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1

Pitch and yaw motion control of 2 DoF helicopter subjected to faults using sliding-mode control

Raghappriya M., Kanthalakshmi S.

Archives of Control Sciences

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2022

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Vol. 32, No. 2

359--381

EN

This paper presents a fault-tolerant control scheme for a 2 DOF helicopter. The 2 DOF helicopter is a higher-order multi-input multi-output system featuring non-linearity, cross-coupling, and unstable behaviour. The impact of sensor, actuator, and component faults on such highly complex systems is enormous. This work employs sliding mode control, which is based on reaching and super-twisting laws, to handle the problem of fault control. Simulation tests are carried out to show the effectiveness of the algorithms. Various performance metrics are analyzed and the results show SMC based on super-twisting law provides better control with less chattering. The stability of the closed-loop system is mathematically assured, in the presence of faults, which is a key contribution of this research.

2

A reference trajectory based discrete time sliding mode control strategy

Bartoszewicz Andrzej, Adamiak Katarzyna

International Journal of Applied Mathematics and Computer Science

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2019

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Vol. 29, no. 3

517--525

EN

This study presents a new, reference trajectory based sliding mode control strategy for disturbed discrete time dynamical systems. The desired trajectory, which is generated externally according to an existing switching type reaching law, determines the properties of the emerging sliding motion of the system. It is proved that an appropriate choice of the trajectory generator parameters ensures the existence of the quasi-sliding motion of the system according to the definition by Gao et al. (1995) in spite of the influence of disturbances. Moreover, the paper shows that the application of the desired trajectory based reaching law results in a significant reduction in the quasi-sliding mode band width and errors of all state variables. Therefore, in comparison with Gao’s control method, the system’s robustness is increased. The paper also presents an additional modification of the reaching law, which guarantees a further reduction in the quasi-sliding mode band in the case of slowly varying disturbances. The results are confirmed with a simulation example.

3

The problem of state constraints in designing the discrete time sliding mode controller

Jaskuła M., Pietrala M., Leśniewski P.

Pomiary Automatyka Robotyka

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2017

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R. 21, nr 4

15--22

EN

In this paper we study the problem of state constraints in discrete time sliding mode control. We present a sufficient condition for the strategy that drives the representative point monotonically to the sliding hyperplane in finite time. The advantage of this strategy is that disturbances do not have to fulfill the matching conditions. Our approach is based on the so-called reaching law technique.

PL

W artykule przeanalizowany został problem ograniczenia zmiennych stanu w dyskretnym sterowaniu ślizgowym. Do zaprojektowania regulatora zastosowano regułę osiągania ruchu ślizgowego. Zaprezentowano warunek dostateczny na monotoniczną zbieżność stanu obiektu do płaszczyzny ślizgowej w skończonym czasie. Zaletą przedstawionej metody jest to, że zakłócenia nie muszą spełniać warunków dopasowania.

4

Improvement on performance of electro-hydraulic central position control system by adaptive reaching law sliding mode method

Baoquan J., Xin L., Hongjuan Z.

Przegląd Elektrotechniczny

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2014

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R. 90, nr 2

146--148

EN

The switching function and its change are used as input, the index reaching law parameters that represent chattering is used as output, design the switch function sliding mode control method based on fuzzy adaptive reaching index law. Applying for electro-hydraulic central position control system of single roller for a large silicon steel company, and co-simulation between the physical model of the hydraulic system and controller model is implemented, analyze the response characteristics, tracking accuracy and control chattering of the system. The research results show that the strategy has fast response, high control precision and smaller chattering.

PL

Opisano metodę sterowania układem elektro-hydraulicznym w napędzie taśmowym stosowanym w przedsiębiorstwie produkującym stal krzemową. Na wejściu analizuję się funkcję przełączania – na wyjściu analizuje się drgania. Do sterowania wykorzystuje się metody logiki rozmytej.