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Adaptive sliding-mode control of an Automotive Electronic Throttle in the Presence of Input Saturation Constraint

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IEEE/CAA Journal of Automatica Sinica 2018年第4期5卷 878-884页

作者： Rui Bai School of Electrical Engineering Liaoning University of TechnologyJinzhou 121001China

In modern vehicles, electronic throttle(ET) has been widely utilized to control the airflow into gasoline engine. To solve the control difficulties with an ET, such as strong nonlinearity,unknown model parameters and input saturation constraints,an adaptive sliding-mode tracking control strategy for an ET is presented. Compared with the existing control strategies for an ET, input saturation constraints and parameter uncertainties are adequately considered in the proposed control strategy. At first, the nonlinear dynamic model for control of an ET is described. According to the dynamical model, the nonlinear adaptive sliding-mode tracking control method is presented,where parameter adaptive laws and auxiliary design system are employed. Parameter adaptive law is given to estimate the unknown parameter with an ET. An auxiliary system is designed,and its state is utilized in the tracking control method to handle the input saturation. Stability proof and analysis of the adaptive sliding-mode control method is performed by using Lyapunov stability theory. Finally, the reliability and feasibility of the proposed control strategy are evaluated by computer *** research shows that the proposed sliding-mode control strategy can provide good control performance for an ET.

关键词： Auxiliary design system electronic throttle(ET) input saturation parameter adaptive law sliding-mode control tracking control

Vision-based Stabilization of Nonholonomic Mobile Robots by Integrating sliding-mode control and Adaptive Approach

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Chinese Journal of Mechanical Engineering 2013年第1期26卷 21-28页

作者： CAO Zhengcai YIN Longjie FU Yili College of Information Science and Technology Beijing University of Chemical Technology The State Key Laboratory of Robotics and Systems Harbin Institute of Technology

Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

关键词： nonholonomic mobile robots vision-based stabilization sliding-mode control adaptive control neural dynamics

Neuro-sliding-mode control of Flexible-Link Manipulators Based on Singularly Perturbed model

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Tsinghua Science and Technology 2009年第4期14卷 444-451页

作者：张宇杨唐文孙增圻 State Key Laboratory on Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University School of Computer and Information Technology Beijing Jiaotong University

A neuro-sliding-mode control （NSMC） strategy was developed to handle the complex nonlinear dynamics and model uncertainties of flexible-link manipulators. A composite controller was designed based on a singularly perturbed model of flexible-link manipulators when the rigid motion and flexible motion are decoupled. The NSMC is employed to control the slow subsystem to track a desired trajectory with a tradi- tional sliding mode controller to stabilize the fast subsystem which represents the link vibrations. A stability analysis of the flexible modes is also given. Simulations confirm that the NSMC performs better than the tra- ditional sliding-mode control for controlling flexible-link manipulators. The control strategy not only gives good tracking performance for the joint angle, but also effectively suppresses endpoint vibrations. The simulations also show that the control strategy has a strong self-adaptive ability for controlling manipulators with different parameters.

关键词： flexible manipulators neuro-sliding-mode control sliding-mode control singular perturbation

sliding-mode control Based on Index control Law for MPPT in Photovoltaic Systems

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CES Transactions on Electrical Machines and Systems 2018年第3期2卷 303-311页

作者： Zhiqiang Meng Wu Shao Jie Tang Huaan Zhou Hunan University Shaoyang University

A novel maximum power point tracking method based on sliding mode control and average state model of PV generation systems is *** method consists of two parts:term of constant control and term of index *** is different from the conventional sliding mode control which uses a constant speed control *** developed method uses a controllable sliding mode switching function which can automatically adjust the approaching speed,so as to enable the photovoltaic system to achieve fast dynamic response and stable output *** simulations using MATLAB are *** with conventional methods,simulation results show that maximum power point tracking times for the novel method both in start-up phase and in cases of environmental changes can be shorten by more than 50%.A experimental platform of 150W PV system has been established to conduct *** results show that the maximum power point tracking times both in start-up phase and in load stepping phase including the illumination change phase,can be significantly *** results indicate that the developed method owns better dynamic response than constant speed control *** can be used in photovoltaic generation system.

关键词： MPPT PV sliding-mode control

Practical bipartite consensus for multi-agent systems:A barrier function-based adaptive sliding-mode control approach

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Journal of Automation and Intelligence 2023年第1期2卷 14-19页

作者： Boda Ning Qing-Long Han Xiaohua Ge Centre for Smart Infrastructure and Digital Construction Swinburne University of TechnologyMelbourneVIC 3122Australia School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite steady-state error is converged to a predefined region of zero in finite ***,based on an error auxiliary taking neighboring antagonistic interactions into account,an SMC law is designed with an adaptive *** gain can switch to a positive semi-definite barrier function to ensure that the error auxiliary is constrained to a predefined neighborhood of zero,which in turn guarantees practical bipartite consensus tracking.A distinguished feature of the proposed controller is its independence on the bound of disturbances,while the input chattering phenomenon is ***,a numerical example is provided to verify the effectiveness of the proposed controller.

关键词： Barrier functions Practical bipartite consensus Multi-agent systems Signed graphs sliding-mode control

Adaptive sliding-mode control Based On Decoupled Method for A Class of Underactuated System

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Adaptive Sliding-mode Control Based On Decoupled Method for ...

sliding-mode control of Single-phase PWM Rectifier for DC Microgrid Applications

第36届中国控制会议

作者： Guo Jun Su Qing Lin Gong Hui Yan Li School of Automation and Electrical Engineering Tianjin University of Technology and Education School of track and electrical Engineering Chongqing Vocational College of Public Transportation

ISBN: (纸本)9781538629185

An adaptive radial basis function neural network（RBFNN） sliding-mode controller with decoupled method was proposed for a class of underactuated system. Different sub-systems were devided according to the performance of the system, and the corresponding sub-sliding plane was designed for the sub-system;The RBFNN controller was designed for one of the sub-system, and its adaptive algorithm was derived by the reaching conditon, the sub-sliding planes were connected by the intermediate functions, the stability of the control system can be guaranteed when one of the sub-system was stable. At last, overhead crane transporting control was used to illustrate the rapidness and robustness of the proposed approach.

关键词： Underactuated system sliding-mode control Decoupled control Overhead crane

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Sliding-mode Control of Single-phase PWM Rectifier for DC Mi...

sliding-mode control of a Class of Nonlinear Systems in the Presence of Input Saturation

2010 3rd International Conference on Computer and Electrical Engineering(ICCEE 2010)

作者： Wei Jiang Smart Energy Laboratory School of Energy and Power Engineering Yangzhou University

DC micro-grid is a novel ideal of advanced electricity delivery infrastructure which actively integrates a variety of renewable sources, energy storages, and loads within a local network;this type of lumped system organization can offer a fast, high quality and survivable solution for future residential and industrial power network. DC micro-grids can be the building block of future smart-grid, which performs proper power management for the sources, storages and customers within, and interact with the smart-grid in an optimal manner. AC-DC converter as the only grid-end interface to the utility grid can achieve bidirectional power processing with high power factor and low harmonics, which ensures sustainable and economical operation of the DC micro-grid. In this paper, the rectification mode of the AC-DC interface (PWM rectifier) is studied;sliding mode control is used in PWM rectifier controller design;different sliding surface coordinate functions are evaluated for sliding-mode control in detail based on a derived large signal converter model;finally the sliding-mode controller in conjunction with a traditional PI controller are designed for current loop and voltage loop respectively. The proposed control system is implemented in a TMS320F2812 digital signal controller and tested with a five-port interface to DC micro-grid, satisfactory results are collected.

关键词： DC micro-grid Multi-port Power Electronic Interface PWM Rectifier sliding-mode control load sharing

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Sliding-Mode Control of a Class of Nonlinear Systems in the ...

Hierarchical sliding-mode control Method for an Inverted Pendulum System

2015年中国智能自动化学术会议

作者： Jinkun Liu Cao Pi Beihang University

In this paper,we present a sliding-mode control approach for a two-order nonlinear system in the presence of input saturation and external disturbance.A robust control algorithm is constructed by using backstepping design *** well-defined smooth functions are introduced to approximate the primary functions so that they could be *** overcome the problem of input saturation,a new auxiliary design system and a Nussbaum function are incorporated into the control *** is proved that the global stability of the closed-loop system can be guaranteed by the proposed control algorithm.A simulation example is included at last.

关键词： Nonlinear systems Saturation Backstepping design sliding-mode control

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Journal of Systems Science and Information 2007年第4期5卷 347-351页

作者： Nuo Jia Hui Wang Mathematics Department Harbin Normal University Harbin 150025 China

This paper addresses a hierarchical sliding-mode control method for an inverted pendulum system. In this method, the system states are divided into two groups and a kind of two-layer sliding plane is constructed. We can derive the sliding-mode control law which includes the equivalent control of every sub-sliding plane by using Lyapunov law, therefore the total sliding-mode control law can drive every subsystem to move along its own sub-sliding plane, then the asymptotical stability of all the sliding planes is proved.

关键词： inverted pendulum sliding-mode control hierarchical