Sliding mode controlThis paper studies disturbance-observer-based dynamic sliding mode controller design for trajectory tracking control of ball screw drive systems with matched and mismatched disturbances. Specifically, a unified observer is constructed to estimate the state and disturbance of the ball ...
The implementation of adaptive backstepping sliding mode control is covered in this section. The VDHM created for this study is described in Part A; the ASCM and controller design are shown in Parts B and C; the fundamental diagrams of two models and the traffic capacity analysis are explained...
In addition, we design a second-order dynamic terminal-sliding-mode control which converges in a finite period of time without chattering. The output of the fuzzy disturbance-observer is employed as the compensation signal for the adaptive robust control. The stability of the system is proved by...
The sliding mode control (SMC) is a robust state feedback control method for nonlinear systems that, in addition having a simple design, efficiently overcomes uncertainties and disturbances in the system. It also has a very fast transient response that is desirable when controlling robotic ...
This paper provides a design method of the DC-DC converter with a sliding mode control and discusses how to choose switch function S(x) based on the desired output voltage. Meanwhile, the dynamic quality of the sliding mode is analysed and the formula of reaching time is derived. This resul...
4. Design of Sliding Motion Control Law First, we introduce the following integral sliding surface: (19) For system (1), we have (20) Hence, the following equation holds: (21) By , we get the equivalent control law as (22) When u(t) = Nx(t), we can obtain (23) Then,...
First,thetime⁃delayofthemulti⁃actuatorissimplifiedasa3degree⁃of⁃freedomcontrolinputtime⁃delay,thena systemmodelwithinputtime⁃delayisequivalenttoastatetime⁃delaysystem,subsequently,foranunknown boundedenvironmentaldisturbance,therobustslidingmodecontrollawwithtime⁃delayslidingmodeitemisgiven. Inthe...
(1999). Sliding mode control of a car-like mobile robot using single-track dynamic model. In: Young, K., Özgüner, Ü. (eds) Variable structure systems, sliding mode and nonlinear control. Lecture Notes in Control and Information Sciences, vol 247. Springer, London. https://doi.org/...
This way, the gap between high sophisticated but complex control structures and the simple but less performant P-PI approach shall be closed. 3. Sliding mode controller design The characteristic feature of all SMC methods is based on the achievement of special sliding modes, in which the ...
Asian Journal of Control (2019) BasinM. et al. Adaptive uniform finite-/fixed-time convergent second-order sliding-mode control International Journal of Control (2016) BasinM. et al. Multivariable continuous fixed-time second-order sliding mode control: design and convergence time estimation IET Co...