Passivity-based Sliding Mode Control Research Articles

Passivity-based sliding mode control of uncertain singular time-delay systems

In this paper the problem of sliding mode control (SMC) with passivity of a class of uncertain nonlinear singular time-delay systems is studied. An integral-type switching surface function is designed by taking the singular matrix into account, thus the resulting sliding mode dynamics is a full-order uncertain singular time-delay system. By introducing some slack matrices, a delay-dependent sufficient condition is proposed in terms of linear matrix inequality (LMI), which guarantees the sliding mode dynamics to be generalized quadratically stable and robustly passive. The passification solvability condition is then established. Moreover, a SMC law and an adaptive SMC law are synthesized to drive the system trajectories onto the predefined switching surface in a finite time. Finally, a numerical example is provided to illustrate the effectiveness of the proposed theory.

Passivity-Based Sliding Mode Position Control for Induction Motor Drives

In this paper, a passivity-based sliding-mode controller is proposed to control the motion of an induction motor. At first, the induction motor is proved to be a state strictly passive system. Then, a sliding-mode position controller with an adaptive load torque estimator is designed to control the position of the induction motor such that the chattering effects associated with a classical sliding-mode position controller can be eliminated. The stability analysis of the overall position control system is carried out by the passivity theory. The proposed approach is robust with regard to variations of motor mechanical parameters and load torque disturbances. Finally, experimental results are included to demonstrate that good position tracking can be obtained without the rotor flux observer.