Adaptive Integral Sliding Mode Research Articles

Design of an Adaptive Integral Sliding Mode Controller for Position Control of Electronic Throttle Valve

Design of an Adaptive Integral Sliding Mode Controller for Position Control of Electronic Throttle Valve

Adaptive Integral Sliding Mode Controller (SMC) Design for Vehicle Steer-by-Wire System

Adaptive Integral Sliding Mode Controller (SMC) Design for Vehicle Steer-by-Wire System

An Attitude Adaptive Integral Sliding Mode Control Algorithm with Disturbance Observer for Microsatellites to Track High-Speed Moving Targets

Gaze tracking of high-speed moving targets is a novel application mode for low Earth orbit microsatellites. In this mode, small satellites are equipped with high-resolution, narrow-field-of-view video cameras for stable gaze-tracking imaging of high-speed moving targets. This paper proposes a high-precision attitude adaptive integral sliding mode control method with a feedforward compensation disturbance observer to enhance the capability of a microsatellite attitude control system for gaze tracking of high-speed moving targets. Specifically, first, we present the attitude control system model for microsatellites and the calculation method for the desired attitude of target tracking based on image feedback. Then, an adaptive integral sliding mode attitude control algorithm with a feedforward compensation disturbance observer, which meets the requirements of high-precision tracking control, is designed. The developed algorithm utilizes the disturbance observer to observe the friction torque of the flywheel and compensates for it through feedforward control. It also employs the adaptive integral sliding mode control algorithm to reduce the impact of uncertain disturbances, decrease the steady-state error of the system, and enhance attitude control precision. Simulation experiments demonstrated that the designed disturbance observer can successfully observe the frictional disturbance torque of the flywheel. The attitude Euler angle control precision for high-speed moving target tracking reached 0.03°, and the angular velocity control precision reached 0.005°/s, validating the effectiveness of the proposed approach.

Optimal Adaptive Fractional Order Integral Sliding Mode Controller-Energy Management Strategy for Electric Vehicles Based on Bald Eagle Search Algorithm

This research presents an optimal energy management system (EMS) for a lithium-ion battery-supercapacitor hybrid storage system used to power an electric vehicle. The storage systems are connected in parallel to the DC bus by bidirectional DC-DC converters and feed a synchronous reluctance motor through an inverter. The proposed energy management strategy is built on the idea to take full benefits of two combined methods: the bald eagle search algorithm and fractional order integral sliding mode control. To evaluate the effectiveness of the suggested optimal energy management strategy, an urban dynamometer driving schedule (UDDS) driving cycle is considered. The obtained results are compared to a classical fractional order integral sliding mode control-based energy management strategy in terms of voltage ripples, overshoots, and battery final state of charge. The ultimate results approve the ability of the proposed energy management system to enhance the power quality and enhance battery power consumption at the same time. Comprehensive processor-in-the-loop (PIL) cosimulations were conducted on the electric vehicle using the C2000 launchxl-f28379d digital signal processing (DSP) board to assess the practicability and effectiveness of the proposed EMS.

Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method

The three-degree-of-freedom (3-DOF) stabilized control system for ship propulsion-assisted sails is used to control the 3-DOF motion of sails to obtain offshore wind energy. The attitude of the sail is adjusted to ensure optimal thrust along the target course. An adaptive finite-time backstepping integral sliding mode control based on the inverse system method (ABISMC-ISM) is presented for attitude tracking of the sail. Considering the nonlinear dynamics and strong coupling of the system, a decoupling strategy is established using the inverse system method (ISM). Constructing inverse dynamics to eliminate internal coupling, the system is transformed into independent pseudolinear subsystems. For the decoupled open-loop subsystems, an adaptive finite-time backstepping integral sliding mode control is designed to achieve closed-loop control. A backstepping-based integral sliding surface is proposed to eliminate the phase-reaching stage of the sliding surface. Considering the unmodelled dynamics and external disturbances, an adaptive extreme learning machine (AELM) was designed to estimate the disturbances. Furthermore, a sliding mode reaching law based on finite-time theory was employed to ensure that the system returns to the sliding surface in a finite time under chattering conditions. Experiments on a principle prototype demonstrate the effectiveness and energy-saving performance of the proposed method.

Distributed Adaptive Integral Sliding Mode Affine Formation Maneuver Control for Multiple AUVs with Event-Triggered Chattering-Reduction Mechanism

Distributed Adaptive Integral Sliding Mode Affine Formation Maneuver Control for Multiple AUVs with Event-Triggered Chattering-Reduction Mechanism

An Improved Non-cascade Adaptive Integral Sliding Mode Control for PMSM Servo Systems

An Improved Non-cascade Adaptive Integral Sliding Mode Control for PMSM Servo Systems

Adaptive Proportional Integral Derivative Nonsingular Dual Terminal Sliding Mode Control for Robotic Manipulators

This article aims to develop a new Adaptive Proportional Integral Derivative (PID) Nonsingular Dual Terminal Sliding Mode Control, designed for tracking the position of robot manipulators under disturbances and uncertainties. Compared with existing PID Nonsingular Fast Terminal Sliding Mode (PIDNFTSM) controllers, this work effectively avoids singularity problems in control while significantly enhancing the convergence speed of errors. An adaptive reaching law is proposed to estimate the bound information of the first derivative of lumped disturbance by regulating itself based on sliding variables. The overall system stability is proven by using the Lyapunov approach. Subsequent simulation results verify the effectiveness of the proposed controller regarding tracking error reduction, energy efficiency enhancements, and singularity avoidance.

Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor

This research proposes a robust nonlinear hybrid control approach to the speed control of a multi-input-and-multi-output separately excited DC motor (SEDCM). The motor that was under consideration experienced parametric uncertainties and load disturbances in the weak field region. The proposed technique aims to merge the benefits of adaptive backstepping (AB) and integral sliding mode control (ISMC) to enhance the overall system’s robustness. The unknown parameters with load disturbances are estimated using an adaptation law. These estimated parameters are incorporated into the controller design, to achieve a highly robust controller. The theoretical stability of the system is proved using the Lyapunov stability criteria. The effectiveness of the proposed AB–ISMC was demonstrated by simulation, to track the reference speed under parametric uncertainties and load disturbances. The control performance of the proposed technique was compared to that of feedback linearization (FBL), conventional sliding mode control (SMC), and AB control laws without and with the adaptation law. Regression parameters, such as integral square error, integral absolute error, and integral time absolute error, were calculated to quantitatively analyze the tracking performance and robustness of the implemented nonlinear control techniques. The simulation results demonstrated that the proposed controller could accurately track the reference speed and exhibited robustness, with steady-state error accuracy. Moreover, AB–ISMC overperformed, compared to the FBL, SMC, AB controller without adaptation law and AB controller with adaptation law, in reducing the settling time by factors of 27%, 67%, 23%, and 21%, respectively, thus highlighting the superior performance of the proposed controller.

A DoS Attack-Resilient Grid Frequency Regulation Scheme via Adaptive V2G Capacity-Based Integral Sliding Mode Control

The latest developments in vehicle-to-grid (V2G) technology enable electric vehicles (EVs) to participate in frequency regulation (FR), reducing the impact of uncertain power fluctuations in highly penetrated renewable resources. However, the performance of FR is threatened by cyber attacks that compromise control communications. Considering denial of service (DoS) attacks on EV communications, this paper proposes a resilient FR scheme via adaptive V2G capacity-based integral sliding mode control (ISMC). The proposed scheme utilizes ISMC to mitigate uncertain disturbances from renewable resources and loads and the impact of DoS attacks. A periodic event-triggered mechanism (PETM) is integrated into the ISMC to reduce communication burden. Importantly, an adaptive mechanism of V2G frequency regulation capacity (FRC) is proposed in ISMC to adapt to the estimated attack intensity to prevent DoS attacks from further deteriorating FR performance. The proposed adaptive mechanism recommends using a conservative V2G FRC profile to improve FR performance under high-intensity attacks. Two case studies of the IEEE-39 bus system illustrate the effectiveness and advantages of the proposed scheme.

An Enhanced Adaptive Time Delay Control-Based Integral Sliding Mode for Trajectory Tracking of Robot Manipulators

This article proposes an enhanced adaptive time delay controller (ATDC) for robot manipulators subjected to external disturbances. This approach is model-free and uses time delay estimation (TDE) to estimate complex and unknown robot dynamics. First, to remove the reaching phase and improve the robustness of the control, an integral sliding surface (ISS) is used. Second, to speed up the convergence and compensate for the TDE errors and external disturbances, the gains of time delay control and the sliding mode have been made adaptive. In this article, we clearly point out using the Lyapunov method that the position and velocity tracking errors are guaranteed to be uniformly ultimately bounded (UUB). The effectiveness and the robustness of the designed controller over existing methods are experimentally verified on a parallel Delta robot. The novel model-free proposed control is robust and highly accurate, which is appropriate and recommended for industrial robotic applications.

Adaptive integral‐type terminal sliding mode control: Application to trajectory tracking for mobile robot

SummaryThis paper presents an Adaptive Terminal Integral Sliding Mode Control (ATISMC) scheme for trajectory tracking problems applied to a differential Wheeled Mobile Robot (WMR). First, a terminal integral sliding variable is designed. Based on the finite‐time concept, an adaptive control law has been developed in which a switching gain is adjusted adaptively by using a novel strategy. This control method aims to deal with unknown bounded disturbances and uncertainties. Moreover, it allows fast convergence of the system states to an equilibrium point. The main features of the proposed ATISMC are its robustness, fast convergence rate, and chattering avoidance. To realize trajectory tracking for WMR, the ATISMC is incorporated into a double closed loop scheme. Stability analysis is performed using the Lyapunov stability theory. Numerical simulations and real‐time experiments demonstrate the feasibility of the proposed controller scheme. A comparison study with the classical ISMC was performed to show the superiority of the developed method.

Adaptive Integral Sliding Mode Control in the Presence of State-Dependent Uncertainty

Adaptive integral sliding mode control (AISMC) is an extension of adaptive sliding mode control which is a way to ensure sliding motion while handling system uncertainties. However, conventional AISMC formulations require to different extent <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> knowledge of the system uncertainty: either the upper bound of the uncertainty or of its time derivative are assumed to be bounded <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> , or the uncertainty is assumed to be parametrized by some structure-dependent factorization. This work proposes a variant of AISMC with reduced <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> knowledge of the system uncertainty: it is shown that Euler–Lagrange dynamics typical of sliding mode literature admit a structure-independent parametrization of the system uncertainty. This parametrization is not the result of structural knowledge, but it comes from basic properties of Euler–Lagrange dynamics, valid independently on the structure of the system. The AISMC control method arising from this parametrization is analyzed in the Lyapunov stability framework, and validated in systems with different structures: a surface vessel and an aerial vehicle.

Robust secure synchronization control for multiple neural networks: An event‐triggered adaptive integral sliding mode method

AbstractThis article investigates the robust secure synchronization control of multiple neural networks (MNNs) systems with external random disturbances in the presence of actuator and sensor attacks. First, the types of attacks are analyzed in detail. Actuator attacks refers to the damage of control input signals transmitted through the network layer, and sensor attacks refers to the damage of communication channels between neural networks (NNs). Then, for the attacked NNs system, by introducing a novel neighborhood synchronization error, two novel integral sliding mode (ISM) functions with the event‐triggered mechanisms are designed. Based on this, a distributed event‐triggered adaptive ISM secure synchronization control scheme is proposed. It is worth noting that the control signal and adaptive parameters in the proposed scheme are only updated at the triggering time instants, which further saves the energy and resources consumed by the system. Next, the sufficient conditions for secure synchronization of MNNs system are obtained by constructing Lyapunov function and a positive lower bound of the internal execution time is ensured. Finally, a numerical example is given to demonstrate the effectiveness of the proposed secure synchronization control strategy.

Adaptive Fuzzy Proportional Integral Sliding Mode Control for Two-Tank Interacting System

This paper presents an adaptive fuzzy proportional integral sliding mode control (AFPISMC) for two-tank interacting system (TTIS). In order to maintain the desired liquid level of the TTIS and meet the reference values for attenuated chattering problems, this paper proposes a combination of a sliding mode control (SMC) with a proportional integral (PI) sliding surface and a fuzzy inference system. Fuzzy logic and the universal approximation theorem of fuzzy systems are used to approximate the uncertain function in the PISMC. The stability of the control system is proved by the Lyapunov theory. The simulation results of the proposed method in MATLAB/Simulink were compared to a fuzzy control, a sliding mode control with conditional integrals, a fuzzy-PID control, and a conventional PID control. The comparison results showed that the proposed controller was most effective when the rising time reached 0.2375 s, the percent of overshoot was 0%, the steady state error converged to zero, the settling time was 0.4612 s, and chattering was reduced.

An adaptive integral terminal sliding mode controller to track the human upper limb during front crawl swimming

ABSTRACT Injuries are inevitable during swimming. The main goal of athletes especially competitive ones and coaches is to do the most mechanically effective movement patterns. In this case, biomechanical assessments could be beneficial in the management and prevention of injuries and pain in swimmers’ vulnerable joints. As the upper limb in swimming causes the highest propulsive force, the arm is exposed to more injuries. A skeletal model with 5 degrees of freedom is developed to simulate the swimmer’s arm during front crawl swimming. This model includes shoulder and elbow joints with all of their degrees of freedom. An adaptive integral sliding mode (AITSM) controller is employed to track the desired joint trajectories during swimming. This controller can converge the tracking errors to zero in finite time. For tuning the controller gains regardless of the upper bounds of the system uncertainties, an adaptive controller is applied. The results demonstrate the performance of the AITSM strategy in tracking the desired trajectory of an underwater arm model during swimming. During the down sweep to catch phase, arm movements cause more stress in the shoulder than the elbow. The applied moment at the shoulder is almost triple of the elbow’s moment. Therefore, the most vulnerable joint is the shoulder. By considering shoulder strength, the injury risk is predicted about 10% for the considered swimmer. Highlights The human upper limb during front crawl swimming is simulated. A 5-DOF skeletal model is considered to simulate the arm. An adaptive integral sliding mode (AITSM) controller is employed to track the desired trajectory. The results show that the controller has the proper performance to track the desired motion. The most vulnerable joint is the shoulder and higher moments are induced at this joint.

A nonlinear disturbance observer-based adaptive integral sliding mode control for missile guidance system

A novel composite three-dimensional (3D) guidance law based on an adaptive integral sliding mode (AISM) control utilizing a nonlinear disturbance observer (NDOB) technique is proposed for missiles. First, an integral sliding mode control is selected as the guidance law to get rid of the reaching phase of sliding mode control. Second, the switching gains are adjusted by designing an adaptive law. Finally, the NDOB is designed to estimate and compensate for the unknown target accelerations that are considered as the disturbance. Thus the NDOB and AISM law are combined into a novel composite guidance law to improve performance and to reduce the chattering phenomenon. Finally, to verify the effectiveness and robustness, numerical simulations are performed in different scenarios and these results are presented comparatively with the augmented proportional navigation (APN) and the AISM guidance law. Moreover, the proposed law outperforms the other schemes regarding the miss distance and interception time.

Adaptive Integral Sliding Mode Based Course Keeping Control of Unmanned Surface Vehicle

This paper investigates the course keeping control problem for an unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.

Research on a New Adaptive Integral Sliding Mode Controller Based on a Small BLDC

A new adaptive saturation Integral Sliding Mode Controller (ADSA-ISMC) is presented to solve the speed fluctuation problem caused by a small brushless DC motor (S-BLDC) under variable load. First, according to the characteristics of S-BLDC and Kalman filter, a Kalman-based S-BLDC load disturbance observer is established, and an adaptive integrated sliding mode controller (AD-ISMC) is constructed based on the motor load obtained by the observer. Then, we introduce the saturation function into the input error link of the traditional integral sliding mode function, to propose a new ADSA-ISMC to improve the windup phenomenon produced by the integral sliding mode controller and prove the stability and convergence of the controller by the Lyapunov method. Finally, the experimental results show that the Kalman load disturbance observer can observe the motor load disturbance well. In addition, when a load of S-BLDC changes, many speed control performance indexes of ADSA-ISMC are significantly better than SMC and AD-ISMC. Theoretical analysis and experimental results show that the ADSA-ISMC proposed in this paper shows excellent control performance in S-BLDC speed control.

Adaptive Integral Terminal Sliding Mode Control for the Nonlinear Active Vehicle Suspension System under External Disturbances and Uncertainties

Suspension system is one of the most effective vehicle components that play an essential role in the stability and comfort of the vehicle. The passive suspension can not fully meet a car's stability and comfort requirements. Instead, an active suspension system has been proposed to improve these challenges. Active suspension minimizes the vibrations entering the body using a closed-loop control system. To this end, in this research, an integral terminal sliding mode control (integral TSMC) for an active nonlinear car suspension system under external disturbances and uncertainties is designed. First, the integral TSMC is designed to deal with the uncertainties and the external disturbances in the system when the upper bound is known. Next, an adaptation law is recommended to estimate the upper bound of uncertainties and external disturbances. The results show that the proposed integral TSMC improves the convergence rate and tracking error of the closed-loop system. The stability of the nonlinear control system is investigated and proven using Lyapunov's stability theory. The numerical results indicate a good robust performance and stability for the proposed controller for the nonlinear suspension system with different road profiles in the presence of uncertainties and external disturbances. From the results, it can also be understood that important measures such as ride comfort, road holding, and mechanical structural limitations are met using the proposed approach.