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Sliding Mode Control with Minimization of the Regulation Time in the Presence of Control Signal and Velocity Constraints

Author

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  • Mateusz Pietrala

    (Institute of Automatic Control, Łódź University of Technology, 18/22 Bohdana Stefanowskiego St., 90-924 Łódź, Poland)

  • Piotr Leśniewski

    (Institute of Automatic Control, Łódź University of Technology, 18/22 Bohdana Stefanowskiego St., 90-924 Łódź, Poland)

  • Andrzej Bartoszewicz

    (Institute of Automatic Control, Łódź University of Technology, 18/22 Bohdana Stefanowskiego St., 90-924 Łódź, Poland)

Abstract

In this paper, the design of the terminal continuous-time sliding mode controller is presented. The influence of the external disturbances is considered. The robustness for the whole regulation process is obtained by adapting the time-varying sliding line. The representative point converges to the demand state in finite time due to the selected shape of the nonlinear switching curve. Absolute values of control signal, system velocity and both of these quantities are bounded from above and considered as system constraints. In order to evaluate the dynamical performance of the system, the settling time is selected as a quality index and it is minimized. The approach presented in this paper is particularly suited for systems in which one state (or a set of states) is the derivative of the other state (or a set of states). This makes it applicable to a wide range of electromechanical systems, in which the states are the position and velocity of the mechanical parts.

Suggested Citation

  • Mateusz Pietrala & Piotr Leśniewski & Andrzej Bartoszewicz, 2021. "Sliding Mode Control with Minimization of the Regulation Time in the Presence of Control Signal and Velocity Constraints," Energies, MDPI, vol. 14(10), pages 1-23, May.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:10:p:2887-:d:556253
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    References listed on IDEAS

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    1. Naghmash Ali & Zhizhen Liu & Hammad Armghan & Iftikhar Ahmad & Yanjin Hou, 2021. "LCC-S-Based Integral Terminal Sliding Mode Controller for a Hybrid Energy Storage System Using a Wireless Power System," Energies, MDPI, vol. 14(6), pages 1-25, March.
    2. Tiago Oliveira & Luís Caseiro & André Mendes & Sérgio Cruz & Marina Perdigão, 2021. "Model Predictive Control for Paralleled Uninterruptible Power Supplies with an Additional Inverter Leg for Load-Side Neutral Connection," Energies, MDPI, vol. 14(8), pages 1-29, April.
    3. Peng Gao & Guangming Zhang & Xiaodong Lv, 2021. "Model-Free Control Using Improved Smoothing Extended State Observer and Super-Twisting Nonlinear Sliding Mode Control for PMSM Drives," Energies, MDPI, vol. 14(4), pages 1-15, February.
    4. Yassine Kali & Maarouf Saad & Jesus Doval-Gandoy & Jorge Rodas, 2021. "Discrete Terminal Super-Twisting Current Control of a Six-Phase Induction Motor," Energies, MDPI, vol. 14(5), pages 1-14, March.
    5. Saleh Mobayen & Farhad Bayat & Chun-Chi Lai & Asghar Taheri & Afef Fekih, 2021. "Adaptive Global Sliding Mode Controller Design for Perturbed DC-DC Buck Converters," Energies, MDPI, vol. 14(5), pages 1-12, February.
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    Cited by:

    1. Mojtaba Ahmadieh Khanesar & David Branson, 2022. "Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver," Energies, MDPI, vol. 15(5), pages 1-17, March.

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