Extended-State-Observer-Based Double-Loop Integral Sliding-Mode Control of Electronic Throttle Valve

This article presents a double-integral sliding-mode controller with an adaptive proportional-integral-derivative observer for brushless direct current motor speed controller. First, an integral sliding-mode control is designed based on the motor dynamic model and system uncertainties. Accordingly, a novel double-integral sliding-mode controller is proposed to enhance the steady-state performance by employing the double-integral sliding surface with its inherent integral control feature. In addition, the control gains of the double-integral sliding-mode controller can be online adjusted using an adaptive proportional-integral-derivative observer. Thus, the proposed double-integral sliding-mode controller possesses the merits of integral sliding-mode control, proportional-integral-derivative, and adaptive law. An experimental setup including a digital signal processor is applied to verify the brushless direct current motor control system using different control scheme. The measured results show that satisfactory acceleration/deceleration speed tracking and load disturbance speed regulation characteristics are obtained via conventional proportional-integral-derivative controller and the developed integral sliding-mode control scheme under the various testing cases. Moreover, the maximum tracking error can be further reduced more than 50% by adopting the proposed double-integral sliding-mode controller with adaptive proportional-integral-derivative observer.

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“…Taking the time derivative of the Lyapunov function, and using equations (14) and (17), one can obtain…”

Section: Dismc Schemementioning

confidence: 99%

Design and implementation of double-integral sliding-mode controller for brushless direct current motor speed control

Chen

Kuo

2017

Advances in Mechanical Engineering

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“…From equations (6) and (7), in coordinate frame F 1 ðx w ; y w Þ, the kinematic mode of the differential WMR with slipping is described as follows…”

Section: Kinematic Model Of the Wmr With Wheels' Slippingmentioning

confidence: 99%

An adaptive unscented Kalman filter-based adaptive tracking control for wheeled mobile robots with control constrains in the presence of wheel slipping

Cui

Liu

Wei

et al. 2016

International Journal of Advanced Robotic Systems

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A novel control approach is proposed for trajectory tracking of a wheeled mobile robot with unknown wheels' slipping. The longitudinal and lateral slipping are considered and processed as three time-varying parameters. The adaptive unscented Kalman filter is then designed to estimate the slipping parameters online, an adaptive adjustment of the noise covariances in the estimation process is implemented using a technique of covariance matching in the adaptive unscented Kalman filter context. Considering the practical physical constrains, a stable tracking control law for this robot system is proposed by the backstepping method. Asymptotic stability is guaranteed by Lyapunov stability theory. Control gains are determined online by applying pole placement method. Simulation and real experiment results show the effectiveness and robustness of the proposed control method.

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“…To control the ETB, the current literature proposes different approaches, such as PID controller with system nonlinearities compensated by a heuristically tuned compensator [6], dynamic programming techniques [9], variable-structure control [20], robust discrete-time model reference adaptive control [7], [14], PID controller with adaptive compensator for friction, limp-home, and backlash [8], mixed constrained H 2 /H ∞ controller [26], sliding-mode controller [12], asymmetric nonlinear PI controller [24], just to name a few.…”

Section: Introductionmentioning

confidence: 99%

Adaptive-Smith Predictor for Controlling an Automotive Electronic Throttle over Network

Caruntu¹,

Vargas

Acho³

et al. 2018

INT J COMPUT COMMUN

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The paper presents a control strategy for an automotive electronic throttle, a device used to regulate the power produced by spark-ignition engines. Controlling the electronic throttle body is a difficult task because the throttle accounts strong nonlinearities. The difficulty increases when the control works through communication networks subject to random delay. In this paper, we revisit the Smith-predictor control, and show how to adapt it for controlling the electronic throttle body over a delay-driven network. Experiments were carried out in a laboratory, and the corresponding data indicate the benefits of our approach for applications.

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Extended-State-Observer-Based Double-Loop Integral Sliding-Mode Control of Electronic Throttle Valve

Cited by 97 publications

References 44 publications

Design and implementation of double-integral sliding-mode controller for brushless direct current motor speed control

Design and implementation of double-integral sliding-mode controller for brushless direct current motor speed control

An adaptive unscented Kalman filter-based adaptive tracking control for wheeled mobile robots with control constrains in the presence of wheel slipping

Adaptive-Smith Predictor for Controlling an Automotive Electronic Throttle over Network

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