Integral sliding mode control of time-delay systems with mismatching uncertainties

Zhao, Fei; Liu, Yu; Yao, Xiuming; Bao-ku, SU

doi:10.3969/j.issn.1004-4132.2010.02.017

Cited by 12 publications

(6 citation statements)

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“…The linear matrix inequality (LMI)-based sliding surface design for SMC has been proposed to guarantee the asymptotic stability of full order system with mismatched uncertainties. [19][20][21] The disturbance observer (DOB) is also integrated into the SMC to counteract the mismatched disturbance. [19][20][21][22][23] Yet, the transient response performances of the systems are rarely considered in these researches.…”

Section: Introductionmentioning

confidence: 99%

Improved nonlinear sliding mode control based on load disturbance observer for permanent magnet synchronous motor servo system

Qian

Luo

Peng

2016

Advances in Mechanical Engineering

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This article presented an improved nonlinear sliding mode control based on disturbance observer for the permanent magnet synchronous motor servo system. The position transient response performances, such as fast response and non-overshoot, are enhanced by the introduction of novel nonlinear sliding surface in the design of sliding mode control law. In order to abolish the analysis necessity of changeable uncertainties and alleviate the system chattering, the nonlinear sliding mode control algorithm is improved by adaptive parameter estimation and saturation function. Since the improved nonlinear sliding mode control algorithm is sensitive to mismatched uncertainties which are mainly due to the load disturbance, a disturbance observer is put forward to estimate the mismatched uncertainties and is integrated into control law design to improve the positioning accuracy. The stability of improved nonlinear sliding mode control based on disturbance observer is proved based on the Lyapunov approach. The simulation results demonstrate the effectiveness and robustness of the proposed improved nonlinear sliding mode control based on disturbance observer for permanent magnet synchronous motor servo system with stationary and dynamic trajectory tracking.

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Section: Introductionmentioning

confidence: 99%

Improved nonlinear sliding mode control based on load disturbance observer for permanent magnet synchronous motor servo system

Qian

Luo

Peng

2016

Advances in Mechanical Engineering

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“…4. Finally, calculate the matrix G 1 using (34). For the original system (8), the sliding surface matrix is then C = [G 1 I m ]T r .…”

Section: Methods 2: Coefficient Ratio-based Direct Sliding Surface Designmentioning

confidence: 99%

“…Since integral control allows obtaining robust tracking of reference signals, it will be utilised in the SMC design. Although there exist some ISMC approaches [30][31][32][33][34][35], a coefficient ratio-based ISMC procedure can be simpler and more effective.…”

Section: Integral Sliding Mode Control For Robust Trackingmentioning

confidence: 99%

Coefficient ratios‐based robust sliding surface and integral sliding mode control designs with optimal transient responses

Ablay

2014

IET Control Theory & Applications

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“…This leads to many researches on the SMC design for uncertain systems with mismatched uncertainties. The linear matrix inequality (LMI) based sliding surface design for SMC has been proposed to guarantee the asymptotic stability of full-order system with mismatched uncertainties [25][26][27]. An adaptive radial basis function neural network is proposed in [28] to compensate for the effects of mismatched uncertainty in the framework of integral SMC.…”

Section: Introductionmentioning

confidence: 99%

Novel Adaptive Sliding Mode Control with Nonlinear Disturbance Observer for SMT Assembly Machine

Qian

Luo

Zhao

et al. 2016

Mathematical Problems in Engineering

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This paper presents a novel adaptive sliding mode control based on nonlinear sliding surface with disturbance observer (ANSMC-DOB) for precision trajectory tracking control of a surface mount technology (SMT) assembly machine. A two-degree-of-freedom model with time-varying parameter uncertainties and disturbances is built to describe the first axial mode of the pick-place actuation axis of the machine. According to the principle of variable damping ratio coefficient which makes the system have a nonovershoot transient response and a short settling time in the second-order system, the nonlinear sliding surface is designed for the sliding mode control (SMC). Since the upper bound value of the disturbances is unknown, the adaptive gain estimation is applied to replace the switching gain in the SMC. In order to settle the problem of SMC unrobust to the mismatched parameter uncertainties and disturbances, the nonlinear disturbance observer is introduced to estimate the mismatched disturbances and form the novel controller of ANSMC-DOB. The stability of sliding surfaces and control laws are verified by the Lyapunov functions. The simulation research and comparative experiments are conducted to verify the improvement of positioning accuracy and robustness by the proposed ANSMC-DOB in the SMT assembly machine.

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Integral sliding mode control of time-delay systems with mismatching uncertainties

Cited by 12 publications

References 0 publications

Improved nonlinear sliding mode control based on load disturbance observer for permanent magnet synchronous motor servo system

Improved nonlinear sliding mode control based on load disturbance observer for permanent magnet synchronous motor servo system

Coefficient ratios‐based robust sliding surface and integral sliding mode control designs with optimal transient responses

Novel Adaptive Sliding Mode Control with Nonlinear Disturbance Observer for SMT Assembly Machine

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