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Adaptive Sliding Mode Based Disturbance Attenuation Tracking Control for Wheeled Mobile Robots
Kang Liu,Hongbo Gao,Haibo Ji,Zhengyuan Hao 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.5
This paper is devoted to investigating a composite controller for wheeled mobile robots in the presence of external disturbance and parametric uncertainty. Unlike the traditional backstepping technique existing the impractical velocity jumps, the proposed neural dynamic model has the ability to generate smooth continuous signals. Subsequently, a disturbance observer based adaptive sliding mode dynamic controller is introduced to estimate disturbances online, adjust control gain automatically and eliminate chattering phenomena completely. Under the developed control law, the ultimate boundedness of all signals is guaranteed and the tracking errors can be arbitrarily small in finite time. Simulation results are carried out to demonstrate the effectiveness of the proposed scheme.
GPIO BASED SLIDING MODE CONTROL FOR DIESEL ENGINE HIGH PRESSURE COMMON RAIL SYSTEM
Zheng Yuan,Chen Dai,Hao Sun,Shihua Li,Bifeng Yin 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.1
With the rapid development of diesel engines, reducing the pressure fluctuation of the common rail has become a key factor to improve the performance of the high pressure common rail (HPCR) system. Among traditional rail pressure control approaches, the influence of time-varying disturbances on the HPCR system is not fully considered and is not well dealt with. To this end, a nonlinear model of the HPCR system is firstly established based on fluid dynamics and mechanics laws. And a composite controller based on the nonlinear model is proposed. It consists of two parts: 1) A sliding mode feedback part; 2) A disturbance feedforward compensation part based on a generalized proportional integral observer. Finally, a group of test is simulated in the AMESim simulation environment and the results are shown to demonstrate the effectiveness of the proposed method.