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Robust modeling, sliding-mode Controller, and Simulation of an Underactuated ROV Under Parametric Uncertainties and Disturbances

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Journal of Marine Science and Application 2019年第2期18卷 213-227页

作者： Mostafa Eslami Cheng Siong Chin Amin Nobakhti Electrical Engineering Department Sharif University of TechnologyAzadi AvenueTehran 11365-11155Iran Newcastle University Singapore Singapore 599493Singapore

A dynamic model of a remotely operated vehicle(ROV)is *** hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFX?and WAMIT?.A sliding-mode controller(SMC)is then designed for the ROV *** controller is subsequently robustified against modeling uncertainties,disturbances,and measurement *** is shown that when the system is subjected to bounded uncertainties,the SMC will preserve stability and tracking *** paper ends with simulation results for a variety of conditions such as disturbances and parametric uncertainties.

关键词： Remotely operated vehicle Robust modeling sliding-mode control Simulation Disturbances Parametric uncertainties

PMSM speed control using adaptive sliding mode control based on an extended state observer

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High Technology Letters 2018年第4期24卷 422-433页

作者： Liu Jing Xia Peipei Deng Yongting Li Hongwen Wang Zhiqian Changchun Institute of Optics Fine Mechanics and PhysicsChinese Academy of SciencesChangchun 130033P.R.China University of Chinese Academy of Sciences Beijing 100049P.R.China

In this study,a composite strategy based on sliding-mode control( SMC) is employed in a permanent-magnet synchronous motor vector control system to improve the system robustness performance against parameter variations and load disturbances. To handle the intrinsic chattering of SMC,an adaptive law and an extended state observer( ESO) are utilized in the speed SMC controller design. The adaptive law is used to estimate the internal parameter variations and compensate for the disturbances caused by model uncertainty. In addition,the ESO is introduced to estimate the load disturbance in real time. The estimated value is used as a feed-forward compensator for the speed adaptive sliding-mode controller to further increase the system's ability to resist disturbances. The proposed composite method,which combines adaptive SMC( ASMC) and ESO,is compared with PI control and ASMC. Both the simulation and experimental results demonstrate that the proposed method alleviates the chattering of SMC systems and improves the dynamic response and robustness of the speed control system against disturbances.

关键词： permanent-magnet synchronous motor(PMSM) adaptive sliding-mode control extended state observer speed control

Neural Network Adaptive sliding mode Control to Seesaw Systems

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Neural Network Adaptive Sliding Mode Control to Seesaw Syste...

SLIDE-mode CONTROL SCHEME WITH DYNAMIC MODIFYING ERRORS FOR BOOST CONVERTER

第二十九届中国控制会议

作者： FAN Zhiyong,ZHANG Jinggang College of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,P.R.China

In this paper,a neural network adaptive sliding-mode controller(NNASMC)is proposed for higher-order,nonlinear seesaw *** first,the mathematical model of the seesaw system is ***,the neural network sliding mode controller is designed to be the main controller,which is used to approach the equivalent control part of sliding mode *** adaptive sliding mode controller is the compensation controller of the system,and the interference and uncertainties of the system are compensated by ***,sliding mode control based on index reaching law and NNASMC are used to do simulation on a seesaw system *** simulation results show that the NNASMC converges very fast and the maximum deviation of the system is very small.

关键词： Seesaw Neural Network Adaptive sliding-mode Chattering

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Journal of Electronics(China) 2000年第4期17卷 370-375页

作者： Wu Yanzhen Qiu Shuisheng Chen Yanfeng(Dept. of EE, South China Univ. of Technology, Guangzhou 510640, China)

A novel control scheme is presented by using sliding-mode control for boost converter operating in continuous conduction mode (CCM). Although the non-ideal switching condition and physical constraint of the control are considered on the base of equivalent control, the scheme is still simple. By modifying the sliding-modc errors in each switching period, the steady-state errors and chattering can be substantially reduced. Simulation results confirm the theoretical analysis and show the improvement of the converter’s start-up behavior and low sensitivity to external perturbation.

关键词： sliding-mode control Equivalent control Boost converter Chattering

On Slide mode Control of Chaotic Rikitake Two-Disk Dynamo—Chaotic Simulations of the Reversals of the Earth’s Magnetic Field

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International Journal of modern Nonlinear Theory and Application 2014年第3期3卷 136-143页

作者： Ahmad Harb Nabil Ayoub School of Natural Resources Engineering German Jordanian University Amman Jordan

The modern nonlinear theory, bifurcation and chaos theory are used in this paper to analyze the dynamics of the Rikitake two-disk dynamo system. The mathematical model of the Rikitake system consists of three nonlinear differential equations, which found to be the same as the mathematical model of the well-known Lorenz system. The study showed that under certain value of control parameter, the system experiences a chaotic behaviour. The experienced chaotic oscillation may simulate the reversal of the Earth’s magnetic field. The main objective of this paper is to control the chaotic behaviour in Rikitake system. So, a nonlinear controller based on the slide mode control theory is designed. The study showed that the designed controller was so effective in controlling the unstable chaotic oscillations.

关键词： Chaos Theory Nonlinear Control Magnetic Theory sliding-mode Control Theory

Closed loop harmonic content reduction for three phase induction machines control

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Closed loop harmonic content reduction for three phase induc...