New Approaches for On-line Tuning of the Linear Sliding Surface Slope in Sliding Mode Controllers

Sezai TOKAT; İbrahim EKSİN; Müjde GÜZELKAYA

Makale detayları

New Approaches for On-line Tuning of the Linear Sliding Surface Slope in Sliding Mode Controllers

Yazarlar:

Sezai TOKAT | İbrahim EKSİN | Müjde GÜZELKAYA

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2003 Vol.11 Issue 1, pp.45-60

Belge Tipi:

Makale

Yayın Tarihi:

12/2002

Belge Dili:

Türkçe

Document ID (Org No.):

2000744295

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

The main objective of this study is to propose new  approaches for on-line tuning of the linear sliding surface slope in  sliding mode controllers.  The new approaches are developed for a  class of second order systems on new coordinate axes, one of which is  the classical sliding surface and the other one is naturally chosen to  be orthogonal to it.  The control input of the sliding mode control  law is then modified accordingly by applying the Lyapunov stability  condition.  The adjustment of the linear sliding surface slope defined  in the new coordinate axes is achieved by tuning a new parameter using  different methods.  First, an adaptive sliding surface with a rotation  scheme is constructed by interpreting the classical delta  neighbourhood approach.  Next, the rotation process is achieved by  using a fuzzy tuning mechanism that uses the new coordinates as its  input variables and generates an incremental change in the new  parameter value as an output.  Numerical simulations are performed on  a second order nonlinear system model with parameter uncertainties and  bounded external disturbance.  The two newly proposed on-line tuning  approaches are then compared with the rotation mechanism that uses an  empirical function defined on the same new coordinate axes.  Moreover,  the new approaches are compared with classical sliding mode  controllers having a constant sliding surface and the delta  neighbourhood approach developed in the classical coordinate axes.   Results have shown improved performances of the proposed approaches in  terms of a decrease in the reaching and settling times and robustness  to disturbances as compared with the classical sliding mode  controller.

 

The main objective of this study is to propose new  approaches for on-line tuning of the linear sliding surface slope in  sliding mode controllers.  The new approaches are developed for a  class of second order systems on new coordinate axes, one of which is  the classical sliding surface and the other one is naturally chosen to  be orthogonal to it.  The control input of the sliding mode control  law is then modified accordingly by applying the Lyapunov stability  condition.  The adjustment of the linear sliding surface slope defined  in the new coordinate axes is achieved by tuning a new parameter using  different methods.  First, an adaptive sliding surface with a rotation  scheme is constructed by interpreting the classical delta  neighbourhood approach.  Next, the rotation process is achieved by  using a fuzzy tuning mechanism that uses the new coordinates as its  input variables and generates an incremental change in the new  parameter value as an output.  Numerical simulations are performed on  a second order nonlinear system model with parameter uncertainties and  bounded external disturbance.  The two newly proposed on-line tuning  approaches are then compared with the rotation mechanism that uses an  empirical function defined on the same new coordinate axes.  Moreover,  the new approaches are compared with classical sliding mode  controllers having a constant sliding surface and the delta  neighbourhood approach developed in the classical coordinate axes.   Results have shown improved performances of the proposed approaches in  terms of a decrease in the reaching and settling times and robustness  to disturbances as compared with the classical sliding mode  controller.

Makale detayları

New Approaches for On-line Tuning of the Linear Sliding Surface Slope in Sliding Mode Controllers

Yazarlar: Sezai TOKAT | İbrahim EKSİN | Müjde GÜZELKAYA

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2003 Vol.11 Issue 1, pp.45-60

Belge Tipi: Makale

Yayın Tarihi: 12/2002

Belge Dili: Türkçe

Document ID (Org No.): 2000744295

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Sezai TOKAT | İbrahim EKSİN | Müjde GÜZELKAYA

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2003 Vol.11 Issue 1, pp.45-60

Belge Tipi:

Makale

Yayın Tarihi:

12/2002

Belge Dili:

Türkçe

Document ID (Org No.):

2000744295

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632