the control objective by using the relatively low gain of the controller. The proposed disturbance observer does not include the switching control input of the baseline sliding mode controller to reduce the observer switching gain. In the proposed approach, the integral sliding mode control is used to improve the steady state control performance. Comparative computer simulations are carried out to demonstrate the performance of the proposed method. Through the simulation results, the proposed controller realizes the robust performance with reduced current ripples.

Current Sliding Mode Control with a Load Sliding Mode Observer for Permanent Magnet Synchronous Machines

  • Jin, Ningzhi;Wang, Xudong;Wu, Xiaogang
    • Journal of Power Electronics
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    • v.14 no.1
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    • pp.105-114
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    • 2014
  • The sliding mode control (SMC) strategy is applied to a permanent magnet synchronous machine vector control system in this study to improve system robustness amid parameter changes and disturbances. In view of the intrinsic chattering of SMC, a current sliding mode control method with a load sliding mode observer is proposed. In this method, a current sliding mode control law based on variable exponent reaching law is deduced to overcome the disadvantage of the regular exponent reaching law being incapable of approaching the origin. A load torque-sliding mode observer with an adaptive switching gain is introduced to observe load disturbance and increase the minimum switching gain with the increase in the range of load disturbance, which intensifies system chattering. The load disturbance observed value is then applied to the output side of the current sliding mode controller as feed-forward compensation. Simulation and experimental results show that the designed method enhances system robustness amid load disturbance and effectively alleviates system chattering.

Design of a Fuzzy-Sliding Mode Controller for a SCARA Robot to Reduce Chattering

  • Go, Seok-Jo;Lee, Min-Cheol
    • Journal of Mechanical Science and Technology
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    • v.15 no.3
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    • pp.339-350
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    • 2001
  • To overcome problems in tracking error related to the unmodeled dynamics in the high speed operation of industrial robots, many researchers have used sliding mode control, which is robust against parameter variations and payload changes. However, these algorithms cannot reduce the inherent chattering which is caused by excessive switching inputs around the sliding surface. This study proposes a fuzzy-sliding mode control algorithm to reduce the chattering of the sliding mode control by fuzzy rules within a pre-determined dead zone. Trajectory tracking simulations and experiments show that chattering can be reduced prominently by the fuzzy-sliding mode control algorithm compared to a sliding mode control with two dead zones, and the proposed control algorithm is robust to changes in payload. The proposed control algorithm is implemented to the SCARA (selected compliance articulated robot assembly) robot using a DSP (digital signal processor) for high speed calculations.

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Reconfigurable Flight Control System Design Using Sliding Mode Based Model Following Control Scheme

  • Cho, Dong-Hyun;Kim, Ki-Seok;Kim, You-Dan
    • International Journal of Aeronautical and Space Sciences
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    • v.4 no.1
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    • pp.1-8
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    • 2003
  • In this paper, a reconfigurable flight control system is designed by applying the sliding mode control scheme. The sliding mode control method is a nonlinear control method which has been widely used because of its merits such as robustness and flexibility. In the sliding mode controller design, the signum function is usually included, but it causes the undesirable chattering problem. The chattering phenomenon can be avoided by using the saturation function instead of signum function. However, the boundary layer of the sliding surface should be carefully treated because of the use of the saturation function. In contrast to the conventional approaches, the thickness of the boundary layer of our approach does not need to be small. The reachability to the boundary layer is guaranteed by the sliding mode controller. The fault detection and isolation process is operated based on a sliding mode observer. To evaluate the reconfiguration performance, a numerical simulation using six degree-of-freedom aircraft dynamics is performed.

Sliding Mode Control for Robot Manipulator Usin Evolution Strategy (Evolution Strategy를 이용한 로봇 매니퓰레이터의 슬라이딩 모드 제어)

  • 김현식;박진현;최영규
    • 제어로봇시스템학회:학술대회논문집
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    • pp.379-382
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    • 1996
  • Evolution Strategy is used as an effective search algorithm in optimization problems and Sliding Mode Control is well known as a robust control algorithm. In this paper, we propose a Sliding Mode Control Method for robot manipulator using Evolution Strategy. Evolution Strategy is used to estimate Sliding Mode Control Parameters such as sliding surface gradient, continuous function boundary layer, unknown plant parameters and switching gain. Experimental results show the proposed control scheme has accurate and robust performances with effective search ability.

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Fuzzy-sliding mode control of a full car semi-active suspension systems with MR dampers

  • Zheng, L.;Li, Y.N.;Baz, A.
    • Smart Structures and Systems
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    • v.5 no.3
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    • pp.261-277
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    • 2009
  • A fuzzy-sliding mode controller is presented to control the dynamics of semi-active suspension systems of vehicles using magneto-rheological (MR) fluid dampers. A full car model is used to design and evaluate the performance of the proposed semi-active controlled suspension system. Four mixed mode MR dampers are designed, manufactured, and integrated with four independent sliding mode controllers. The siding mode controller is designed to decrease the energy consumption and maintain robustness. In order to overcome the chattering of the sliding mode controllers, a fuzzy logic control strategy is merged into the sliding mode controller. The proposed fuzzy-sliding mode controller is designed and fabricated. The performance of the semi-active suspensions is evaluated in both the time and frequency domains. The obtained results demonstrate that the proposed fuzzy-sliding mode controller can effectively suppress the vibration of vehicles and improve their ride comfort and handling stability. Furthermore, it is shown that the "chattering" of the sliding mode controller is smoothed when it is integrated with a fuzzy logic control strategy. Although the cost function of the fuzzy-sliding mode control is a slightly higher than that of a classical LQR controller, the control effectiveness and robustness are enhanced considerably.

Terminal Sliding Mode Control Using One Dimensional Fuzzy Rule Type Sliding Surfaces (일차원 퍼지 규칙 슬라이딩 평면을 이용한 터미널 슬라이딩 모드 제어)

  • Seo, Sam-Jun
    • Journal of Korean Institute of Intelligent Systems
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    • v.26 no.5
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    • pp.402-408
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    • 2016
  • In this paper, a new approach to the terminal sliding mode control using adaptive fuzzy sliding surfaces is proposed. The idea behind this approach is to utilize an adaptive sliding surface, in which the slope of the surface is updated on line using a SISO fuzzy logic inference system. We expanded the concepts of terminal sliding mode controller and proposed the terminal sliding mode control input with continuous reaching laws. The computer simulation results have shown the improved performance of the proposed control approach in terms of a decrease in the reaching and settling times and chattering free as compared to the conventional terminal sliding mode control with a fixed sliding surface. The proposed controller has also an advantage that has less computational burden to the conventional terminal sliding mode control using one-directional fuzzy rules.