A Reference Trajectory Based Discrete Time Sliding Mode Control Strategy

Bartoszewicz, Andrzej; Adamiak, Katarzyna

doi:10.2478/amcs-2019-0038

Cited by 9 publications

(4 citation statements)

References 33 publications

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“…It is observed that the switching function is affected by all the disturbance terms, i.e., d(0), d(1), ..., in the whole control process. The idea of the reference trajectory generator was first presented in [18,[23][24][25] and then introduced in this method, where the switching function s(k + 1) is regulated with the guidance of the desired trajectory s d (k). It is noted that s d (k) is not influenced by the disturbance.…”

Section: Proposed Methodsmentioning

confidence: 99%

Disturbance Compensation Based Discrete-time Sliding Mode Control with a Reference Trajectory Generator

Liu

Tian

et al. 2021

Int. J. Control Autom. Syst.

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A novel disturbance compensation based sliding mode reaching law with a reference trajectory generator is presented in this work. Unlike existing similar researches, a reference trajectory generator is added to the reaching law to obtain the target evolution of the switching function. Meanwhile, a high order disturbance estimator is utilized to achieve accurate disturbance rejection. Additionally, by using the nonlinear functions, the controller parameters can be adaptively adjusted in a wise manner. The main merit of the presented method is that it is capable of ensuring a much smaller ultimate bound of the switching function, i.e., O(T n+1 ) order accuracy and n is a positive integer, better system robustness, and improved control accuracy. Moreover, system dynamics, including the system states, are theoretically analyzed. The performance improvement of the presented method is verified through a real simulation study.

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Section: Proposed Methodsmentioning

confidence: 99%

Disturbance Compensation Based Discrete-time Sliding Mode Control with a Reference Trajectory Generator

Liu

Tian

et al. 2021

Int. J. Control Autom. Syst.

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“…To avoid this inefficiency, new approaches have been proposed to improve the POD-Galerkin method for nonlinear systems. These approaches include the trajectory piecewise-linear (TPWL) method (Rewieński, 2003;Rewienski and White, 2006), a reference trajectory based mode control strategy for discrete time dynamical system (Bartoszewicz and Adamiak, 2019), a heuristic algorithm based on linear matrix inequalities (LMIs) (Sanjuan et al, 2019), missing point estimation (MPE) (Astrid, 2004), and discrete empirical interpolation (DEIM) (Chaturantabut and Sorensen, 2010).…”

Section: Introductionmentioning

confidence: 99%

Stabilized model reduction for nonlinear dynamical systems through a contractivity-preserving framework

Chaturantabut¹

2020

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This work develops a technique for constructing a reduced-order system that not only has low computational complexity, but also maintains the stability of the original nonlinear dynamical system. The proposed framework is designed to preserve the contractivity of the vector field in the original system, which can further guarantee stability preservation, as well as provide an error bound for the approximated equilibrium solution of the resulting reduced system. This technique employs a low-dimensional basis from proper orthogonal decomposition to optimally capture the dominant dynamics of the original system, and modifies the discrete empirical interpolation method by enforcing certain structure for the nonlinear approximation. The efficiency and accuracy of the proposed method are illustrated through numerical tests on a nonlinear reaction diffusion problem.

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“…Currently, one of the promising approaches to fault detection and identification is the use of the observers operating in a sliding mode (Utkin, 1992) (sliding mode observers, SOs). Nowadays, the SOs are applied to solve the problems of fault identification in linear (Edwards and Spurgeon, 1994;Fridman et al, 2007;Edwards et al, 2000) and nonlinear (Davila et al, 2006;He and Zhang, 2012;Rascón et al, 2017) systems, to ensure fault-tolerant control (Edwards et al, 2012;Alwi and Edwards, 2008;Bartoszewicz and Adamiak, 2019).…”

Section: Introductionmentioning

confidence: 99%

Fault identification in underwater vehicle thrusters via sliding mode observers

Zuev¹,

Zhirabok²,

Filaretov³

2020

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The paper is devoted to the problem of increasing the efficiency of underwater vehicles by using a fault diagnosis system for their thrusters which provides detection, isolation, and identification of minor faults. To address the problem, a two-stage method is proposed. At the first stage, a bank of diagnostic observers is designed to detect and isolate the emerging faults. Each observer in this bank is constructed to be sensitive to some set of faults and insensitive to others. At the second stage, additional observers working in sliding mode are synthesized in order to accurately estimate the error value in the signal obtained from the angular velocity sensor and to estimate deviations of the thruster parameters from their nominal values due to the faults. In contrast to the existing solutions, reduced-order (i.e., lower-dimensional) models of the original system are proposed as a basis to construct sliding mode observers. This approach permits reduction of the complexity of the obtained observers in comparison with the known methods, where full-order observers are constructed. The simulation results show the efficiency and high quality of all synthesized observers. In all cases considered, it was possible to detect typical faults, as well as estimate their values.

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A Reference Trajectory Based Discrete Time Sliding Mode Control Strategy

Cited by 9 publications

References 33 publications

Disturbance Compensation Based Discrete-time Sliding Mode Control with a Reference Trajectory Generator

Disturbance Compensation Based Discrete-time Sliding Mode Control with a Reference Trajectory Generator

Stabilized model reduction for nonlinear dynamical systems through a contractivity-preserving framework

Fault identification in underwater vehicle thrusters via sliding mode observers

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