This control strategy can transform the structure on the boundary layer, besides it has continuous feedback control without structural transformation. Adaptive secondorder sliding mode control of uavs for. Although the exponential reaching law can reduce oscillation, the control effectiveness will be suppressed when the rate of change of disturbance is high. Sliding mode control smc is one of the effective robust control methods since it is insensitive to parameters variations, external disturbances 2, 1518. Quasi continuous highorder slidingmode controllers article pdf available in ieee transactions on automatic control 5011. Modelbased quasisliding mode control with loss estimation. Then, the quasisliding mode controller is used to generate the control torque that drives the mobile robot, such that the linear and. The result is the quasi sliding mode based minimum variance control, based only on inputoutput signal measurements, which gives better system steady state accuracy and. Keywords quasi sliding, model control, timedelay systems, lyapunov functionals. Abstractthe fundamental nature of sliding mode control is described. Quasi sliding mode control strategy based on multiplelinear models jeongho choa, jose c.
Biomolecular implementation of a quasi sliding mode feedback. Interleaving quasisliding mode control of parallelconnected. In 12, the quasisliding mode control and the associated quasi. Princetoncentral jersey section of ieee circuits and systems chapter meeting.
Sliding mode control lecture 02 by yasir amir khan youtube. Abstractin this paper, discretetime quasislidingmode con trol systems are considered. A new definition describing the quasisliding mode as a motion of the. Design is decoupled into two independent subproblems. The paper considers a realization of quasisliding mode control for dcdc boosttype converter on atmega8 microcontroller.
Quasisliding mode control of chaos in permanent magnet. This control strategy can transform the structure on the boundary layer, besides it has continuous feedback control. Interleaving quasi slidingmode control of parallelconnected buckbased inverters. Structure analysis and sliding mode control of new dual quasi. Discrete time quasi sliding mode control for piezo. Index termssliding mode control, finite time controller.
Quasi sliding mode control emerged as an alternative solution to the drawbacks of sliding control, retaining the inherent advantages of its operation. Quasisliding mode control of chaos in permanent magnet synchronous motor chengfang huang,1 juisheng lin,2 tehlu liao,1 chihyung chen,3 and junjuh yan3 1 department of engineering science, national cheng kung university, tainan 701, taiwan 2 department of electrical engineering, far east university, tainan 744, taiwan. By using the computer so ware matlab, quasi sliding mode controller gain can be found. Discretetime slidingmode control with improved quasi. Discrete time quasi sliding mode control for piezoactuated. Bartoszewicz, discretetime quasislidingmode control strategies. A new design method of quasi sliding mode control is presented for discretetime system. To avoid the chattering disadvantage of sliding mode control smc, in this paper, a quasi sliding mode controller is proposed for realtime fine control of a nonholonomic mobile robot. A novel reaching law for sliding mode control of uncertain. The motor speed of a buck power converter and dc motor coupled system is controlled by means of a quasi sliding scheme.
The paper considers a realization of quasi sliding mode control for dcdc boosttype converter on atmega8 microcontroller. Results are demonstrated employing the method for several examples to show potential of the proposed technique. Hence, the proposed method has the ability to further suppress chattering and enhance the control accuracy compared to other reaching law strategies. Sliding mode control is particularly suited for power electronics due to the inherent switching between two system structures. Anyone who has background in nonlinear control can easily understand it. A novel design method, which contains the external ramp signal information in switching function, can be used to design a sliding mode controller with a constant switching frequency without any slope matching issues. Quasi sliding mode control with quantization in state. This paper proposed a new sliding mode control algorithm for discretetime systems with matched uncertainty.
Structure analysis and sliding mode control of new dual. The sliding mode may be originated in discretetime systems with continuous control after a finite time interval, while any manifold with state trajectories may be reached asympotically only in continuoustime systems with continuous control precisely speaking for systems governed by differential equations with lipschitzian righthand sides. These works focus on increas ing the convergence rate by using terminal sliding mode strategy xu, 2015, reducing the chattering phenomenon by using integral sliding mode control xu and abidi, 2008, enhancing the tracking performance by combining dsmc with model predictive control mpc technique xu, 2015. Neurocomputing 70 2007 960974 quasisliding mode control strategy based on multiplelinear models jeongho choa, jose c. The numeration complexity for controller design is cut down in large. The sliding mode manifold and the corresponding lyapunov function are obtained if the iterative sos optimization program has a solution. A hybrid design methodology, consisting of two different approaches. Sliding mode control for halfwave zero current switching. The decrement band and the quasi sliding mode domain qsmd of the uncertain system are analyzed. Fractional order exponential type discretetime sliding. In contrast to the previous works of sliding mode control, the concept of quasi sliding mode control is firstly introduced such that continuous control input is obtained to avoid chattering phenomenon. Based on theorem 6 with and disturbance attenuation, the appropriate answer can be solved as then, a quasi sliding mode control gain can be derived as based on the proposed controller, the asymptotical stability for the nonlinear system without the disturbances on the sliding manifold is shown in figure 2, and the relative switching sliding surface is shown in figure 3.
A new approach is presented to analyze sliding mode control in discretetime systems using an established reaching law, whereby the ultimate band is obtained to be lesser than any. Quasi sliding mode control with quantization in state measurement abstract. Multiobjective direct quasisliding mode control of a two. Quasisliding mode control based on reduced order mode. Multirate output feedback based robust quasisliding mode control of discretetime systems. The sliding mode control approach 51, 53, 9 to the problem is based on the exact keeping of a properly chosen constraint by means of highfrequency control switching. Multirate input based quasisliding mode control for. Multirate implementation of a quasisliding mode control article pdf available in ifac proceedings volumes 3118. Discrete time sliding mode control with minimal quasi. This paper presents the design and analysis of a pwm quasi sliding mode controller for active power factor correction apfc converters from a theoretical perspective. Sliding mode control smc is a nonlinear control method with strong robustness to system uncertainties.
First, a takagisugeno fuzzy model is used to represent the original secondorder nonlinear system. Discretetime quasislidingmode control strategies ieee. Pdf sliding mode control of singlephase gridconnected. For example, it could be replaced by a sigmoid function. The estimated loss resistance and the resistance of the load are embedded, in real time, into the.
This paper presents the experimental implementation of a buck converter with quasisliding mode control combined with a loss estimator function. Dynamic analysis and quasisliding mode control of mobile. Pdf modelbased quasisliding mode control with loss. Discrete time sliding mode control with minimal quasi sliding mode band abstract. The proposed control law represents a combination of discretetime sliding mode and generalized minimum variance control techniques. Pdf adaptive quasisliding mode control for permanent. Pdf interleaving quasislidingmode control of parallel. Quasi sliding mode control for chaotic symmetric gyros with. Stability of the overall control system is analysed by using a global lyapunov function for convergence of both the sliding dynamics and adaptation scheme.
Development of currentfed icpt system with quasi sliding. Quasicontinuous mimo slidingmode control request pdf. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior. Quasi sliding mode control of generalized lorenz chaotic systems. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. The slidingmode control approach 51, 53, 9 to the problem is based on the exact keeping of a properly chosen constraint by means of highfrequency control switching. To estimate the load and friction torques an online estimator, computed by the least mean squares method, is used. Discretetime quasislidingmode control strategies ieee journals. Backstepping quasicontinuous highorder sliding mode control. As expected, the system states can be driven to zero or into a predictable and adjustable bound even when. Quasisliding mode control strategy based on multiplelinear. These works focus on increas ing the convergence rate by using terminal sliding mode strategy xu, 2015, reducing the chattering phenomenon by using integral sliding mode control xu and abidi, 2008, enhancing the tracking performance by combining dsmc with model predictive control.
Mar 23, 2018 this lecture introduces sliding mode control smc in a very easy to understand way. Fixed switching frequency slidingmode control methodology for singlephase lclfiltered quasi z source gridtied inverters authors. Research article adaptive quasisliding mode control for. Pdf on apr 1, 2018, osman kukrer and others published a new discretetime quasisliding mode control strategy find, read and cite all the. Sliding mode control in discretetime and difference systems. Discretetime slidingmode control with improved quasisliding mode domain haifeng ma, jianhua wu, member, ieee, and zhenhua xiong, member, ieee abstractin this paper, a new discrete reaching law with improved quasi sliding mode domain qsmd is proposed and a sliding mode controller is designed for discretetime systems with uncertainties. The control design includes the selection of the sliding manifold and the development of quasi continuous secondorder sliding mode controller with an adaptive gain. Quasi sliding mode control and asymptotic sliding mode control. Designing robust control by sliding mode control technique 141 2. Furthermore, the chaos of the considered pmsm subjected to uncertainties or disturbances can be fully suppressed or driven into a predictable and adjustable bound. Pdf multirate output feedback based robust quasisliding. An online loss estimator is developed to estimate, in real time, the parasitic resistances of the converter and variations of the resistance in the load.
Index terms quasi sliding mode control, chaos, generalized lorenz chaotic systems, chattering phenomenon i. Sliding mode control lecture 01 by yasir amir khan youtube. Modelbased quasisliding mode control with loss estimation applied to dcdc power converters fredy e. Control under heavy uncertainty conditions is one of the central topics of the modern control theory. Quasi sliding mode control and asymptotic sliding mode control are described in. This choice is motivated by the fact that quasi sliding mode control preserves the robustness properties of its sliding mode control counterpart with respect to inverter system parameter variations. The result is the quasi sliding mode based minimum variance control, based only on inputoutput signal measurements, which gives better system steady state accuracy and chattering alleviation. In this paper, discretetime quasislidingmode control systems are considered. In this study, the concept of a quasisliding mode control qsmc is introduced for the robust control of a permanent magnet synchronous motor pmsm system. Quasi sliding mode control of generalized lorenz chaotic. It is show that the quasi sliding mode controller for high order discretetime system could be changed into the same problem for low discretetime system utilizing reaching law and reduced model.
Research article robust stability for nonlinear systems. A new definition describing the quasi sliding mode as a motion of the system, such that its state always remains in a certain band around the sliding. Keywords quasisliding, model control, timedelay systems, lyapunov functionals. Pdf multirate implementation of a quasisliding mode control. On discretization of sliding mode control systems core. In 12, the quasi sliding mode control and the associated quasi.
The new control algorithm is characterized by a new discrete switching surface. Adaptive quasisliding mode control for permanent magnet. Quasisliding mode control strategy based on multiple. The design of quasisliding mode control for a permanent.
Sliding mode controllers are known for their robustness and insensitivity to disturbances and plant parameter variations. Indeed, the undesirable chattering and high frequency switching of the control signal are avoided. Discretetime quasi sliding mode control with prescribed performance function and its application to piezoactuated positioning systems. On the basis of the new concept of qsmc, continuous control is obtained, to avoid the chattering phenomenon. To avoid the chattering disadvantage of slidingmode control smc, in this paper, a quasisliding mode controller is proposed for realtime fine control of a nonholonomic mobile robot. The design of quasisliding mode control for a permanent magnet. Designing robust control by sliding mode control technique. Robust stability for nonlinear systems with timevarying. Especially, based on the new concept of qsmc, continuous control input is obtained to avoid chattering phenomenon. Introduction ver the last two decades, since the pioneering work of ott, grebogi and yorke 1, chaos control has become one of interesting issues in nonlinear systems. Discretetime quasislidingmode control with prescribed. A quasi sliding mode control qsmc to suppress chaos for a permanent magnet synchronous motor pmsm with parameters fall into a certain area is proposed in this paper. Quantization behaviors in equivalentcontrol based slidingmode.
Furthermore, under the proposed control law, the system states. A new class of nonlinear reaching laws for sliding mode control. Pdf an approach to microcontrollerbased realization of. Nonlinear discrete variable structure systems in quasi sliding mode. First, the dynamics of mobile robot is analyzed by lagrangian formula. Nonlinear discrete variable structure systems in quasi. A new control scheme is proposed for motion tracking of a takagisugeno fuzzy system using the backstepping quasicontinuous highorder sliding mode hosm control technique. Pdf in this paper a discrete time slidingmode type controller is proposed and it is implemented by using a multirate output sampling scheme. Pdf a new discretetime quasisliding mode control strategy. Discretetime quasislidingmode control strategies ieee xplore. Two methods for attenuation and elimination are considered. Adaptive quasisliding mode control for permanent magnet dc motor article pdf available in mathematical problems in engineering 20 20, article id 693685, 12 pages. Pdf quasicontinuous highorder slidingmode controllers. Highorder sliding mode hosm control is called quasi continuous qc, if it remains continuous everywhere except the hosm set, where the sliding variables and their derivatives vanish.
Introduction owing to advantages of digital technology, there has been increasing attention paid to the discretetime sliding mode control. The vicinity is called the quasi sliding mode band and its width may serve as a good measure of the closed loop system robustness. The control design includes the selection of the sliding manifold and the development of quasicontinuous secondorder sliding mode controller with an adaptive gain. Sliding mode control of singlephase gridconnected quasi zsource inverter article pdf available in ieee access pp99. Mar 24, 2018 in this lecture chattering avoidance is discussed. Proposed control approach quasisliding mode control. Furthermore, sliding mode control for discretetime systems or called quasi sliding mode control, qsmc has attracted much. Robust exact differentiation via sliding mode technique. Pwmbased linear control, this work proposes a fixed switchingfrequency quasi sliding mode control approach for inverter system control design. The proposed control law represents a combination of discretetime sliding mode and generalized minimum variance control.
An approach to microcontrollerbased realization of boost. This paper presents the experimental implementation of a buck converter with quasi sliding mode control combined with a loss estimator function. Whenever we compute control using digital computer, the states measured need to be converted to digital word before processing in the computer. Discretetime quasislidingmode control strategies abstract.
In this study, the concept of a quasi sliding mode control qsmc is introduced for the robust control of a permanent magnet synchronous motor pmsm system subjected to unmatched uncertainties, and even with input nonlinearity. The fixed point inducting control technique and the zero average dynamics strategy are used in the controller design. Smc can manipulate efficiently the nonlinear phenomena that appear in switch mode power supplies, furthermore smc is less affected by disturbances compared to other control techniques, and it is not operating at a constant switching frequency. Modelbased quasi sliding mode control with loss estimation applied to dcdc power converters fredy e. In this paper, a new concept of quasi sliding mode control qsmc is introduced for the tracking control of chaotic symmetric gyros with linearpluscubic damping. Basedonthe theorem,lyapunovkrasovskiitheory,and lmi optimization technique, the quasi sliding mode control and switching function can be designed such that the resulting nonlinear system is asymptotically stable in the. In contrast to previous works on sliding mode control, based on the proposed qsmc, the chattering phenomenon can be eliminated. Jul 11, 2018 in summary, the block diagram of dual quasi. Interleaving quasisliding mode control of parallel. Pdf advances in sliding mode control pp 221241 cite as. Adaptive quasi sliding mode control for permanent magnet dc motor. Adaptive quasisliding mode control for permanent magnet dc motor. Sliding mode control method for quasizsource inverter. Adaptive secondorder sliding mode control of uavs for civil.
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