To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single inp...To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single input-single-output(SISO) networked control systems. This scheme consists of three consecutive steps. First, although the network-induced delay in those systems can be effectively handled by using Pade approximation(PA), the unmatched disturbance cames out as another difficulty in the control design. Second, to actively estimate this unmatched disturbance, a generalized proportional integral observer(GPIO) technique is utilized based on only one measured state. Third, by constructing a new sliding manifold with the aid of the estimated unmatched disturbance and states, a GPIO-based CSMC is synthesized, which is employed to cope with not only matched and unmatched disturbances, but also networkinduced delays. The stability of the entire closed-loop system under the proposed GPIO-based CSMC is detailedly analyzed.The promising tracking efficiency and feasibility of the proposed control methodology are verified through simulations and experiments on Quanser's servo module for motion control under various test conditions.展开更多
A simple method is proposed to optimize the thickness parameter of the boundary layer of the saturation function in the Complementary Sliding Mode Control (CSMC). A pair of complementary sliding surfaces are construct...A simple method is proposed to optimize the thickness parameter of the boundary layer of the saturation function in the Complementary Sliding Mode Control (CSMC). A pair of complementary sliding surfaces are constructed. And the Taylor series is used to estimate the steady state error of CSMC system to optimize the parameter value for the boundary layer of the saturation function without artificial settings. This proposed CSMC strategy is applied to the speed regulation in permanent magnet synchronous motor with lump uncertainties. The experimental results show that the proposed CSMC strategy can obtain an optimal value for the boundary layer parameter effectively suppressing the chattering and keep an excellent system performance.展开更多
基金supported in part by the Australian Research Council Discovery Project(DP190101557)
文摘To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single input-single-output(SISO) networked control systems. This scheme consists of three consecutive steps. First, although the network-induced delay in those systems can be effectively handled by using Pade approximation(PA), the unmatched disturbance cames out as another difficulty in the control design. Second, to actively estimate this unmatched disturbance, a generalized proportional integral observer(GPIO) technique is utilized based on only one measured state. Third, by constructing a new sliding manifold with the aid of the estimated unmatched disturbance and states, a GPIO-based CSMC is synthesized, which is employed to cope with not only matched and unmatched disturbances, but also networkinduced delays. The stability of the entire closed-loop system under the proposed GPIO-based CSMC is detailedly analyzed.The promising tracking efficiency and feasibility of the proposed control methodology are verified through simulations and experiments on Quanser's servo module for motion control under various test conditions.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61174051)the Natural Science Foundation of Fujian Province(Grant No.2017J05101)the Technology Project of Fujian Province(Grant No.2019H0007)
文摘A simple method is proposed to optimize the thickness parameter of the boundary layer of the saturation function in the Complementary Sliding Mode Control (CSMC). A pair of complementary sliding surfaces are constructed. And the Taylor series is used to estimate the steady state error of CSMC system to optimize the parameter value for the boundary layer of the saturation function without artificial settings. This proposed CSMC strategy is applied to the speed regulation in permanent magnet synchronous motor with lump uncertainties. The experimental results show that the proposed CSMC strategy can obtain an optimal value for the boundary layer parameter effectively suppressing the chattering and keep an excellent system performance.
