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Sliding Mode Control of Coupled Tank Systems Using conditional integrators

IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 118-125页

作者： Sankata Bhanjan Prusty Sridhar Seshagiri Umesh Chandra Pati Kamala Kanta Mahapatra Department of Electronics and Communication Engineering Madanapalle Institute of Technology and ScienceMadanapalleAndhra Pradesh 517325India Department of Electrical and Computer Engineering San Diego State UniversitySan DiegoCA 92182 USA Department of Electronics and Communication Engineering National Institute of TechnologyRourkelaOdisha 769008India

For the problem of set point regulation of the liquid level in coupled tank systems, we present a continuous sliding mode control(SMC) with a "conditional integrator", which only provides integral action inside the boundary layer. For a special choice of the controller parameters, our design can be viewed as a PID controller with anti-windup and achieves robust *** proposed controller recovers the transient response performance without control chattering. Both full-state feedback as well as output-feedback designs are presented in this work. Our output-feedback design uses a high-gain observer(HGO) which recovers the performance of a state-feedback design where plant parameters are assumed to be known. We consider both interacting as well as non-interacting tanks and analytical results for stability and transient performance are presented in both the cases. The proposed controller continuous SMC with conditional integrators(CSMCCI) provides superior results in terms of the performance measures as well as performance indices than ideal SMC, continuous SMC(CSMC) and continuous SMC with conventional integrator(CSMCI). Experimental results demonstrate good tracking performance in spite of unmodeled dynamics and disturbances.

关键词： conditional integrator coupled tank system LabVIEW sliding mode control

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Driving force coordinated control of an 8x8 in-wheel motor drive vehicle with tire-road friction coefficient identification

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Defence Technology（防务技术） 2022年第1期18卷 119-132页

作者： Zheng Zhang Chun-guang Liu Xiao-jun Ma Yun-yin Zhang Lu-ming Chen Department of Weapons and Control Engineering Army Academny of Armored Forces Beijing100072China

Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electricdrive vehicle can easily slip under certain working *** wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving *** this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each *** the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method According to road identification,the optimal sip ratio under the current driving condition is obtainedand a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip *** anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination *** results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-roadrces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.

关键词： In-wheel motor Tire-road friction coefficient Slip ratio Sliding mode control conditional integrator Accelera tion slip regulation

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