Methodologies of Chattering Attenuation in Sliding Mode Controller

Sahamijoo, Amirzubir; Piltan, Farzin; Mazloom, Mohammad Hadi; Avazpour, Mohammad Reza; Ghiasi, Hootan; Sulaiman, Nasri

doi:10.14257/ijhit.2016.9.2.02

Cited by 13 publications

(11 citation statements)

References 9 publications

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“…36 In general, to overcome the control-chattering effect during the implementation, the sgn (high-frequency switching function) can be approximated to the saturation function, which is called the smooth limited function. 37 The formulation of the saturation function, sat ( s / σ ) , is as follows 38…”

Section: System Descriptionmentioning

confidence: 99%

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Real-time implementation of self-tuning regulator control technique for coupled tank industrial process system

Ayten

Dumlu

Kaleli

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents the self-tuning regulator control technique for a coupled tank liquid level system that often used in industry. An autoregressive with exogenous model has been used as the liquid process model with the self-tuning control implementation in order to track the desired tank level trajectories with disturbances and uncertainties of the system dynamics. The designed self-tuning controller has been sensitive to parameter variations of the nonlinear coupled tank system. The parameters of the proposed controller are periodically updated themselves during the process by means of online recursive least square method with the forgetting factor algorithm. In this way, the parameter variations and unwanted disturbances of the system are eliminated in real-time application. In order to demonstrate the efficiency of the self-tuning regulator control technique, the real-time studies have been executed. The obtained experimental results demonstrated that the proposed controller gives the better trajectory tracking performance and smaller magnitude in overshot and undershot than the designed classical proportional–integral and sliding mode controllers.

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Section: System Descriptionmentioning

confidence: 99%

“…[30][31][32][33] In this study, the ARX input method has been used in order to describe the coupled tank system dynamics. This model is a parametric model which has been expressed in equations (36)- (38) A…”

Section: Model Development Procedures Using System Identification Techmentioning

confidence: 99%

Real-time implementation of self-tuning regulator control technique for coupled tank industrial process system

Ayten

Dumlu

Kaleli

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Finally, the control that satisfies the sliding mode conditions is given by (10) It is clear that the control law does not contain any discontinuous term. Therefore, the chattering phenomenon is perfectly eliminated.…”

Section: Controller Designmentioning

confidence: 99%

“…In recent years, soft-computing methods such as artificial neural networks (NN) and fuzzy logic systems (FLS) have been successfully applied to overcome the practical problems met in the implementation of sliding mode controllers [1,2,[6][7][8][9][10][11][12][13][14][15][16][17]. In the application of NN-based controllers to improve conventional SMC drawbacks, few main ideas were considered.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Neuro-Sliding Mode Control of PUMA 560 Robot Manipulator

Medjebouri

Mehennaoui

2016

JAMRIS

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The classical sliding mode control (SMC) is a robust control scheme widely used for dealing with nonlinear systems uncertainties and disturbances. However, the conventional SMC major drawback in real applications is the chattering phenomenon problem, which involves extremely high control activity due to the switched control input. To overcome this handicap, a pratical design method that combines an adaptive neural network and sliding mode control principles is proposed in this paper. The controller design is divided into two phases. First, the chattering phenomenon is removed by replacing the sign function included in the switched control by a continuous smooth function; basing on Lyapounov stability theorem. Then, an adaptive linear neural network, that has the role of online estimate the equivalent control in the neighborhood of the sliding manifold, is developed when the controlled plant is poorly modeled. Simulation results show clearly the satisfactory chattering free tracking performance of proposed controller when it is applied for the joints angular positions control of a 6-DOF PUMA 560 robot arm.

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“…However, the presence of the sign function in the control law causes a phenomenon known as chattering, which can excite the high-frequency dynamics (Utkin et al, 2009). To remedy this drawback while keeping the robustness of the sliding mode approach, several solutions have been proposed that combine different control approaches with the sliding mode approach to attenuate the chattering problem (Sahamijoo et al, 2016). Among these solutions, artificial intelligence approaches are considered among the best methods, in particular fuzzy logic control (Kuo et al, 2005;Wai et al, 2007;Jie et al, 2012).…”

Section: Introductionmentioning

confidence: 99%

Robust fuzzy sliding mode control for air supply on PEM fuel cell system

Martinez¹,

Baroud²,

Benalia³

2018

IJMIC

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In this paper, an adaptive fuzzy sliding mode controller is employed for air supply on proton exchange membrane fuel cell (PEMFC) systems. The control objective is to adjust the oxygen excess ratio at a given set point in order to prevent oxygen starvation and damage to the fuel-cell stack. The proposed control scheme consists of two parts: a sliding mode controller (SMC) and fuzzy logic controller (FLC) with an adjustable gain factor. The SMC is used to calculate the equivalent control law and the FLC is used to approximate the control hitting law. The performance of the proposed control strategy is analysed through simulations for different load variations. The results indicated that the adaptive fuzzy sliding mode controller (AFSMC) is excellent in terms of stability and several key performance indices such as the integral squared error (ISE), the integral absolute error (IAE) and the integral time-weighted absolute error (ITAE), as well as the settling and rise times for the closed-loop control system.

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Methodologies of Chattering Attenuation in Sliding Mode Controller

Abstract: Abstract

Cited by 13 publications

References 9 publications

Real-time implementation of self-tuning regulator control technique for coupled tank industrial process system

Real-time implementation of self-tuning regulator control technique for coupled tank industrial process system

Adaptive Neuro-Sliding Mode Control of PUMA 560 Robot Manipulator

Robust fuzzy sliding mode control for air supply on PEM fuel cell system

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