Improving first order sliding mode control on second order mechanical systems
In this paper is proposed a control algorithm based on the first order sliding mode technique. The control design adds an exponential reaching law and a disturbance estimator to improve performance, achieving a reduction of the convergence time to the reference, as well as a reduction of the reachin...
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| Veröffentlicht in: | European journal of control 2016-05, Vol.29, p.74-80 |
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| container_title | European journal of control |
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| creator | Rascón, Raúl Peñaloza-Mejía, Ollin Castro, José G. |
| description | In this paper is proposed a control algorithm based on the first order sliding mode technique. The control design adds an exponential reaching law and a disturbance estimator to improve performance, achieving a reduction of the convergence time to the reference, as well as a reduction of the reaching time towards the sliding surface. Also, by compensating the estimated disturbance, it is possible to reduce the amplitude of the chattering in the control signal. As the control design is intended to be applied in mechanical systems, a velocity observer design is also proposed. Bringing together the above aspects, the proposed controller renders an improved performance over the classical first order sliding mode controller. The stability of the closed-loop system is proved using quadratic functions. The performance of the proposed control structure is illustrated and compared with other controllers via numerical simulations and real-time experiments in a mechanical system. |
| doi_str_mv | 10.1016/j.ejcon.2016.01.001 |
| format | Article |
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The control design adds an exponential reaching law and a disturbance estimator to improve performance, achieving a reduction of the convergence time to the reference, as well as a reduction of the reaching time towards the sliding surface. Also, by compensating the estimated disturbance, it is possible to reduce the amplitude of the chattering in the control signal. As the control design is intended to be applied in mechanical systems, a velocity observer design is also proposed. Bringing together the above aspects, the proposed controller renders an improved performance over the classical first order sliding mode controller. The stability of the closed-loop system is proved using quadratic functions. The performance of the proposed control structure is illustrated and compared with other controllers via numerical simulations and real-time experiments in a mechanical system.</description><identifier>ISSN: 0947-3580</identifier><identifier>EISSN: 1435-5671</identifier><identifier>DOI: 10.1016/j.ejcon.2016.01.001</identifier><language>eng</language><publisher>Philadelphia: Elsevier Ltd</publisher><subject>Control algorithms ; Controllers ; Design ; Disturbance estimator ; Equilibrium ; Friction ; Mechanical systems ; Observer ; Sliding mode control</subject><ispartof>European journal of control, 2016-05, Vol.29, p.74-80</ispartof><rights>2016 European Control Association</rights><rights>Copyright Elsevier Limited 2016</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c331t-d9cd014e1aa4f0b8649b7fc0e30df191b0ba7ab3c6d69e286147ae2ac258d7cf3</citedby><cites>FETCH-LOGICAL-c331t-d9cd014e1aa4f0b8649b7fc0e30df191b0ba7ab3c6d69e286147ae2ac258d7cf3</cites><orcidid>0000-0002-9968-3029 ; 0000-0002-5579-8879</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.proquest.com/docview/1789516598?pq-origsite=primo$$EHTML$$P50$$Gproquest$$H</linktohtml><link.rule.ids>314,780,784,27924,27925,64385,64389,72469</link.rule.ids></links><search><creatorcontrib>Rascón, Raúl</creatorcontrib><creatorcontrib>Peñaloza-Mejía, Ollin</creatorcontrib><creatorcontrib>Castro, José G.</creatorcontrib><title>Improving first order sliding mode control on second order mechanical systems</title><title>European journal of control</title><description>In this paper is proposed a control algorithm based on the first order sliding mode technique. The control design adds an exponential reaching law and a disturbance estimator to improve performance, achieving a reduction of the convergence time to the reference, as well as a reduction of the reaching time towards the sliding surface. Also, by compensating the estimated disturbance, it is possible to reduce the amplitude of the chattering in the control signal. As the control design is intended to be applied in mechanical systems, a velocity observer design is also proposed. Bringing together the above aspects, the proposed controller renders an improved performance over the classical first order sliding mode controller. The stability of the closed-loop system is proved using quadratic functions. The performance of the proposed control structure is illustrated and compared with other controllers via numerical simulations and real-time experiments in a mechanical system.</description><subject>Control algorithms</subject><subject>Controllers</subject><subject>Design</subject><subject>Disturbance estimator</subject><subject>Equilibrium</subject><subject>Friction</subject><subject>Mechanical systems</subject><subject>Observer</subject><subject>Sliding mode control</subject><issn>0947-3580</issn><issn>1435-5671</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNp9UE1PwzAMjRBITGO_gEslzi12088DBzTxMWmIC5yjNHEhVduMpJu0f0_KdsY-WLbee7YfY7cICQIW911CnbJjkoYmAUwA8IItMON5nBclXrIF1FkZ87yCa7byvoMQnGPIBXvbDDtnD2b8ilrj_BRZp8lFvjd6ng1WUxTEJ2f7yI6Rp9DoM2gg9S1Ho2Qf-aOfaPA37KqVvafVuS7Z5_PTx_o13r6_bNaP21iFvVOsa6UBM0IpsxaaqsjqpmwVEAfdYo0NNLKUDVeFLmpKqwKzUlIqVZpXulQtX7K7k264_WdPfhKd3bsxrBRYVnWORV5XAcVPKOWs945asXNmkO4oEMRsnejEn3Vitk4AimBdYD2cWBQeOBhywitDoyJtHKlJaGv-5f8C28p5GQ</recordid><startdate>20160501</startdate><enddate>20160501</enddate><creator>Rascón, Raúl</creator><creator>Peñaloza-Mejía, Ollin</creator><creator>Castro, José G.</creator><general>Elsevier Ltd</general><general>Elsevier Limited</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7XB</scope><scope>88I</scope><scope>8AL</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>M0N</scope><scope>M2P</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope><orcidid>https://orcid.org/0000-0002-9968-3029</orcidid><orcidid>https://orcid.org/0000-0002-5579-8879</orcidid></search><sort><creationdate>20160501</creationdate><title>Improving first order sliding mode control on second order mechanical systems</title><author>Rascón, Raúl ; Peñaloza-Mejía, Ollin ; Castro, José G.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c331t-d9cd014e1aa4f0b8649b7fc0e30df191b0ba7ab3c6d69e286147ae2ac258d7cf3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2016</creationdate><topic>Control algorithms</topic><topic>Controllers</topic><topic>Design</topic><topic>Disturbance estimator</topic><topic>Equilibrium</topic><topic>Friction</topic><topic>Mechanical systems</topic><topic>Observer</topic><topic>Sliding mode control</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Rascón, Raúl</creatorcontrib><creatorcontrib>Peñaloza-Mejía, Ollin</creatorcontrib><creatorcontrib>Castro, José G.</creatorcontrib><collection>CrossRef</collection><collection>ProQuest Central (Corporate)</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Science Database (Alumni Edition)</collection><collection>Computing Database (Alumni Edition)</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central (Alumni) (purchase pre-March 2016)</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Computing Database</collection><collection>Science Database</collection><collection>Engineering Database</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>ProQuest Central Basic</collection><jtitle>European journal of control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Rascón, Raúl</au><au>Peñaloza-Mejía, Ollin</au><au>Castro, José G.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Improving first order sliding mode control on second order mechanical systems</atitle><jtitle>European journal of control</jtitle><date>2016-05-01</date><risdate>2016</risdate><volume>29</volume><spage>74</spage><epage>80</epage><pages>74-80</pages><issn>0947-3580</issn><eissn>1435-5671</eissn><abstract>In this paper is proposed a control algorithm based on the first order sliding mode technique. The control design adds an exponential reaching law and a disturbance estimator to improve performance, achieving a reduction of the convergence time to the reference, as well as a reduction of the reaching time towards the sliding surface. Also, by compensating the estimated disturbance, it is possible to reduce the amplitude of the chattering in the control signal. As the control design is intended to be applied in mechanical systems, a velocity observer design is also proposed. Bringing together the above aspects, the proposed controller renders an improved performance over the classical first order sliding mode controller. The stability of the closed-loop system is proved using quadratic functions. The performance of the proposed control structure is illustrated and compared with other controllers via numerical simulations and real-time experiments in a mechanical system.</abstract><cop>Philadelphia</cop><pub>Elsevier Ltd</pub><doi>10.1016/j.ejcon.2016.01.001</doi><tpages>7</tpages><orcidid>https://orcid.org/0000-0002-9968-3029</orcidid><orcidid>https://orcid.org/0000-0002-5579-8879</orcidid></addata></record> |
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| ispartof | European journal of control, 2016-05, Vol.29, p.74-80 |
| issn | 0947-3580 1435-5671 |
| language | eng |
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| source | ProQuest Central UK/Ireland; Alma/SFX Local Collection |
| subjects | Control algorithms Controllers Design Disturbance estimator Equilibrium Friction Mechanical systems Observer Sliding mode control |
| title | Improving first order sliding mode control on second order mechanical systems |
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