Improvement of sliding mode controller by using a new adaptive reaching law: Theory and experiment

Brahmi, Brahim; Laraki, Mohamed Hamza; Brahmi, Abdelkrim; Saad, Maarouf; Rahman, Mohammad Habibur

doi:10.1016/j.isatra.2019.08.010

Cited by 45 publications

(51 citation statements)

References 14 publications

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“…Clearly, it can be seen from () that the sliding variable s will reach the sliding surface s = 0 within

1/(k\alpha (1 - \gamma ))

units of time independently on the initial conditions, and the maximum reaching time can be effectively reduced by tuning the parameters k , a and g γRemark Compared to the adaptive power rate reaching law proposed in [22], the improved exponential rate reaching law proposed in [24] and the reaching law proposed in [25], the proposed reaching law has less tuning parameters, and the chattering can be totally eliminated in theory. It should be noted that the maximum reaching time of the above mentioned reaching laws depends on the initial conditions, that is, the maximum reaching time will be significantly increased when the sliding variable is far away from the sliding surface.…”

Section: The Proposed Reaching Lawmentioning

confidence: 99%

Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

Zou

Chen

2022

IET Power Electronics

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A novel reaching law based sliding mode control of PMSM speed regulation system with uncertainties and unknown external disturbance is proposed in this paper. The proposed reaching law mainly consists of a time‐varying gain and a fractional power term of the sliding variable. And the time‐varying gain is auto‐tuned by the sliding variable such that it is large when the sliding variable is far away from the sliding surface to speed‐up the reaching process, and vice versa. Unlike the existing auto‐tuning power rate reaching law (PRRL), the proposed reaching law provides a guaranteed reaching time independently on initial conditions. Moreover, the reaching time can be effectively reduced by tuning the gains of the reaching law. Based on this new reaching law, a disturbance observer is designed to estimate the unknown total disturbance and a sliding mode controller is designed for the robust control of PMSM speed regulation system based on the estimated disturbance. Simulations and experiments are carried out to verify the effectiveness of the proposed control method.

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“…Clearly, it can be seen from () that the sliding variable s will reach the sliding surface s = 0 within

1/(k\alpha (1 - \gamma ))

Section: The Proposed Reaching Lawmentioning

confidence: 99%

Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

Zou

Chen

2022

IET Power Electronics

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“…ere are some conventional reaching laws that have been designed, such as the constant-proportional rate reaching law [22], the quick power reaching law [23], and the double power reaching law [24]. Besides, some novel reaching laws have also been developed to ensure the fast reaching convergence to the sliding surface [25][26][27][28][29]. Among them, the double power reaching law can obtain excellent reaching performance, which is widely used in the SMC design.…”

Section: Introductionmentioning

confidence: 99%

Novel Nonsingular Fast Terminal Sliding Mode Control for a Class of Second-Order Uncertain Nonlinear Systems

Pan

Zhang

2021

Mathematical Problems in Engineering

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This paper presents a novel nonsingular fast terminal sliding mode control scheme for a class of second-order uncertain nonlinear systems. First, a novel nonsingular fast terminal sliding mode manifold (NNFTSM) with adaptive coefficients is put forward, and a novel double power reaching law (NDP) with dynamic exponential power terms is presented. Afterwards, a novel nonsingular fast terminal sliding mode (NNFTSMNDP) controller is designed by employing NNFTSM and NDP, which can improve the convergence rate and the robustness of the system. Due to the existence of external disturbances and parameter uncertainties, the system states under controller NNFTSMNDP cannot converge to the equilibrium but only to the neighborhood of the equilibrium in finite time. Considering the unsatisfying performance of controller NNFTSMNDP, an adaptive disturbance observer (ADO) is employed to estimate the lumped disturbance that is compensated in the controller in real-time. A novel composite controller is presented by combining the NNFTSMNDP method with the ADO technique. The finite-time stability of the closed-loop system under the proposed control method is proven by virtue of the Lyapunov stability theory. Both simulation results and theoretical analysis illustrate that the proposed method shows excellent control performance in the existence of disturbances and uncertainties.

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“…Another shortcoming that needs to be mentioned is system chattering, which is mainly caused by the discontinuity of control signal (signum function) near sliding mode surface [24]. Many continuous approximate functions (such as saturation function and hyperbolic tangent function) are adopted to alleviate the influence of discontinuous term and reduce chattering, which are at the expense of certain system performance [25].…”

Section: Introductionmentioning

confidence: 99%

Novel fast terminal sliding mode controller with current constraint for permanent-magnet synchronous motor

Yao¹,

Kong²,

Ding³

2021

Turkish Journal of Electrical Engineering and Computer Sciences

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Under the noncascade structure, the balance between q-axis current constraint and dynamic performance in permanent-magnet synchronous motor system has become a critical problem. On the one hand, large transient current is required to provide high torque to achieve fast dynamic performance. On the other hand, current constraint becomes a state constraint problem, instead of governing q-axis reference current in the cascade structure directly. Aiming at this issue, a novel fast terminal sliding mode control (FTSMC)-based controller with current constraint is developed in this paper. The novelty of this scheme is related to the proposed penalty function based on interior point method, which is established in control action directly. Unlike ordinary solutions, the suggested solution combined with sliding mode variable can achieve current constraint of q-axis without scarifying dynamic performance. Furthermore, by adopting the FTSMC-type surface and new reaching law, the proposed implementation guarantees high performance with significant reduction of chattering phenomenon and has fast convergence characteristics. Then, the stability proof of the whole closed-loop system by employing the Lyapunov method is given in detail. Finally, series of simulations are provided to evaluate the performance of the presented FTSMC-type controller, in terms of current constraint, dynamic performance, and chattering reduction.

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Improvement of sliding mode controller by using a new adaptive reaching law: Theory and experiment

Cited by 45 publications

References 14 publications

Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

Novel Nonsingular Fast Terminal Sliding Mode Control for a Class of Second-Order Uncertain Nonlinear Systems

Novel fast terminal sliding mode controller with current constraint for permanent-magnet synchronous motor

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