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Sliding Mode Control in Electromechanical Systems
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Sliding Mode Control in Electromechanical Systems

A special issue of Energies (ISSN 1996-1073). This special issue belongs to the section "A1: Smart Grids and Microgrids".

Deadline for manuscript submissions: closed (10 November 2021) | Viewed by 13681

Special Issue Editors

Dr. Mojtaba Ahmadieh Khanesar

E-Mail Website
Guest Editor
Faculty of Engineering, University of Nottingham, Nottingham NG7 2RD, UK
Interests: intelligent nonlinear control system design; intelligent optimization methods; intelligent nonlinear control system; sliding mode control; adaptive controller design; fuzzy systems; model predictive control
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Amin Hajizadeh

E-Mail Website
Guest Editor
Department of Energy Technology, Aalborg University, Esbjerg, Denmark
Interests: microgrids operation and control; industrial electronics; smart grids; grid integration; power quality
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Sliding mode controllers are designed to deal with uncertainties caused by disturbances, parameter variations, and unmodeled dynamics. Adaptive sliding mode controllers benefit from adaptation mechanisms to maintain the performance of the system. This approach is widely known to be capable of controlling electromechanical systems including induction motors, brushless DC motors, and servo systems as a major building block for mechatronic systems, robotic applications, transportation, and unmanned aerial vehicles. Energy generation systems utilize electromechanical systems with appropriate controllers. Recently, sliding mode theory-based adaptation laws have been used to estimate the parameters of intelligent systems for identification purposes. Nonlinear sliding mode observers, dealing with mismatched unmodeled dynamics, and terminal sliding mode controllers are among new emerging successful theoretical advances.

Motivated by the aforementioned issues, this Special Issue invites original research papers devoted to techniques, methods, applications, and industrial case studies reporting sliding mode control for electromechanical applications. It is further recommended to find appropriate connections to energy-related issues such as energy carriers, end-user energy consumption, energy conversion systems, and energy research and development. This Special Issue will provide the means to gather leading researchers around the world to publish their up-to-date techniques and share their latest results, their ideas, and topics for possible future research.

Dr. Mojtaba Ahmadieh Khanesar
Dr. Amin Hajizadeh
Guest Editors

Manuscript Submission Information

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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Energies is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Terminal sliding mode control of electromechanical systems
  • Adaptive sliding mode control of electromechanical systems
  • Observer-based sliding mode control of mechatronics systems
  • Fractional order sliding mode control of mechatronics systems
  • Transportation applications
  • Unmanned aerial vehicles
  • Robotic applications
  • Smart grid and microgrids
  • Power electronic systems applications
  • Energy management systems
  • Energy consumption within the Industry 4.0 framework

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Published Papers (6 papers)

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Research

17 pages, 2464 KiB  
Article
Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver
by Mojtaba Ahmadieh Khanesar and David Branson
Energies 2022, 15(5), 1876; https://doi.org/10.3390/en15051876 - 3 Mar 2022
Cited by 13 | Viewed by 3037
Abstract
This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from Cartesian to joint [...] Read more.
This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from Cartesian to joint angle space. The translated joint angles are then used as a reference signal to control the industrial robot dynamics using a sliding mode fuzzy controller. The stability and robustness of the proposed controller is proven using an appropriate Lyapunov function in the presence of parameter uncertainty and unknown dynamic friction. The proposed controller is simulated on a 6-DOF industrial robot, namely the Universal Robot-UR5, considering the maximum allowable joint torques. It is observed that the proposed controller can successfully control UR5 under uncertainties in terms of unknown dynamic friction and parameter uncertainties. The tracking performance of the proposed controller is compared with that of the sliding mode control approach. The simulation results demonstrate superior performance of the proposed approach over the sliding mode control method in the presence of uncertainties. Full article
(This article belongs to the Special Issue Sliding Mode Control in Electromechanical Systems)
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17 pages, 4534 KiB  
Article
Research on Compound Sliding Mode Control of a Permanent Magnet Synchronous Motor in Electromechanical Actuators
by Jiachun Lin, Yuteng Zhao, Pan Zhang, Junjie Wang and Hao Su
Energies 2021, 14(21), 7293; https://doi.org/10.3390/en14217293 - 4 Nov 2021
Cited by 10 | Viewed by 2350
Abstract
In order to improve the response speed and disturbance rejection ability of a permanent magnet synchronous motor (PMSM) in an electromechanical actuator (EMA), a compound sliding mode control (CSMC) is proposed. The CSMC consists of a sliding mode controller with a new reaching [...] Read more.
In order to improve the response speed and disturbance rejection ability of a permanent magnet synchronous motor (PMSM) in an electromechanical actuator (EMA), a compound sliding mode control (CSMC) is proposed. The CSMC consists of a sliding mode controller with a new reaching law and disturbance observer based on a symmetric S-type function. The stability of the CSMC is analyzed using the Lyapunov stability analysis. The effectiveness of the CSMC is confirmed by the Simulink simulation, and experiments were conducted on a semi-physical platform. The results obtained by comparing the CSMC with the proportional integral (PI) control and traditional sliding mode control show that the CSMC has a faster response and stronger disturbance rejection ability and reduces chattering. Full article
(This article belongs to the Special Issue Sliding Mode Control in Electromechanical Systems)
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20 pages, 10593 KiB  
Article
New Time-Varying Sliding Surface for Switching Type Quasi-Sliding Mode Control
by Katarzyna Adamiak and Andrzej Bartoszewicz
Energies 2021, 14(13), 3811; https://doi.org/10.3390/en14133811 - 24 Jun 2021
Cited by 1 | Viewed by 1605
Abstract
This study considers the problem of energetical efficiency in switching type sliding mode control of discrete-time systems. The aim of this work is to reduce the quasi-sliding mode band-width and, as follows, the necessary control input, through an application of a new type [...] Read more.
This study considers the problem of energetical efficiency in switching type sliding mode control of discrete-time systems. The aim of this work is to reduce the quasi-sliding mode band-width and, as follows, the necessary control input, through an application of a new type of time-varying sliding hyperplane in quasi-sliding mode control of sampled time systems. Although time-varying sliding hyperplanes are well known to provide insensitivity to matched external disturbances and uncertainties of the model in the whole range of motion for continuous-time systems, their application in the discrete-time case has never been studied in detail. Therefore, this paper proposes a sliding surface, which crosses the system’s representative point at the initial step and then shifts in the state space according to the pre-generated demand profile of the sliding variable. Next, a controller for a real perturbed plant is designed so that it drives the system’s representative point to its reference position on the sliding plane in each step. Therefore, the impact of external disturbances on the system’s trajectory is minimized, which leads to a reduction of the necessary control effort. Moreover, thanks to a new reaching law applied in the reference profile generator, the sliding surface shift in each step is strictly limited and a switching type of motion occurs. Finally, under the assumption of boundedness and smoothness of continuous-time disturbance, a compensation scheme is added. It is proved that this control strategy reduces the quasi-sliding mode band-width from O(T) to O(T3) order from the very beginning of the regulation process. Moreover, it is shown that the maximum state variable errors become of O(T3) order as well. These achievements directly reduce the energy consumption in the closed-loop system, which is nowadays one of the crucial factors in control engineering. Full article
(This article belongs to the Special Issue Sliding Mode Control in Electromechanical Systems)
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16 pages, 617 KiB  
Article
Zero-Width Quasi-Sliding Mode Band in the Presence of Non-Matched Uncertainties
by Paweł Latosiński and Andrzej Bartoszewicz
Energies 2021, 14(11), 3011; https://doi.org/10.3390/en14113011 - 22 May 2021
Cited by 4 | Viewed by 1451
Abstract
Sliding mode control strategies are well known for ensuring robustness of the system with respect to disturbance and model uncertainties. For continuous-time plants, they achieve this property by confining the system state to a particular hyperplane in the state space. Contrary to this, [...] Read more.
Sliding mode control strategies are well known for ensuring robustness of the system with respect to disturbance and model uncertainties. For continuous-time plants, they achieve this property by confining the system state to a particular hyperplane in the state space. Contrary to this, discrete-time sliding mode control (DSMC) strategies only drive the system representative point to a certain vicinity of that hyperplane. In established literature on DSMC, the width of this vicinity has always been strictly greater than zero in the presence of uncertainties. Thus, ideal sliding motion was considered impossible for discrete-time systems. In this paper, a new approach to DSMC design is presented with the aim of driving the system representative point exactly onto the sliding hyperplane even in the presence of uncertainties. As a result, the quasi-sliding mode band width is effectively reduced to zero and ideal discrete-time sliding motion is ensured. This is achieved with the proper selection of the sliding hyperplane, using the unique properties of relative degree two sliding variables. It is further demonstrated that, even in cases where selection of a relative degree two sliding variable is impossible, one can use the proposed technique to significantly reduce the quasi-sliding mode band width. Full article
(This article belongs to the Special Issue Sliding Mode Control in Electromechanical Systems)
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23 pages, 451 KiB  
Article
Sliding Mode Control with Minimization of the Regulation Time in the Presence of Control Signal and Velocity Constraints
by Mateusz Pietrala, Piotr Leśniewski and Andrzej Bartoszewicz
Energies 2021, 14(10), 2887; https://doi.org/10.3390/en14102887 - 17 May 2021
Cited by 5 | Viewed by 1653
Abstract
In this paper, the design of the terminal continuous-time sliding mode controller is presented. The influence of the external disturbances is considered. The robustness for the whole regulation process is obtained by adapting the time-varying sliding line. The representative point converges to the [...] Read more.
In this paper, the design of the terminal continuous-time sliding mode controller is presented. The influence of the external disturbances is considered. The robustness for the whole regulation process is obtained by adapting the time-varying sliding line. The representative point converges to the demand state in finite time due to the selected shape of the nonlinear switching curve. Absolute values of control signal, system velocity and both of these quantities are bounded from above and considered as system constraints. In order to evaluate the dynamical performance of the system, the settling time is selected as a quality index and it is minimized. The approach presented in this paper is particularly suited for systems in which one state (or a set of states) is the derivative of the other state (or a set of states). This makes it applicable to a wide range of electromechanical systems, in which the states are the position and velocity of the mechanical parts. Full article
(This article belongs to the Special Issue Sliding Mode Control in Electromechanical Systems)
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18 pages, 2202 KiB  
Article
Research on the Speed Sliding Mode Observation Method of a Bearingless Induction Motor
by Youpeng Chen, Wenshao Bu and Yanke Qiao
Energies 2021, 14(4), 864; https://doi.org/10.3390/en14040864 - 7 Feb 2021
Cited by 15 | Viewed by 2103
Abstract
In order to achieve the speed sensorless control of a bearingless induction motor (BL-IM), a novel sliding mode observation (SMO) method of motor speed is researched. First of all, according to the mathematical model of a BL-IM system, the observation model of stator [...] Read more.
In order to achieve the speed sensorless control of a bearingless induction motor (BL-IM), a novel sliding mode observation (SMO) method of motor speed is researched. First of all, according to the mathematical model of a BL-IM system, the observation model of stator current and that of rotor flux-linkage are derived. In order to overcome the chattering problem of a sliding mode observer, a continuous saturation function is adopted to replace the traditional sign function. Then, the SMO model of motor speed is derived, and the stability of the proposed motor speed SMO method is validated by the Lyapunov stability theory. At the end, the observed motor speed and rotor flux-linkage are applied to a BL-IM inverse “dynamic decoupling control” (DDC) system. Simulation results show that the real-time observation or dynamic tracking of motor speed and rotor flux-linkage are achieved in a more timely manner and more accurately, and higher steady-state observation accuracy is obtained; the proposed SMO method can be used in the BL-IM’s inverse DDC system to realize reliable magnetic suspension operation control without a speed sensor. Full article
(This article belongs to the Special Issue Sliding Mode Control in Electromechanical Systems)
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