Principles of 2-sliding mode design

Levant, Arie

doi:10.1016/j.automatica.2006.10.008

Cited by 746 publications

(415 citation statements)

References 35 publications

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“…The STA is one of the most powerful SOSM controllers and has been proposed to control systems with a relative degree 1. This algorithm ensures that the states can slide on the chosen SS, that is, S, by using only the measurement of S. The control law consists of two terms that are formulated around the sliding variables [20,21]. The first term is the integral of a discontinued function, whereas the second term represents a continuous function to alleviate the chattering effect.…”

Section: B Sta Control Law With Time-varying Gain Designmentioning

confidence: 99%

A Time-Varying Gain Super-Twisting Algorithm to Drive a SPIM

Zaidi¹,

Jemli²,

Azza³

et al. 2013

Journal of Power Electronics

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To acquire a performed and practical solution that is free from chattering, this study proposes the use of an adaptive supertwisting algorithm to drive a single-phase induction motor. Partial feedback linearization is applied before using a super-twisting algorithm to control the speed and stator currents. The load torque is considered an unknown but bounded disturbance. Therefore, a time-varying switching gain that does not require prior knowledge of the disturbance boundary is proposed. A simple sliding surface is formulated as the difference between the real and desired trajectories obtained from the indirect rotor flux oriented control strategy. To illustrate the effectiveness of the proposed control structure, an experimental setup around a digital signal processor (dS1104) is developed and several tests are performed.

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Section: B Sta Control Law With Time-varying Gain Designmentioning

confidence: 99%

A Time-Varying Gain Super-Twisting Algorithm to Drive a SPIM

Zaidi¹,

Jemli²,

Azza³

et al. 2013

Journal of Power Electronics

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“…whereû sl =û α +û k +û µ The adaptive laws for the synthesized AIT2-FLSs defined in (29) are designed, as follows:…”

Section: Adaptive Interval Type-2 Fuzzy Sliding Mode Control Lawmentioning

confidence: 99%

Robust Interval Type-2 Fuzzy Sliding Mode Control Design for Robot Manipulators

et al. 2018

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This paper develops a new robust tracking control design for n-link robot manipulators with dynamic uncertainties, and unknown disturbances. The procedure is conducted by designing two adaptive interval type-2 fuzzy logic systems (AIT2-FLSs) to better approximate the parametric uncertainties on the system nominal. Then, in order to achieve the best tracking control performance and to enhance the system robustness against approximation errors and unknown disturbances, a new control algorithm, which uses a new synthesized AIT2 fuzzy sliding mode control (AIT2-FSMC) law, has been proposed. To deal with the chattering phenomenon without deteriorating the system robustness, the AIT2-FSMC has been designed so as to generate three adaptive control laws that provide the optimal gains value of the global control law. The adaptation laws have been designed in the sense of the Lyapunov stability theorem. Mathematical proof shows that the closed loop control system is globally asymptotically stable. Finally, a 2-link robot manipulator is used as case study to illustrate the effectiveness of the proposed control approach.

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“…Achieving optimal control law design allows a finite time achievement of the operating point to reach a predetermined sliding surface (Bandyopadhyay, 2009). The convergence of the control variable is guaranteed by introducing a constant gain which also, compensates the uncertainties of the control system (Alsumiri, 2016), (Gonzalez, 2012), (Levant, 2007).…”

Section: Introductionmentioning

confidence: 99%