High Order Sliding Mode Control and Observation for DP Systems

Ianagui, André S.S.; Tannuri, Eduardo A.

doi:10.1016/j.ifacol.2018.09.478

Cited by 9 publications

(3 citation statements)

References 22 publications

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“…Simulation results using the proposed controller-observer can be found in [36]. To evaluate the system under a more realistic environment, subjected to implementation issues, such as sampling, sensor noise and unmatched modelling errors, small scale model experimental tests were performed in the Wave Basin of the Numerical Offshore Tank (TPN-USP, Fig.…”

Section: Experimental Evaluationmentioning

confidence: 99%

“…Controller and observer tuning are simple and only require information on the extent of modelling errors and disturbances to retain accuracy and dynamic performance robustly. This paper is an extension of a previous conference paper [36], in which the method was briefly introduced, and high-fidelity simulation results were presented. In the present text, extended attention is paid to the formulation of the control architecture, providing the requirements for finitetime stability.…”

Section: Introductionmentioning

confidence: 99%

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Robust Output-Feedback Control in a Dynamic Positioning System via High Order Sliding Modes: Theoretical Framework and Experimental Evaluation

2020

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Despite being an established and mature technology, Vessel Dynamic Positioning Systems are always in focus for the development of novel control applications in order to increase their operational capacities. Rapid and robust transient response without loss of control accuracy is, for instance, a requirement for autonomous operations. Standard technologies currently applied by the industry lack such properties. Emerging methods, such as nonlinear robust control techniques, may help to achieve this goal. This paper proposes using a Super-Twisting Controller, allied with a High Order Sliding Mode Observer to perform the Dynamic Positioning Task. This method provides the robustness of standard Sliding Modes Controllers while keeping accuracy and chattering suppression. A novel nonlinear sliding manifold and wave-frequency filtering is proposed for the Dynamic Positioning problem. The efficacy of this control structure is demonstrated in a series of experimental tests, whereby the subject vessel is controlled while disturbed by wave action. INDEX TERMS Dynamic positioning systems, super-twisting control, high order sliding modes, robust nonlinear control.

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Section: Experimental Evaluationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Output-Feedback Control in a Dynamic Positioning System via High Order Sliding Modes: Theoretical Framework and Experimental Evaluation

2020

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“…The STSMC is a second order structure of SMC that is able to reduce the oscillations that occurs around the sliding surface during the switching control phase of the SMC. The main power of STSMC is that it does not require the implementation of the derivative of the sliding variable which is the main challenge of other HOSMC techniques [22][23][24]. Nevertheless, STSMC design process requires the accurate setting of many control gains as it affects the performance and stability of the control system.…”

Section: Introductionmentioning

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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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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Sliding Mode Control

Ellenrieder

Dietrich²

2021

Control of Marine Vehicles

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High Order Sliding Mode Control and Observation for DP Systems

Cited by 9 publications

References 22 publications

Robust Output-Feedback Control in a Dynamic Positioning System via High Order Sliding Modes: Theoretical Framework and Experimental Evaluation

Robust Output-Feedback Control in a Dynamic Positioning System via High Order Sliding Modes: Theoretical Framework and Experimental Evaluation

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

Sliding Mode Control

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