Sliding mode in model-free control systems with adaptive parameters
40 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.CAPITI.2024.11-18Keywords:
Adaptive control; Model-free; SISO system; Local model; iPI; MFAC; SMC.Abstract
The article synthesizes the model-free adaptive control law MFC-iPI-SMC for SISO nonlinear systems based on the development of the MFC-iPI control law operating in sliding mode to establish a new MFC-iPI-SMC control law to address the existing uncertainties of the system and establish mathematical constraints between parameters with the largest estimated disturbance error. The Lyapunov stability of the system is rigorously ensured mathematically. MATLAB simulation demonstrates the effectiveness of the new model-free adaptive control law.
References
[1]. Fliess, M.; Join, C., “Model-free control and intelligent PID controllers: Towards a possible trivialization of nonlinear control?”, IFAC Proceedings Volumes, Vol. 42, No. 10, pp. 1531-1550, (2009).
[2]. Nguyễn Văn Đức, Nguyễn Quang Hùng, and Vũ Quốc Huy, “Model-Free Data-Driven Control MFC-IPID for a Class of Electro-Mechanic Systems”, Journal of Military Science and Technology, no. FEE, pp. 50-57, (2022), doi:10.54939/1859-1043.j.mst.FEE.2022.50-57. DOI: https://doi.org/10.54939/1859-1043.j.mst.FEE.2022.50-57
[3]. R.-E. Precup, M.-B. Radac, E.M. Petriu, C.-A. Dragos and S. Preitl, “Model-free tuning solution for sliding mode control of servo systems,” in Proceedings of 8th Annual IEEE International Systems Conference, Ottawa, ON, Canada, pp. 30-35, (2014). DOI: https://doi.org/10.1109/SysCon.2014.6819232
[4]. R.-E. Precup, M.-B. Radac and R.-C. Roman, “Model-free sliding mode control of nonlinear systems: Algorithms and experiments,” Information Sciences, vol. 381, pp. 176-192, (2017). DOI: https://doi.org/10.1016/j.ins.2016.11.026
[5]. R.-E. Precup, R.-C. Roman, E.-L. Hedrea, E.M. Petriu and C.-A. Dragos, “Data-driven model-free sliding mode and fuzzy control with experimental validation,” International Journal of Computers, Communications & Control, vol. 16, no. 1, pp. 1-17, (2021). DOI: https://doi.org/10.15837/ijccc.2021.1.4076
[6]. H. Wang, X. Ye, Y. Tian and N. Christov, “Attitude control of a quadrotor using model-free based sliding model controller,” in Proceedings of 20th International Conference on Control Systems and Science, Bucharest, Romania, pp. 149-154, (2015). DOI: https://doi.org/10.1109/CSCS.2015.152
[7]. E. Schulken and A. Crassidis, “Model-free sliding mode control algorithms including application to a real-world quadrotor,” in Proceedings of 5th International Conference of Control, Dynamic Systems, and Robotics, Niagara Falls, Canada, pp. 112-1–112-9, (2018). DOI: https://doi.org/10.11159/cdsr18.112
[8]. X. Wang, X. Li, J. Wang, X. Fang and X. Zhu, “Data-driven model-free adaptive sliding mode control for the multi-degree-of-freedom robotic exoskeleton”, Information Sciences, vol. 327, pp. 246-257, (2016). DOI: https://doi.org/10.1016/j.ins.2015.08.025
[9]. Gao, W.C.; Hung, J.C, “Variable structure control of nonlinear systems: A new approach”, IEEE Trans. Ind. Electron, No. 40, pp.45-55, (1993). DOI: https://doi.org/10.1109/41.184820
[10]. Vu Quoc Huy, “Asymptotic Stability of Dynamical Systems With Barbalat’s Lemma and Lyapunov Function”. Journal of Military Science and Technology, no. CSCE6, pp. 122-30, (2022), doi:10.54939/1859-1043.j.mst.CSCE6.2022.122-130. DOI: https://doi.org/10.54939/1859-1043.j.mst.CSCE6.2022.122-130
[11]. Quoc Huy Vu, “Strict Sliding Mode Control with Power Reaching Law and Disturbance Bounds in Synchronous Servo Tracking Drive System”, International Journal of Electrical and Electronic Engineering & Telecommunications, Vol. 12, No. 5, pp. 350-357, (2023), doi: 10.18178/ijeetc.12.5.350-357. DOI: https://doi.org/10.18178/ijeetc.12.5.350-357
[12]. Fliess, M.J.I.P.V., “Model-free control and intelligent PID controllers: towards a possible trivialization of nonlinear control?”. 42(10): p. 1531-1550, (2009). DOI: https://doi.org/10.3182/20090706-3-FR-2004.00256
