Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

Durdu, Akif; Dursun, Emre Hasan

doi:10.5755/j01.eie.25.4.23964

Cited by 14 publications

(10 citation statements)

References 22 publications

(36 reference statements)

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“…After selection of the sliding surface, the Lyapunov function for SMC is defined. Combining (27), (28), and (29), the following equations are obtained asq…”

Section: B Lyapunov Function Definitionmentioning

confidence: 99%

“…In terms of controllers, the traditional PID controller is commonly employed in the industry; however, this type of controller does not always guarantee high performance owing to the complexity and diversity of the system [25]. Sliding mode control (SMC) is an effective nonlinear control method that is currently being used owing to its rapid response and robustness against external disturbance and uncertainty of a system; moreover, it does not depend on a precise dynamic model [26], [27]. Radial basis function neural network (RBFNN) is commonly used to identify the uncertainty and un-modeled dynamics of a system because they can approximate nonlinear functions with proper accuracy [28]- [30].…”

Section: Introductionmentioning

confidence: 99%

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Design, Analysis, and Test of a Novel 2-DOF Spherical Motion Mechanism

Bian

Wang

2020

IEEE Access

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A novel two degree-of-freedom (DOF) ball-joint-like hydraulic spherical motion mechanism (SMM) for use in robotic applications is proposed to achieve smooth spherical motion in all directions. Unlike traditional systems that use serial or parallel mechanisms for generating multi-DOF rotations, the proposed SMM is capable of producing continuous 2-DOF rotational motions in a single joint without intermediate transmission mechanisms. The proposed SMM has a compact structure, low inertia, and high stiffness. First, the architecture and operating principle of the proposed SMM is introduced. Then, the kinematic model is established using Euler transformation, following which factors (such as workspace and dexterity) that have an impact on motion performance are evaluated. As the foundation of dynamics analysis and controller design, the Lagrange's equations of the second kind are used to establish the dynamic model. To achieve high tracking accuracy, the radial basis function neural network-based sliding mode controller is applied to the mechanism. The simulation results indicate that the designed controller not only improves trajectory tracking capability but also enhances robustness against external disturbance and system uncertainty. Finally, experiments are performed on a prototype SMM to validate the performance of the proposed SMM and evaluate the control method. INDEX TERMS Spherical motion mechanism, kinematic modeling, motion performance, dynamic modeling, radial basis function neural network-based sliding mode control.

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“…After selection of the sliding surface, the Lyapunov function for SMC is defined. Combining (27), (28), and (29), the following equations are obtained asq…”

Section: B Lyapunov Function Definitionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Test of a Novel 2-DOF Spherical Motion Mechanism

Bian

Wang

2020

IEEE Access

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“…Various control methods have been used for controlling DC motors, such as Fuzzy Logic Controller [7]- [10], Integral State Feedback [11] [12], Sliding Mode Control [13] [14], Neural Network [15], and PID Control [16]- [19]. However, PID controllers are more favorable in industries due to their easiness and reliability in controlling DC motor speed with a fast rise time, reduced error and reduced overshoot [20].…”

Section: Introductionmentioning

confidence: 99%

Design and Application of PLC-based Speed Control for DC Motor Using PID with Identification System and MATLAB Tuner

Saputra

Ma’arif

Maghfiroh

et al. 2023

IJRCS

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Industries use numerous drives and actuators, including DC motors. Due to the wide-ranged and adjustable speed, DC motor is widely used in many industries. However, the DC motor is prone to external disturbance and parameter changes, causing its speed to be unstable. Thus, a DC motor requires an appropriate controller design to obtain a fast and stable speed with a small steady-state error. In this study, a controller was designed based on the PID control method, with the controller gains tuned by trial-and-error and MATLAB Tuner with an identification system. The proposed controller design was implemented using PLC OMRON CP1E NA20DRA in the hardware implementation. Each tuning method was repeated five times so that the system performances could be compared and improved. Based on hardware implementation results, the trial-error method gave acceptable results but had steady-state errors. On the other hand, the use of MATLAB Tuner provided fast system responses with no steady-state error but still had oscillations with high overshoot during the transition. Therefore, the PID controller gains acquired from MATLAB Tuner must be tuned finely to get better system responses.

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“…As a robust nonlinear control scheme, SMC exhibits low sensitivity to disturbing effects and parametric changes [18], [19]. Moreover, it can be put into practice easily to ensure performance increase to WECS.…”

Section: Introductionmentioning

confidence: 99%

Second-Order Fast Terminal Sliding Mode Control for MPPT of PMSG-based Wind Energy Conversion System

Dursun

Kulaksız

2020

ELEKTRON ELEKTROTECH

Self Cite

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This article proposes a new maximum power point tracking (MPPT) controller based on voltage-mode Second-Order Fast Terminal Sliding Mode Control (SO-FTSMC) to obtain better performance in the power extraction from Permanent Magnet Synchronous Generator (PMSG)-based Wind Energy Conversion System (WECS). The major objective of the study is the design of SO-FTSMC that can ensure the operation of the system in maximum power reference with higher efficiency, less steady-state error, and voltage fluctuation. Maximum power references are determined by mechanical sensorless MPPT approach. The small-scale WECS configuration incorporates wind turbine, PMSG, uncontrolled rectifier, boost converter, and MPPT controller. SO-FTSMC method has not been performed before as a voltage regulator in such a topology. The proposed controller has been validated for two different wind speed test scenarios in simulation environment, which can be applied effectively to PMSG-based WECS. Moreover, Conventional SMC (C-SMC) is created and then performance of controllers is compared in these wind speed scenarios according to maximum extracted average power, output voltage fluctuation, and voltage error in steady-state, MPPT efficiency, and performance indices. Obtained results indicate that proposed SO-FTSMC-based MPPT controller achieves superior performance.

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Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

Cited by 14 publications

References 22 publications

Design, Analysis, and Test of a Novel 2-DOF Spherical Motion Mechanism

Design, Analysis, and Test of a Novel 2-DOF Spherical Motion Mechanism

Design and Application of PLC-based Speed Control for DC Motor Using PID with Identification System and MATLAB Tuner

Second-Order Fast Terminal Sliding Mode Control for MPPT of PMSG-based Wind Energy Conversion System

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