Backstepping quasi-continuous high-order sliding mode control for a Takagi–Sugeno fuzzy system with an application for a two-link robot control

Van, Mien,Kang, Hee-Jun,Shin, Kyoo-Sik SAGE Publications 2014 Proceedings of the Institution of Mechanical Engin Vol.228 No.9

<P>A new control scheme is proposed for motion tracking of a Takagi–Sugeno fuzzy system using the backstepping quasi-continuous high-order sliding mode (HOSM) control technique. First, a Takagi–Sugeno fuzzy model is used to represent the original second-order nonlinear system; most of the parameters for this model can be computed offline. Next, a conventional backstepping sliding mode control (BSMC) is designed to stabilize and guarantee the exact motion tracking for the Takagi–Sugeno fuzzy system. However, use of the conventional sliding mode control generates significant chattering. Therefore, a quasi-continuous second-order sliding mode (QC2S) control is employed to reduce chattering and obtain higher tracking precision, resulting in a backstepping quasi-continuous second-order sliding mode (BQC2S) control law. Combining the Takagi–Sugeno fuzzy model with the BQC2S controller results in a controller scheme that preserves the advantages of both techniques, such as the low online computational burden of the Takagi–Sugeno fuzzy model, and the low chattering, robustness, and fast transient response of the BQC2S controller. Finally, the proposed controller is used to control a two-link robot manipulator and is compared with the existing approaches. Simulation results are presented to demonstrate the effectiveness of the proposed methodology.</P>

Continuous Terminal Sliding Mode Control for Active Power Filter

Shixi Hou,Yuqing Fan,Yundi Chu 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10

In this paper, a continuous terminal sliding mode control methods (CTSMC) are proposed for three-phase shunt active power filter as current controller. First, the dynamic model of active power filter with parameter perturbation and unknown external disturbance is introduced. Second, a continuous terminal sliding mode control applied to current control loop is designed to guarantee the fast and finite-time convergence. Moreover, compensation control term is designed to ensure the elimination of chattering phenomenon caused by the switching term. Compared to the conventional sliding mode control method, the proposed continuous terminal sliding control method obtains a faster convergence and better tracking performance. Simulation results demonstrate that the proposed control methods offer superior properties in both steady state and transient operation, reducing the THD of source current to less than 5% and improving the power quality in order to meet the recommendations of the IEEE 519 standard.

Dynamic Voltage Control of Converters with LC-filters Using Model Predictive Control: Impacts on Grid-Forming and Grid-Following Control

Min Jeong,Jurgen Biela 전력전자학회 2023 ICPE(ISPE)논문집 Vol.2023 No.-

Conventional multi-loop controllers for voltage control of converters with LC-filters usually have a limited control bandwidth due to resonances. However, when model predictive control (MPC) with a long-prediction horizon is applied, dynamic voltage control with an excellent damping behavior can be achieved. This enables VSCs with LC-filters to closely match the behavior of ideal controllable voltage sources, which are desirable for grid-forming and grid-following control. In this paper, the impact of dynamic voltage control using MPC on such grid-forming and grid-following control is analysed, and simulation results are presented to validate the analysis.

A study of integrated chassis control Algorithm with Brake Control and Suspension Control Systems for vehicle stability and handling performance

Kangwon Lee,Youngwoo Kim,Jinhee Jang 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

Electronic control system has become increasingly popular in automotive applications in recent years, resulting in significant improvement on the vehicle performance. Chassis systems were made progress more stabile and higher dynamic performance by Braking Control, Steering Control and Suspension Control. Especially, ESC (Electronic Stability Control) as an active safety technology assists the driver to keep the vehicle on the intended track and therebyactively prevents accidents. But most electronic chassis control systems so far have been designed for optimization of itsown performance. This, sometimes, has resulted in performance degradation when two or more control modules wereoperating together. Therefore, many studies are shown that is being given to judicious integration of individual chassiscontrol systems in an effort to push the overall vehicle performance further to its limit. The paper deals with the investigation of integration synergy of brake and suspension control for improving vehicle stability on emergencyhandling. The basic idea is to take electronic Braking Control system and controllable suspension. In this paper, ESC contributions to active safety and CDC (Continuous Damping Control) to semi active suspension have been present witha reliable simulation environment. Then, algorithms for integration of suspension and brake control systems have been developed. An integrated approach for braking and suspension control for maximum lateral stability that is an optimalcollaboration between the brake & suspension with respect to maximum stability in highly dynamic maneuvers, various integration rules have been designed, tested, and compared with one another, and the results will be investigated in thispaper.

Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators

Van, Mien,Kang, Hee-Jun,Shin, Kyoo-Sik SAGE Publications 2014 Proceedings of the Institution of Mechanical Engin Vol.228 No.17

<P>In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation [Formula]. To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold [Formula]. Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm.</P>

차량 안정성과 조종성 향상을 위한 통합 샤시 제어 알고리즘 개발

허현동(Hyundong Her),이경수(Kyongsu Yi) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5

This paper presents an integrated chassis control system equipped with electronic stability control (ESC), and continuous damping control system (CDC) in order to improve the vehicle stability, responsiveness, and agility features. Recently, vehicles are equipped with chassis control devices improving the vehicle stability and handling in severe maneuvers in dangerous situations. The coordination of these chassis control devices can give synergies such as between the agility control with ESC and CDC. At first, this paper describes the influence of specifying a CDC control strategies to effect the handling dynamics. Also, because distribution between front and rear damping forces affect the vehicle dynamics, these effects are considered to determine the optimal control input of active front steering angle and brake forces. In order to analyze the CDC effect, the calculation of lateral tire force deviation by damping forces is described in first section. An integrated chassis controller has Supervisor, Controller and Coordinator. Simulations on vehicle simulation software, CarSim, show the proposed simulation based optimization is effective for the integrated chassis control.

An Improved Quasi-continuous Controller with Disturbance Observer for Rotational Shell Magazine Position Control

Dong Chen,Linfang Qian,Quan Zou,Qiang Yin,Caicheng Yue 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.10

This article proposes a new control scheme by combining an improved quasi-continuous controller (IQCC) and sliding mode disturbance observer (SMDO) for automatic chain shell magazine (ACSM) position control. Unlike conventional quasi-continuous controller (QCC), the new IQCC switches between two formulas according to the value of the first derivative of sliding variable. The influence of parameters design in IQCC on the control effect is further discussed. By combining IQCC with SMDO, the design of controller gain is independent of the uncertainties bound. The close-loop stability of combined scheme is proved by a Lyapunov function. Compared with QCC, IQCC performs better in convergence rate and chattering restraining. The scheme could achieve satisfied control effects for nonlinear systems with uncertain disturbances. Simulation and experimental results verify the superiority of the proposed controller over QCC and proportional integral (PI).

차량의 동적 성능 향상을 위한 Active Roll Control Stabilizer Bar와 Continuous Damping Control의 통합 제어에 대한 연구 Part Ⅱ

이강원(Kangwon Lee),이종일(Jongil Lee),김영우(Youngwoo Kim),오승규(Seungkyu Oh),노지훈(Jihoon Roh),정명철(Myoungchul Jung),김인동(Indong Kim),장진희(Jinhee Jnag) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11

Generally, the vehicle dynamics performance is influenced each chassis subsystem with some trade-off relations. One of the systems is a suspension system that related vehicle ride and handling performance. Especially the roll stiffness tendency of a vehicle can be significantly changed, if the suspension component is actively controlled. This study is presented the Active Roll Control Stabilizer Bar System (ARC) for improving of the vehicle roll motion and vehicle dynamic performance by control of roll stiffness distribution. This paper describes a fundamental understanding of the theory and application of the ARC system analysis. Based on the study on ARC, we can make a proposal on the integrated control system using Continuous Damping Control (CDC) and Active Roll Control stabilizer bar (ARC). This research arranges and defines the ARC functionality and performance limits, then shows how to improve such a limit using by CDC (Continuous Damping Control) on the vehicle performance with ARC system. Finally, this paper proposes the vehicle dynamics performance integration control strategy and show the synergy effect through the integrated control vehicle simulation.

차량 횡방향 안정성 향상을 위한 통합섀시 제어

조완기(Wanki Cho),이경수(Kyoungsu Yi),윤장열(Jangyeol Yoon) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5

This paper presents unified chassis control (UCC) to improve the vehicle lateral stability. The unified chassis control implies combined control of active front steering (AFS), electronic stability control (ESC) and continuous damping control (CDC). A direct yaw moment controller based on a 2-D bicycle model is designed by using sliding mode control law. A direct roll moment controller based on a 2-D roll model is designed. The computed direct yaw moment and the direct roll moment are generated by AFS, ESP and CDC control modules respectively. A control authority of the AFS and the ESC is determined by tire slip angle. Computer simulation is conducted to evaluate the proposed integrated chassis controller by using the Matlab, simulink and the validated vehicle simulator. From the simulation results, it is shown that the proposed unified chassis control can provide with improved performance over the modular chassis control.

연속계 Deadbeat제어를 적용한 도립진자 제어

김진용(Jin-Yong Kim),김성열(Seung-Youal Kim),이금원(Keum-Won Lee) 한국조명·전기설비학회 2004 한국조명·전기설비학회 학술대회논문집 Vol.2004 No.5월

Due to the asymptotic property, deadbeat control can hardly applied to the continuous time system control. But some delay element method can deal such a problem. Except delay element method, well-known digital deadbeat control can be used with the aid of som smoothing elements. In this paper, 2nd order smoothing element is used for the smoothing of the digital deadbeat controller. And this element is argumented to the plant, and so control problem is to control digitally the argumented system. We simulated this control system using Matlab language and finally apply this algorithm to the rotary inverted pendulum system.