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sliding Mode control for Nonlinear System Based on T-S model

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Systems Science and Systems Engineering 2002年第4期11卷 425-430页

作者： WU Zhong-qiangCollege of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China College of Electrical Engineering Yanshan University Qinhuangdao 066004 China

Using T-S model as an approximation for nonlinear system, the nonlinear system has been fuzzy into local linear model. The variable structure controller designed by using Lyapunov theory insures the stability of system. The sliding mode controller is designed by using unit vector style, and it suit the uncertain elements satisfying matching condition or do not satisfy matching condition. The effect of the scheme has been tasted with a simulation of an inverted pendulum.

关键词： nonlinear T-S model sliding model control

Design of TakagiSugeno fuzzy model based nonlinear sliding model controller

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Journal of Systems Engineering and Electronics 2005年第4期16卷 847-851页

作者： Xu gong Chen Zengqiang Yuan Zhuzhi Dept. of Automation Nankai Univ. Tianjin 300071 P. R. China School of Science Hebei Univ. of Technology Tianjin 300130 P. R. China

A design method is presented for Takagi-Sugeno （T-S） fuzzy model based nonlinear sliding model controller. First, the closed-loop fuzzy system is divided into a set of dominant local linear systems according to operating sub-regions. In each sub-region the fuzzy system consists of nominal linear system and a group of interacting systems. Then the controller composed two parts is designed. One part is designed to control the nominal system, the other is designed to control the interacting systems with sliding mode theory. The proposed controller can improve the robusmess and gnarantee tracking performance of the fuzzy system. Stability is guaranteed without finding a common positive definite matrix.

关键词： sliding model control fuzzy control T-S fuzzy model Lyapunov stability

Investigation on full vehicle height control algorithm using feedback linearization method

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Journal of Beijing Institute of Technology 2016年第2期25卷 172-180页

作者：陈思忠刘畅吴志成杨林赵玉壮 School of Mechanical Engineering Beijing Institute of Technology

Aiming to improve the control accuracy of the vehicle height for the air suspension system,deeply analyzing the processes of variable mass gas thermodynamics and vehicle dynamics,a nonlinear height control model of the air suspension vehicle was built. To deal with the nonlinear characteristic existing in the lifting and lowering processes,the nonlinear model of vehicle height control was linearized by using a feedback linearization method. Then,based on the linear full vehicle model,the sliding model controller was designed to achieve the control variables. Finally,the nonlinear control algorithm in the original coordinates can be achieved by the inverse transformation of coordinates. To validate the accuracy and effectiveness of the sliding mode controller,the height control processes were simulated in Matlab,i. e.,the lifting and lowering processes of the air suspension vehicle were taken when vehicle was in stationary and driving at a constant speed. The simulation results show that,compared to other controllers,the designed sliding model controller based on the feedback linearization can effectively solve the ＂overshoot＂problem,existing in the height control process,and force the vehicle height to reach the desired value,so as to greatly improve the speed and accuracy of the height control process. Besides,the sliding mode controller can well regulate the roll and pitch motions of the vehicle body,thereby improving the vehicle＇s ride comfort.

关键词： full vehicle height control feedback linearization sliding model control

Slip-control Strategy of Dual Independent Electric Drive Tracked Vehicle

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Journal of Beijing Institute of Technology 2019年第4期28卷 715-724页

作者： Shuyang Zhang Yunan Zhang Keyan Ning Nanming Yan Qingfeng Fang Weaponry and control Department Army Academy of Armored ForcesBeijing 100072China China North Vehicle Research Institute Beijing 100072China

In order to improve the brake performance of a dual independent electric drive tracked vehicle,a dynamic model for braking situation was ***,a sliding model controller(SMC)with an auxiliary system was designed to control the slip and its effectiveness was proved.A hardware-in-loop simulation through MATLAB/XPC was compared with the normal SMC and normal integral sliding mode controller(ISMC),the results show that SMC with the auxiliary system has a better performance:a smaller overshoot and steady state *** disturbance is suppressed *** the initial speed of ***/h,the brake distance was shortened by 3.4%and 6.8%compared with the other two methods,***,initial speeds of ***/h tests was carried out on a flat soil *** with a no-control brake,the displacement was shortened by *** demonstrates the effectiveness of the slip-control *** the same situation,the error between the simulation and test is 18.1%,which validates the accuracy of models.

关键词： tracked vehicle electric drive braking slip sliding model control

An adaptive super-twisting nonsingular terminal sliding mode fault-tolerant control strategy for aerial robots

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An adaptive super-twisting nonsingular terminal sliding mode...

第43届中国控制会议

作者： Yan Xuan Pu Yang Wanting Li College of Automation Nanjing University of Aeronautics and Astronautics

This paper proposes an adaptive super-twisting non-singular fast terminal sliding mode fault tolerant control algorithm for aerial robots with actuator faults and disturbances caused by the rotation of the ***,the dynamic equation of aerial robot is considered in the existence of faults and ***,on the basis of the nonsingular terminal sliding mode and super twisting algorithm,the proposed fault tolerant control(FTC) strategy can make the system to recover stability in a finite time and suppress chattering ***,for estimation of the unknown upper bounds of faults and disturbances,adaptive laws are *** but not the least,to evaluate the effectiveness of the proposed strategy,some simulations are performed in MATLAB/Simulink software.

关键词： Aerial Robot sliding model control Adaptive estimation Super-twisting Finite-time convergence

Robot Joint Position control Based on sliding Mode and the Port-controlled Hamiltonian method

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Robot Joint Position Control Based on Sliding Mode and the P...

第30届中国控制与决策会议

作者： Xu Xu Haisheng Yu Xudong Liu Bingkun Zhao College of Automation and Electrical Engineering Qingdao University

This paper investigates the problem of position tracking control for joint robot systems. A sliding mode control method combined with Port-controlled Hamiltonian（PCH） is introduced to cope with the chattering problem of joint robot systems only controlled by the sliding mode control scheme. Firstly, the mathematical model of robot system and permanent magnet synchronous motor（PMSM） drive system are given in this paper. Then, the sliding mode control technique is utilized to design signal controllers for fast steady-state performance. And the PCH method is used for constructing energy controllers to decreasing energy losses. In addition, a coordination strategy is constructed to coordinate sliding mode control and PCH control for obtaining satisfactory control performance. Finally, the simulation results are presented to show the effectiveness of the method proposed in this paper.

关键词： Joint robot PMSM sliding model control PCH control Coordination strategy

A Digital Twin-based Operation control for High-Speed Train

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A Digital Twin-based Operation Control for High-Speed Train

第43届中国控制会议

作者： Yuxin Ruan Yong Yang Zhenyu Zhang Wenjing Zhang School of Automation and Intelligence Beijing Jiaotong University Shanghai High Speed Rail Infrastructure Depot China Railway Shanghai Group Co.Ltd. Guizhou University of Commerce

The high-speed train operation control system(OCS) plays a critical role in ensuring the safety and efficiency of highspeed train operations due to its complex structures and *** this paper,a digital twin-based framework for OCS is proposed to enhance operational and control *** proposed framework consists of a six-dimensional structure,comprising physical and virtual entities,digital data,serve service,and train operation *** first step involves the design of a sliding model controller driven by digital data to analyze deviation ***,the effectiveness of this controller is compared with that of a PID controller through simulation and *** results demonstrate that the proposed controller exhibits superior dynamic performance when compared to the traditional PID controller.

关键词： High-speed Train Operation control System Digital Twin sliding model control

A resilient defense strategy against false data injection attack in smart grid

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A resilient defense strategy against false data injection at...

第40届中国控制会议

作者： Zheng Xu Qiang Ma Lin Lin Qi-Gui Nie Xin Liu De-Fu Yang Jian Li State Grid Shandong Electric Power Company State Grid Shandong Electric Power Company Electric Power Research institute School of Automation Engineering Northeast Electric Power University

This paper deals with the robust adaptive resilient defense problem of cyber-physical systems（CPSs） for linear systems with false data injection attack（FDIA）. By using the sliding mode technique, the attack problems of certain actuators can be solved. For improving resilience of power systems, firstly, the system model with attack signal is introduced. Secondly,the controller can ensure the reliable operation of the power system, where the gain of the nonlinear unit term is updated to automatically eliminate the effect of the FDIA and external disturbances. Finally, the effectiveness of the proposed resilient defense strategy is illustrated via a power system example with three generators and six buses.

关键词： Cyber-physical systems false data injection attack adaptive method sliding model control

An Adaptive Integral sliding Mode control method for Overhead Cranes with monocular visual feedback

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An Adaptive Integral Sliding Mode Control method for Overhea...

第40届中国控制会议

作者： Zhiteng You Weimin Xu Xianxian Xu Xinlei Zhu Qiang Hu Key Laboratory of Marine Technology and control Engineering Ministry of CommunicationsShanghai Maritime University

In this paper, an overhead crane control scheme based on visual feedback is developed to restrain the swing angle of payload and to transport the payload to a desired position rapidly and accurately. A monocular camera system, a modified mean shift algorithm and a minimum area circle method are employed to obtain payload swing angle. Data fusion is proposed to improve the accuracy of payload swing angle which is used as the feedback value of the overhead crane controller. Then, an adaptive gain integral sliding mode controller for the overhead crane is proposed to realize anti sway and positioning control,while eliminating the influence of image processing time and information transmission time, that is, the parameters of the suggested controller may be adjusted according to the delay time. This method can enhance the robustness of the crane control system to time delay caused by image calculation and information transmission and disturbance. The stability of the control system is analyzed using Lyapunov theory. The effectiveness of the proposed control scheme is verified through simulation.

关键词： overhead crane monocular visual-based sliding model control adaptive control image processing data fusion