Decoupled disturbance compensation under control saturation with discrete-time variable structure control method in industrial servo systems

Han, Jin-Suk; Bahn, Wook; Kim, Tae Il; Park, Ji-Ho; Lee, Sang-Sub; Lee, Sanghoon; Cho, Dong‐il Dan

doi:10.1109/iccas.2016.7832494

Cited by 8 publications

(7 citation statements)

References 15 publications

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“…which is equal to (7). The validity and effectiveness of the disturbance compensator (13) were also demonstrated with experimental results [40]. However, the stability of the sliding mode dynamics are not guaranteed as follows: Due to the remaining term GBq k in (15), which is abrupt and unpredictable, the windup phenomenon of the switching function arises.…”

Section: B Problem Formulations With Constrained Control Inputmentioning

confidence: 95%

“…Thus,f k may not converge asymptotically when control saturation arises. To guarantee the asymptotic convergence of the disturbance estimation error dynamics under control saturation, a new disturbance estimation method was developed [40]. For ( 9) with Assumption 1, consider the DSMC law (3) and the following disturbance estimation law with control parameters that satisfy 0 < η/φ < q < 1, 0 < g < 1 and η > GB(m/g):…”

Section: B Problem Formulations With Constrained Control Inputmentioning

confidence: 99%

“…However, it is derived in the continuous-time domain. A novel disturbance estimation scheme has been developed for a DSMC [40]. It prevents the windup of the disturbance estimate and, thus, guarantees the asymptotic convergence of the disturbance estimation error dynamics even in the presence of control saturation.…”

mentioning

confidence: 99%

“…This article proposes a novel DSMC with DDC method to deal with disturbances and control saturation using an auxiliary state. In specific, the closed-loop stability for a double integrator system is investigated, where the double integrator model has been applied in a wide range of practical systems [41], such as industrial servo systems [40], multiagent systems [42], [43], and autonomous underwater vehicles [44]. The main contributions of this article are as follows.…”

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confidence: 99%

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Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Han

Kim

et al. 2020

IEEE Trans. Ind. Electron.

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This article presents a novel method of dealing with disturbances and control saturation in the framework of discrete-time sliding mode control (DSMC). A DSMC with decoupled disturbance compensator (DDC) was developed for SMC to recover the loss of stability in the discrete-time domain. However, windup phenomena occur in both the switching function and the disturbance estimate when control saturation occurs, and the method cannot guarantee stability. The article develops a new method for maintaining stability under both disturbances and control saturation by incorporating a novel auxiliary state into the DSMC with DDC method. The auxiliary state prevents the windup phenomena, and the developed new method preserves the asymptotic convergence property of the disturbance estimation error dynamics and the stability of the sliding mode dynamics. Also, the error states are stable under bounded disturbances and control saturation. Simulations and experiments are performed on a commonly used industrial servo system to demonstrate the effectiveness of the proposed method. Index Terms-Discrete-time systems, sliding mode control (SMC), servosystems. I. INTRODUCTIONS LIDING mode control (SMC) is a special kind of variable structure control and is one of the most successful approaches in general control systems with bounded and matched disturbances. SMC drives the state variables to a predesigned sliding surface in a finite time and then keeps them on the sliding surface in the presence of the bounded disturbance. Therefore,

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Section: B Problem Formulations With Constrained Control Inputmentioning

confidence: 95%

Section: B Problem Formulations With Constrained Control Inputmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Han

Kim

et al. 2020

IEEE Trans. Ind. Electron.

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“…If the disturbance can be estimated, it is possible to eliminate or minimise the effects [19] [20]. In recent decades, the notion of a disturbance observer has been extensively studied and applied within controller design frameworks [21] [22]. In [23], disturbance observers for discrete-time nonlinear systems are designed, and the gains of the disturbance observers need to be obtained via solution to an LMI.…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer Based Discrete Time Sliding Mode Control for a Continuous Stirred Tank Reactor

Zhao

Spurgeon

2018

2018 15th International Workshop on Variable Structure Systems (VSS)

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The continuous stirred tank reactor (CSTR) is a typical element of equipment frequently found in the process industry. The control of a CSTR is very challenging due to its nonlinear dynamics and the presence of external disturbances. In this paper, a novel discrete time sliding mode control method for the CSTR is presented. Then a disturbance observer is designed to eliminate the effect of external disturbances on the CSTR system. Stability analysis is presented based on the Lyapunov method. Finally, the control performance of the proposed method is validated by using MATLAB simulation experiments.

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Controller Design Based on a Synchronous Error Compensator for Wheeled Cross-coupled Systems

Choi,

Lee,

Jung

2024

Int. J. Control Autom. Syst.

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Decoupled disturbance compensation under control saturation with discrete-time variable structure control method in industrial servo systems

Cited by 8 publications

References 15 publications

Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Effective Disturbance Compensation Method Under Control Saturation in Discrete-Time Sliding Mode Control

Disturbance Observer Based Discrete Time Sliding Mode Control for a Continuous Stirred Tank Reactor

Controller Design Based on a Synchronous Error Compensator for Wheeled Cross-coupled Systems

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