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A Practical Approach to Adaptive Sliding Mode Control
José Antonio González,Antonio Barreiro,Sebastián Dormido 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.10
This paper is concerned with the development of a practical approach to the design of adaptive sliding mode controllers. The objective is to define an adaptive control law that presents some desired advantages such as non overestimation of the disturbance input, cancellation of the chattering phenomenon, zero overshooting response, avoid control saturation and simplicity of algorithm tuning. In this practical approach a solution is provided thatuses both, adaptive sliding surfaces and adaptive control gains so the proposed controller is able to manage input disturbances with bounded derivatives.
Identification and Tuning Methods for PI Control Systems Based on Symmetric Send-on-delta Sampling
José Sánchez Moreno,María Guinaldo Losada,Antonio Visioli,Sebastián Dormido Bencomo 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.11
Two procedures for the definition of an autotuning algorithm for event-based proportional-integral (PI) control systems are proposed in this contribution. Firstly, a method for the identification of the most common transfer functions used for tuning PI controllers is explained. The rationale of the identification method is based on the limit cycles that the event-based sampler and a convenient tuning of the PI controller can produce in the closed loop. The identification method is designed for controller tuning, that is, fitting the behaviour of the process in the range of frequencies between ω−180◦ and ω−135◦ . Secondly, a new method for tuning the event-based PI controller is explained. The main control objective of the new tuning rule is to generate a set of parameters that introduces the process in a limit cycle at a user-specified inter-event time. However, by introducing an oscillation margin in the tuning rule, the method generalizes to produce controller parameters that avoid limit cycles with a certain robustness margin. Simulations demonstrate the effectiveness of the tuning rule to force the system to oscillate at a specified frequency as a consequence of the events triggered by the event-based sampler.