Adaptive PID sliding surface-based second order sliding mode controller for perturbed nonlinear systems

Moawad, Nada M.; Elawady, Wael M.; Sarhan, Amany M.

doi:10.1109/icces.2017.8275313

Cited by 3 publications

(10 citation statements)

References 18 publications

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“…The developed APID-TOSMC approach in this paper is analyzed in comparison with the second order SMC approach in [28] and the adaptive third order SMC (ATOSMC) approach in [29]. The simulation parameters and conditions are set exactly as in [28] and the algorithm in [29] is implemented with same parameters and conditions. The desired angular position is set as:…”

Section: Setpoint Controlmentioning

confidence: 99%

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An Adaptive Real-Time Third Order Sliding Mode Control for Nonlinear Systems

Elmogy¹,

Sarhan²,

Elawady³

2022

Computers, Materials &Amp; Continua

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As most real world systems are significantly nonlinear in nature, developing robust controllers have attracted many researchers for decades. Robust controllers are the controllers that are able to cope with the inherent uncertainties of the nonlinear systems. Many control methods have been developed for this purpose. Sliding mode control (SMC) is one of the most commonly used methods in developing robust controllers. This paper presents a higher order SMC (HOSMC) approach to mitigate the chattering problem of the traditional SMC techniques. The developed approach combines a third order SMC with an adaptive PID (proportional, integral, derivative) sliding surface to overcome the drawbacks of using PID controller alone. Moreover, the presented approach is capable of adaptively tuning the controller parameters online to best fit the real time applications. The Lyapunov theory is used to validate the stability of the presented approach and its feasibility is tested through a comparison with other conventional SMC approaches.

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Section: Setpoint Controlmentioning

confidence: 99%

“…The proposed APID-TOSMC parameters are set as: β 2 = 0.005, k 3 = 50, k 1 = 1, β 1 = 0.008, γ p = 1.1, γ i = 0.06, γ d = 0.036 and k 2 = 1. The angular position (θ) of the proposed APID-TOSMC approach compared with the approaches in [28,29] is shown in Fig. 2.…”

Section: Setpoint Controlmentioning

confidence: 99%

An Adaptive Real-Time Third Order Sliding Mode Control for Nonlinear Systems

Elmogy¹,

Sarhan²,

Elawady³

2022

Computers, Materials &Amp; Continua

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“…Jayakrishnan [16] and Xiong et al [17] used the sliding mode control (SMC) technique to control the horizontal position and attitude while also providing a significant improvement of altitude control. In other studies [18][19][20], the second order SMC method was also used to improve quadcopter altitude control performances. Yet another method was presented by Muliadi et al [21], where the authors proposed a neural network approach to control UAV altitude dynamics.…”

Section: Related Workmentioning

confidence: 99%

“…The results obtained with this method were verified through comparisons with a conventional proportional-integral-derivative (PID) control system. However, these approaches [15][16][17][18][19][20][21] have a common disadvantage in that the SMC technique generates a high chattering control signal method which reduces the lifetime of the entire system.…”

Section: Related Workmentioning

confidence: 99%

“…Quadcopters are an important class of UAVs that are superior in many ways: they have a simple structure, are quick to manufacture, and are inexpensive [4,5]. Controlling their position, in general, and altitude, in particular, has been the subject of numerous studies [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23] with ever more advanced algorithms having been proposed to address the quadcopter control problem.…”

Section: Introductionmentioning

confidence: 99%

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Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles

Xuan-Mung

Hong

2019

Applied Sciences

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Quadcopter unmanned aerial vehicles continue to play important roles in several applications and the improvement of their control performance has been explored in a great number of studies. In this paper, we present an altitude control algorithm for quadcopters that consists of a combination of nonlinear and linear controllers. The smooth transition between the nonlinear and linear modes are guaranteed through controller gains that are obtained based on mathematical analysis. The proposed controller takes advantage and addresses some known shortcomings of the conventional proportional–integral–derivative control method. The algorithm is simple to implement, and we prove its stability through the Lyapunov theory. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our control method to that of a conventional proportional–derivative–integral approach. Furthermore, we use a DJI-F450 drone equipped with a laser ranging sensor as the experimental quadcopter platform to evaluate the performance of our new controller in real flight conditions. Numerical simulation and experimental results demonstrate the effectiveness of the proposed algorithm.

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Sliding Mode Control for Fin Stabilizer System of Marine Vessels with PID Sliding Surface

Nguyen

Yuan

et al. 2018

2018 International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)

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Adaptive PID sliding surface-based second order sliding mode controller for perturbed nonlinear systems

Cited by 3 publications

References 18 publications

An Adaptive Real-Time Third Order Sliding Mode Control for Nonlinear Systems

An Adaptive Real-Time Third Order Sliding Mode Control for Nonlinear Systems

Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles

Sliding Mode Control for Fin Stabilizer System of Marine Vessels with PID Sliding Surface

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