A fast converging robust controller using adaptive second order sliding mode

被引：45
|
作者：
Mondal, Sanjoy [1 ]
Mahanta, Chitralekha [1 ]
机构：
[1] Indian Inst Technol Guwahati, Dept Elect & Elect Engn, Gauhati 781039, India
来源：
ISA TRANSACTIONS | 2012年 / 51卷 / 06期
关键词：
Second order sliding mode control; Composite nonlinear feedback; Adaptive tuning; Uncertain system; NONLINEAR FEEDBACK-CONTROL; SYSTEMS; ORDER; PERFORMANCE; TRACKING;
D O I：
10.1016/j.isatra.2012.07.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes an adaptive second order sliding mode (SOSM) controller with a nonlinear sliding surface. The nonlinear sliding surface consists of a gain matrix having a variable damping ratio. Initially the sliding surface uses a low value of damping ratio to get a quick system response. As the closed loop system approaches the desired reference, the value of the damping ratio gets increased with an aim to reducing the overshoot and the settling time. The time derivative of the control signal is used to design the controller. The actual control input obtained by integrating the derivative control signal is smooth and chattering free. The adaptive tuning law used by the proposed controller eliminates the need of prior knowledge about the upper bound of system uncertainties. Simulation results demonstrate the effectiveness of the proposed control strategy. (c) 2012 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：713 / 721
页数：9
相关论文
共 50 条
  • [21] Robust Adaptive Sliding Mode Controller for Triaxial Gyroscope
    Fei, J.
    Chowdhury, F.
    [J]. PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 5574 - 5579
  • [22] A Robust Adaptive Sliding Mode Controller for Robot Manipulators
    Gorji, Shaghayegh
    Yazdanpanah, Mohammad Javad
    [J]. 2017 ARTIFICIAL INTELLIGENCE AND ROBOTICS (IRANOPEN), 2017, : 170 - 176
  • [23] Robust Adaptive Sliding Mode Controller for Wearable Robots
    Madani, Tarek
    Djouani, Karim
    [J]. IFAC PAPERSONLINE, 2020, 53 (02): : 3861 - 3866
  • [24] Backstepping Enhanced Adaptive Second Order Sliding Mode Controller to compensate Actuator Failures
    Chakravarty, Arghya
    Mahanta, Chitralekha
    [J]. 2014 ANNUAL IEEE INDIA CONFERENCE (INDICON), 2014,
  • [25] A novel adaptive second-order sliding mode controller for autonomous underwater vehicles
    Roy, Rupam Gupta
    Ghoshal, Dibyendu
    [J]. ADAPTIVE BEHAVIOR, 2021, 29 (01) : 39 - 54
  • [26] Second Order Sliding Mode Controller for Second Order Process with Delay Time
    Parvat, B. J.
    Patre, B. M.
    [J]. 2015 INTERNATIONAL CONFERENCE ON INDUSTRIAL INSTRUMENTATION AND CONTROL (ICIC), 2015, : 280 - 284
  • [27] A second order sliding mode controller for the Flyback converter
    Lin, Ming-Tsan
    [J]. 2014 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC), 2014, : 2289 - 2292
  • [28] A second order sliding mode controller with polygonal constraints
    Dinuzzo, Francesco
    [J]. PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 6715 - 6719
  • [29] Adaptive sliding controller for uncertain second order systems
    Chang, KM
    [J]. JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 1999, 42 (04): : 930 - 935
  • [30] Stabilization of Stewart Platform using Smooth Second Order Sliding Mode Controller
    Kumar, P. Ramesh
    Bandyopadhyay, B.
    [J]. 2013 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2013,
12345