Variable-parameter double-power reaching law sliding mode control method

Kang, Zhongjian; Yu, Haoyong; Li, Changchao

doi:10.1080/00051144.2020.1757965

Cited by 21 publications

(10 citation statements)

References 18 publications

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“…furthermore, according to equations (35) and (36),n converges to n. Lemma 1 provides a general design method for a disturbance observer combined with a tracking differentiator. Therefore, it is possible to further applied to the design of disturbance observer by constructing a suitable tracking differentiator.…”

Section: Design Of Disturbance Observermentioning

confidence: 98%

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Piecewise fast multi-power reaching law: Basis for sliding mode control algorithm

Yang

Chen

2020

Measurement and Control

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A piecewise fast multi-power reaching law (PFMPRL) is proposed aiming at the problems of chattering and slow convergence in the reaching phase of sliding mode control (SMC). In this paper, the fast power reaching law and the double power reaching law are combined, and a nonlinear function is introduced to design the exponential term in PFMPRL. The proposed method ensures the characteristic of fast convergence of the system at all the phases of tendency. The characteristic of fixed-time convergence has also been satisfied. The study proves that the system state can converge to steady-state error bounds within a finite time in the presence of system uncertainty and bounded external disturbance. Compared with the existed methods, the proposed method has shorter convergence time and smaller steady-state error bound. To suppress the influence of model uncertainty and disturbance in system control, a non-linear disturbance observer (NDO) is introduced, and combined with the reaching law-based non-singular terminal sliding mode control (NTSMC), is applied to the cart inverted pendulum system. Simulation results and numerical analysis verify the effectiveness and superiority of this approach.

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Section: Design Of Disturbance Observermentioning

confidence: 98%

“…In refs. 35,36 in combination with equations (3) and (4), the convergence time of fast power and double power reaching laws respectively is:…”

Section: Related Workmentioning

confidence: 99%

Piecewise fast multi-power reaching law: Basis for sliding mode control algorithm

Yang

Chen

2020

Measurement and Control

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“…Researchers have proposed a large number of DSMC methods [11,12], which obtained the desired characteristics of the system through different reaching laws [13,14], and then derived the controller for the system to track the expected trajectory. Because the system track cannot coincide with the expected sliding surface completely, chatter is generated [15,16]. The chattering reduces the robustness and stability of the system.…”

Section: Introductionmentioning

confidence: 99%

Research on photovoltaic energy storage micro‐grid systems based on improved sliding mode control

Zhang

2022

IET Renewable Power Gen

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In islanded microgrid systems, PV power generation efficiency and energy loss of storage battery are the current research trends. Due to the intermittent and fluctuating characteristics of PV power generation, various loads connected to the DC microgrid system would also bring DC bus voltage low-frequency fluctuations and other problems. In order to solve the above problems, an maximum power point tracking (MPPT) tracking strategy (sliding mode control based on squirrel search algorithm) is proposed in this study; meanwhile, a sliding mode control strategy based on an improved reaching law is designed. The components of the PV energy storage system and the control method are mainly focused on, and the PV energy storage system is optimized by improving the sliding mode control. The proposed control algorithm is verified and analyzed by MATLAB/Simulink simulation platform. Compared with the double integral sliding mode control algorithm MPPT tracking case, sliding mode control based on squirrel search algorithm shows excellent performance (short response time, good tracking maximum power point effect etc.). In addition, the sliding mode control based on the proposed reaching law reduces the system jitter, and effectively reduces jitter and vibration of the PV energy storage battery.

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“…[40][41][42] Chattering is always an unsolved problem in sliding mode control. The boundary layer method, 43 terminal sliding mode, 44,45 the exponential reaching law method, 46 and the power reaching law method 47,48 can reduce the influence of chattering to varying degrees. However, the above methods have the advantages of reducing chattering, which will reduce the control accuracy or increase the approach time.…”

Section: Introductionmentioning

confidence: 99%

Precise torques and sliding mode compensation for trajectory tracking of manipulator with uncertainty

Lyu

Wang

Li³

et al. 2022

International Journal of Advanced Robotic Systems

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The control based on dynamic model could improve the dynamic performance of manipulators and obtain better control effects than the control based on kinematic model. As manipulators are complex online multivariable systems, there are various uncertainties in different environments and working conditions. Accurate dynamic parameters are difficult to obtain in practical engineering applications. In this article, a controller is designed by combining the precise control torques obtained by the analytical dynamics method with the compensation control torques obtained by sliding mode method for trajectory tracking of the manipulator with bounded uncertainty. Precise control torques obtained from the Udwadia–Kalaba modeling method could be applied for the control of the ideal manipulator tracking the desired trajectory. Compensation control torques obtained from the sliding mode concept and the Lyapunov stability theory could be applied to compensate the uncertainties of parameters and external disturbances, thus enhancing the robustness of the system. By combining precise control torques with compensation control torques, the end point of the manipulator with uncertainty could track the end of the ideal manipulator and then track the desired trajectory. The simulation results of the three-link manipulator with uncertainty show that the control method can make the controlled target approach the desired trajectory in relatively small torque ranges and obtain high stability accuracy, and the chattering is effectively reduced at the stage of approaching the sliding mode surface.

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Variable-parameter double-power reaching law sliding mode control method

Cited by 21 publications

References 18 publications

Piecewise fast multi-power reaching law: Basis for sliding mode control algorithm

Piecewise fast multi-power reaching law: Basis for sliding mode control algorithm

Research on photovoltaic energy storage micro‐grid systems based on improved sliding mode control

Precise torques and sliding mode compensation for trajectory tracking of manipulator with uncertainty

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