Smooth integral sliding mode controller for the position control of Stewart platform

Kumar, P. R.; Chalanga, Asif; Bandyopadhyay, B.

doi:10.1016/j.isatra.2015.06.003

Cited by 43 publications

(19 citation statements)

References 21 publications

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“…Add an integral term to the sliding mode controller results in a highly accurate control against both parametric variations and chattering reduction [30,31]. This way, the idea of integral sliding mode focuses on the system robustness in the entire state space rather than only in the sliding phase [32]. The order of the motion equation in integral sliding mode method is equal to the dimension of the state space.…”

Section: B Integral Terminal Sliding Mode Controlmentioning

confidence: 99%

Finite-Time Disturbance-Observer-Based Integral Terminal Sliding Mode Controller for Three-Phase Synchronous Rectifier

Eskandari¹,

Yousefpour

Ayati

et al. 2020

IEEE Access

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This article is concerned with the design of a finite-time disturbance-observer-based integral terminal sliding mode controller for the effective performance of three-phase synchronous rectifiers. The proposed control technique is developed based on the conventional synchronous reference frame model of the three-phase grid-connected converter, and the system dynamics is described in terms of a time-varying non-linear state equation. The variation of DC-load is considered as a disturbance. Therefore, a combination of a fast disturbance observer and an integral terminal sliding mode controller is utilized to produce the reference value of the direct axis for the current control loop. In this research, by employing Lyapunov stability theorem in the theoretical analysis and by numerical simulations, it is confirmed that the proposed closed-loop system is stable and the states converge to desired values in finite time even in the presence of load disturbance and control input saturation. The integral terminal sliding mode controller is utilized to maintain a robust performance along with a faster response of the converter. In order to demonstrate the performance ability of the proposed control scheme under real condition, an AC power source, impregnated with low order harmonics, is assumed. A real-time laboratory setup of the synchronous rectifier has been developed successfully, and the effective performance of the proposed control technique is fully proven.

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Section: B Integral Terminal Sliding Mode Controlmentioning

confidence: 99%

Finite-Time Disturbance-Observer-Based Integral Terminal Sliding Mode Controller for Three-Phase Synchronous Rectifier

Eskandari¹,

Yousefpour

Ayati

et al. 2020

IEEE Access

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“…An integral sliding mode controller is reported for linear time-invariant implicit systems [29]. A continuous modified twisting controller is proposed for position control of stewart platform [30]. A continuous twisting algorithm has been reported [31] and applied for third-order systems [32].…”

Section: Introductionmentioning

confidence: 99%

Optimal Second Order Integral Sliding Mode Based Composite Nonlinear Feedback Approach for an Electrostatic Micromirror

et al. 2020

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In this paper, an optimal second order integral sliding mode based composite nonlinear feedback (SOISM-CNF) controller is presented for an electrostatic micromirror. The proposed controller is able to improve the transient performance and guarantee robustness against uncertainties simultaneously. A tabu search and particle swarm optimization (TS-PSO) algorithm is used to solve the parameter tuning problem. The input saturation issue is considered in the SOISM-CNF controller design. The stability of closed-loop system is proved by Lyapunov stability theory. The simulation results demonstrate the effectiveness of SOISM-CNF controller with guaranteed transient performance under the external disturbances.

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“…Han et al proposed an adaptive nonsingular terminal slid ing mode fault‐tolerant controller for the spacecraft with actuator faults, external disturbances, and model uncertainties, which was able to ensure the finite‐time convergence. The SMC introduced above contains two phases: the reaching phase and sliding phase, while the conventional SMC can only be robust on the sliding phase . Hence, the integral sliding mode (ISM), whose sliding phase will start from the initial time, was proposed in the work of Utkin and Shi .…”

Section: Introductionmentioning

confidence: 99%

“…The SMC introduced above contains two phases: the reaching phase and sliding phase, while the conventional SMC can only be robust on the sliding phase. 24 Hence, the integral sliding mode (ISM), whose sliding phase will start from the initial time, was proposed in the work of Utkin and Shi. 25 Naturally, the ISM could guarantee the system robustness in the whole control process.…”

Section: Introductionmentioning

confidence: 99%

Continuous robust fault‐tolerant control and vibration suppression for flexible spacecraft without angular velocity

Zhang

Zong

Tian

et al. 2019

Intl J Robust & Nonlinear

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Summary The fault‐tolerant control and vibration suppression for flexible spacecraft without angular velocity measurement are investigated. External disturbances, actuator faults, unknown angular velocity, and flexible vibration are addressed simultaneously. Firstly, a model‐free adaptive supertwisting state observer and an angular velocity calculation algorithm in one step are developed by using attitude information only, which can estimate the angular velocity in finite time. Then, on the basis of angular velocity estimation, a novel continuous multivariable integral sliding mode (CMISM) is proposed for the first time, which is a combination of continuous nominal controller and a modified multivariable twisting controller to reject disturbances and faults. The CMISM can stabilize attitudes in finite time and attenuate chattering effectively. Furthermore, the input shaping technique is developed to achieve effective vibration suppression of the flexible appendages. Finally, the efficiency of the proposed method is illustrated by numerical simulations.

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Smooth integral sliding mode controller for the position control of Stewart platform

Cited by 43 publications

References 21 publications

Finite-Time Disturbance-Observer-Based Integral Terminal Sliding Mode Controller for Three-Phase Synchronous Rectifier

Finite-Time Disturbance-Observer-Based Integral Terminal Sliding Mode Controller for Three-Phase Synchronous Rectifier

Optimal Second Order Integral Sliding Mode Based Composite Nonlinear Feedback Approach for an Electrostatic Micromirror

Continuous robust fault‐tolerant control and vibration suppression for flexible spacecraft without angular velocity

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