A new modeling reference direct adaptive sliding mode control for electromechanical actuator

Hao Li; Lihua Dou; Zhong Su; Jie Chen

doi:10.1109/CDC.2009.5399484

A new modeling reference direct adaptive sliding mode control for electromechanical actuator

Hao Li^*, Lihua Dou, Zhong Su, Jie Chen

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

A new model reference direct adaptive sliding mode control (MRDASMC) approach for electromechanical actuator (EMA) is presented. Uncertainties with parameter variation, external load disturbance, nonlinear structure and unmodelled dynamics in the system are treated as a lumped uncertainty. The lumped uncertainty is estimated without the bounds known in advance. A switching function is employed to compensate for the estimated error of the lumped uncertainty. While the issue of chattering in classical SMC is suppressed as the amplitude of the switching function is tuned with the tracking error by adaption law. The adaption law contains a fading factor which can prevent saturation of the control effort. The stability of the control system is guaranteed by Lyapunov approach. Simulation results show that the proposed controller can provide favorable performance and is robust to system uncertainties.

Original language	English
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6078-6082
Number of pages	5
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5399484
Publication status	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: 15 Dec 2009 → 18 Dec 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	15/12/09 → 18/12/09

Keywords

Chattering
Electromechanical actuator
Fading factor
Model reference adaptive sliding mode control
Saturation

Access to Document

10.1109/CDC.2009.5399484

Cite this

Li, H., Dou, L., Su, Z., & Chen, J. (2009). A new modeling reference direct adaptive sliding mode control for electromechanical actuator. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 6078-6082). Article 5399484 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5399484

Li, Hao ; Dou, Lihua ; Su, Zhong et al. / A new modeling reference direct adaptive sliding mode control for electromechanical actuator. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 6078-6082 (Proceedings of the IEEE Conference on Decision and Control).

@inproceedings{7070252b02a5422f82a5c655ce589ebd,

title = "A new modeling reference direct adaptive sliding mode control for electromechanical actuator",

abstract = "A new model reference direct adaptive sliding mode control (MRDASMC) approach for electromechanical actuator (EMA) is presented. Uncertainties with parameter variation, external load disturbance, nonlinear structure and unmodelled dynamics in the system are treated as a lumped uncertainty. The lumped uncertainty is estimated without the bounds known in advance. A switching function is employed to compensate for the estimated error of the lumped uncertainty. While the issue of chattering in classical SMC is suppressed as the amplitude of the switching function is tuned with the tracking error by adaption law. The adaption law contains a fading factor which can prevent saturation of the control effort. The stability of the control system is guaranteed by Lyapunov approach. Simulation results show that the proposed controller can provide favorable performance and is robust to system uncertainties.",

keywords = "Chattering, Electromechanical actuator, Fading factor, Model reference adaptive sliding mode control, Saturation",

author = "Hao Li and Lihua Dou and Zhong Su and Jie Chen",

year = "2009",

doi = "10.1109/CDC.2009.5399484",

language = "English",

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series = "Proceedings of the IEEE Conference on Decision and Control",

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booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

address = "United States",

note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

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Li, H, Dou, L, Su, Z & Chen, J 2009, A new modeling reference direct adaptive sliding mode control for electromechanical actuator. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5399484, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 6078-6082, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 15/12/09. https://doi.org/10.1109/CDC.2009.5399484

A new modeling reference direct adaptive sliding mode control for electromechanical actuator. / Li, Hao; Dou, Lihua; Su, Zhong et al.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 6078-6082 5399484 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Li, Hao

AU - Dou, Lihua

AU - Su, Zhong

AU - Chen, Jie

PY - 2009

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N2 - A new model reference direct adaptive sliding mode control (MRDASMC) approach for electromechanical actuator (EMA) is presented. Uncertainties with parameter variation, external load disturbance, nonlinear structure and unmodelled dynamics in the system are treated as a lumped uncertainty. The lumped uncertainty is estimated without the bounds known in advance. A switching function is employed to compensate for the estimated error of the lumped uncertainty. While the issue of chattering in classical SMC is suppressed as the amplitude of the switching function is tuned with the tracking error by adaption law. The adaption law contains a fading factor which can prevent saturation of the control effort. The stability of the control system is guaranteed by Lyapunov approach. Simulation results show that the proposed controller can provide favorable performance and is robust to system uncertainties.

AB - A new model reference direct adaptive sliding mode control (MRDASMC) approach for electromechanical actuator (EMA) is presented. Uncertainties with parameter variation, external load disturbance, nonlinear structure and unmodelled dynamics in the system are treated as a lumped uncertainty. The lumped uncertainty is estimated without the bounds known in advance. A switching function is employed to compensate for the estimated error of the lumped uncertainty. While the issue of chattering in classical SMC is suppressed as the amplitude of the switching function is tuned with the tracking error by adaption law. The adaption law contains a fading factor which can prevent saturation of the control effort. The stability of the control system is guaranteed by Lyapunov approach. Simulation results show that the proposed controller can provide favorable performance and is robust to system uncertainties.

KW - Chattering

KW - Electromechanical actuator

KW - Fading factor

KW - Model reference adaptive sliding mode control

KW - Saturation

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M3 - Conference contribution

AN - SCOPUS:77950822315

SN - 9781424438716

T3 - Proceedings of the IEEE Conference on Decision and Control

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BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

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Li H, Dou L, Su Z, Chen J. A new modeling reference direct adaptive sliding mode control for electromechanical actuator. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 6078-6082. 5399484. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5399484

A new modeling reference direct adaptive sliding mode control for electromechanical actuator

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