An adaptive sliding mode differentiator for actuator oscillatory failure case reconstruction

Alwi, Halim; Edwards, Christopher

doi:10.1016/j.automatica.2012.11.042

Cited by 98 publications

(65 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Remark: Note that the structure in (32)-(33) is similar to (10)- (11) except that the gains are fixed. In Section 3 the gains were allowed to adapt -largely to cope with noise on the rod position measurement.…”

Section: Sliding Mode Observermentioning

confidence: 97%

“…Formally it is shown in [11] that the adaptation rule (21) ensures r(t) remains bounded and the error system (14)- (15) enters a small neighbourhood of the origin depending on the size of ǫ. In practice, provided, as a result of the adaptation Γ(t) becomes sufficiently large so that Γ(t) > |ġ(t, x, u, f )| over a sufficiently long finite interval [t 0 , t 1 ], then e 1 (t) =ė 1 (t) = 0 in finite time.…”

Section: Ofc Estimationmentioning

confidence: 99%

“…This reduction of weight at the design stage ultimately translates to a reduction in fuel burn, therefore reducing fuel consumption and costs in the longer term. The idea is to use a second order exact differentiator scheme with adaptive gains, as proposed in [11], in order to estimate the actuator rod speed. This estimation of the rod speed is used as part of the estimation of any OFCs that may be present in the servo loop, by mathematical manipulation of the actual actuator model.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Second order sliding mode observers for the ADDSAFE actuator benchmark problem

Alwi

Edwards

2014

Control Engineering Practice

Self Cite

View full text Add to dashboard Cite

This paper presents the evaluation process and results associated with two different fault detection and diagnosis (FDD) schemes applied to two different aircraft actuator fault benchmark problems. Although the schemes are different and bespoke for the problem being addressed, both are based on the concept of a second order sliding mode. Furthermore both designs are considered as 'local' in the sense that a localized actuator model is used together with local sensor measurements. The schemes do not involve the global aircraft equations of motion, and therefore have low order. The first FDD scheme is associated with the detection of oscillatory failure cases (OFC), while the second scheme is aimed at the detection of actuator jams/runaways. For the OFC benchmark problem, the idea is to estimate the OFC using a mathematical model of the actuator in which the rod speed is estimated using an adaptive second order exact differentiator. For the jam/runaway actuator benchmark problem, a more classical sliding mode observer based FDD scheme is considered in which the fault reconstruction is obtained from the equivalent output error injection signals associated with a second order sliding mode structure. The results presented in this paper summarize the design process from tuning, testing and finally industrial evaluation as part of the ADDSAFE project.

show abstract

Section: Sliding Mode Observermentioning

confidence: 97%

Section: Ofc Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Second order sliding mode observers for the ADDSAFE actuator benchmark problem

Alwi

Edwards

2014

Control Engineering Practice

Self Cite

View full text Add to dashboard Cite

show abstract

“…Although it can be argued, even in this situation there is benefit to using the "smallest" magnitude of switching gain which can sustain sliding rather than a possibly conservative upper bound on the worst case disturbance (Alwi & Edwards (2013)). Equations (1), (31) and (32) can be written in the forṁ…”

Section: Adaptive Super-twistingmentioning

confidence: 99%

“…A recent overview of this field is given in Utkin & Poznyak (2013a). The creation of new Lyapunov functions for higher order sliding mode control structures -particularly twisting and super-twisting controllers -has also rejuvenated interest in this area (Moreno & Osorio (2008)) and the literature expanding these Lyapunov ideas into the realm of adaptive sliding mode control is developing rapidly (Plestan et al (2010); Alwi & Edwards (2013); Shtessel et al (2012); Bartolini et al (2103); ). Whilst it is intuitively clear that when sliding begins to deteriorate the controller gains must be increased, devising an effective way of lowering unnecessarily large gains once sliding is achieved, has proved more elusive.…”

Section: Introductionmentioning

confidence: 99%

Adaptive continuous higher order sliding mode control

2016

Self Cite

View full text Add to dashboard Cite

Second‐order sliding mode output feedback controller with adaptation

Negrete-Chavez

Moreno

2016

Adaptive Control & Signal

View full text Add to dashboard Cite

An adaptive second-order sliding mode output feedback controller is developed to deal with the case that the bound of the uncertainty/perturbation is unknown. The control structure consists in a twisting controller and a super-twisting observer to estimate the unmeasured variable. The gains of the controller and observer are parametrized in terms of a scalar gain, such that increasing these two gains, it is always possible to find values to (finite-time) stabilize the closed loop system. Finally, adaptive gain laws are provided to increase the controller and the observer gains until the closed loop has been stabilized. The main technical contribution of the paper is to give a sound and non-trivial Lyapunov analysis of this otherwise intuitively simple idea. We illustrate the performance of the proposed controller by means of experimental results in a laboratory setup.Successful implementation of high-order sliding mode controllers requires the knowledge of the bound of the perturbation, because the appropriate gains for controller and differentiator are functions of these bounds [6][7][8][9]11]. These bounds are usually constants, but they can take also the form of a (known) time-varying signal [11]. When a bound for the perturbation is not known a priori, one is usually led to select an overestimated value, with the consequence of a high chattering amplitude. Recently, some strategies to adapt the values of the gains have been also proposed. For example, for classical sliding modes, Oliveira et al. [12] propose an adaptive approach to overcome limitations of uncalibrated robotics visual servoing. In [13], an adaptive second-order sliding mode controller is presented based on the estimation of the equivalent control by using only output measurements.Recently, for SOSM, two approaches to adapt the gain have been proposed. The first attack is to reconstruct the perturbation and to adapt the gain according to its estimated value. In [14], an adaptive super-twisting controller is presented. The adaptive gain 'follows' the equivalent control, which is obtained by filtering out the control signal by a low-pass filter. This method can track the required values of the gains very closely, but it requires the knowledge of the bound of the derivative of the perturbation. Furthermore, a delay on the control signal is presented because of the filtering process.The second approach to adapt the sliding mode controller gain is to detect the sliding mode: the idea is to increase the gain if the sliding mode is not established and decrease the gain when the sliding mode has been established. For example, in [15], an adaptive twisting controller is presented, assuming that the full state vector is available, while in [16], an adaptive super-twisting controller is developed. In [17], an adaptive super-twisting differentiator is designed for fault detection. In [18], an adaptive twisting controller is used on the joint position tracking control of industrial robots. The adaptation is based on detection of the sliding mode and is use...

show abstract

An adaptive sliding mode differentiator for actuator oscillatory failure case reconstruction

Cited by 98 publications

References 20 publications

Second order sliding mode observers for the ADDSAFE actuator benchmark problem

Second order sliding mode observers for the ADDSAFE actuator benchmark problem

Adaptive continuous higher order sliding mode control

Second‐order sliding mode output feedback controller with adaptation

Contact Info

Product

Resources

About