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Analysis and Experimental Study of proportional-integral Sliding Mode Control for DC/DC Converter

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Journal of Electronic Science and Technology of China 2005年第2期3卷 140-143页

作者：张黎丘水生 College of Electronics and Communications South China University of Technology Guangzhou 510640 China

DC/DC converter using the proportional-integral (PI) sliding mode control (SMC) scheme is investigated, including the selection of the switching surface, the proof of the reaching condition and the existence condition of sliding motion. The sliding regime and the local stability are given. The implementation of the PI SMC is simpler than other SMC schemes and the steady-state error is eliminated. A prototype based on Buck converter is built up. The experimental results show that the dynamic performance and robustness to the parameter variations and external disturbances are improved.

关键词： sliding mode proportional-integral robustness converter

Reduced-Order GPIO Based Dynamic Event-Triggered Tracking Control of a Networked One-DOF Link Manipulator Without Velocity Measurement

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IEEE/CAA Journal of Automatica Sinica 2020年第3期7卷 725-734页

作者： Jiankun Sun Jun Yang Shihua Li School of Automation Southeast UniversityNanjing 210096China IEEE School of Automation Southeast UniversityKey Laboratory of Measurement and Control of CSEMinistry of EducationNanjing 210096China

In networked robot manipulators that deeply integrate control, communication and computation, the controller design needs to take into consideration the limited or costly system resources and the presence of disturbances/uncertainties. To cope with these requirements, this paper proposes a novel dynamic event-triggered robust tracking control method for a onedegree of freedom(DOF) link manipulator with external disturbance and system uncertainties via a reduced-order generalized proportional-integral observer(GPIO). By only using the sampled-data position signal, a new sampled-data robust output feedback tracking controller is proposed based on a reduced-order GPIO to attenuate the undesirable influence of the external disturbance and the system uncertainties. To save the communication resources, we propose a discrete-time dynamic event-triggering mechanism(DETM), where the estimates and the control signal are transmitted and computed only when the proposed discrete-time DETM is violated. It is shown that with the proposed control method, both tracking control properties and communication properties can be significantly improved. Finally, simulation results are shown to demonstrate the feasibility and efficacy of the proposed control approach.

关键词： Dynamic event-triggering mechanism(DETM) external disturbance and system uncertainties networked robot manipulator reduced-order generalized proportional-integral observer(GPIO) robust control

Anti-Dead-Zone integral Sliding Control and Active Vibration Suppression of a Free-floating Space Robot with Elastic Base and Flexible Links

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Journal of Beijing Institute of Technology 2020年第1期29卷 120-128页

作者： Xiaoqin Huang Li Chen College of Physics and Electronic Information Engineering Minjiang UniversityFuzhou 350108China School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350116China

Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were discussed.First,using the Lagrange equation of the second kind,the dynamic model of the system was derived.Second,utilizing singular perturbation theory,a slow subsystem describing the rigid motion and a fast subsystem corresponding to flexible vibration were obtained.For the slow subsystem,when the width of deadzone is uncertain,a dead-zone pre-compensator was designed to eliminate the impact of joint torque output dead-zone,and an integral sliding mode neural network control was proposed.The integral sliding mode term can reduce the steady state error.For the fast subsystem,an optimal linear quadratic regulator(LQR)controller was adopted to damp out the vibration of the flexible links and elastic base simultaneously.Finally,computer simulations show the effectiveness of the compound control method.

关键词： space robot with flexible links elastic base dead-zone proportional-integral sliding mode control active vibration suppression

Comparative Analysis of Analog and Digital Controllers for Negative Output Superlift Luo Converter (NOSLC)

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Circuits and Systems 2016年第8期7卷 1689-1700页

作者： Chamundeeswari Vinayagam Seyezhai Ramalingam Department of EEE St. Joseph’s College of Engineering Chennai India Department of EEE SSN College of Engineering Chennai India

This paper focuses on the comparative study of analog and digital control techniques for Negative Output Superlift Luo converter (NOSLC). NOSLC is a high gain converter in which the positive source voltage is converted into a negative load voltage. Though the negative load voltage is produced effectively, there is lot of non-linearities that affects the voltage level. To overcome this, analog controllers like proportional-integral (PI), fuzzy PI and a sliding mode controller (SMC) were proposed for NOSLC. However PI controller does not respond to changes in operating point, fuzzy PI is based on the systematic approach and proved to be a trial and error oriented method and SMC brings an oscillation in the duty cycle. Therefore, to overcome these drawbacks, a digital control technique using PIC microcontroller is proposed in this paper which provides high versatility and programmability approach. Simulation studies are carried out in MATLAB and the performances of these controllers have been investigated for the proposed DC-DC converter. A prototype of the NOSLC converter is built by employing digital control and the results are verified experimentally.

关键词： proportional-integral Fuzzy Sliding Mode Control Digital Controller