:: ICCAS 2015 ::

WC03		Sliding Mode Control
Time : 16:30~18:00 Room : 103		Chair : Sungwan Kim (Seoul National University, )



16:30~16:45	WC03-1

Adaptive Sliding Mode Control of a Transport Aircraft for Heavyweight Airdrop
Ri Liu, Xiuxia Sun, Wenhan Dong, Guangzhi Xu(Air Force Engineering University, China)

This paper investigates the problem of designing a novel sliding mode controller of a transport aircraft for airdrop modes in the presence of bounded nonlinear uncertainty and actuator fault without the prior knowledge of the bounds. On the basis of feedback linearization of the aircraft-cargo dynamic model, an autopilot inner-loop which combines sliding mode control with adaptive function approximation is developed. The complex nonlinear uncertainty of the model is factorized into a known matrix and an uncertainty function. An adaptive approximation approach is used to estimate the function,



16:45~17:00	WC03-2

Disturbance-Estimation-Based Hierarchical Sliding Mode Control of Hovercraft with Wind Disturbance
Dongkyoung Chwa, Seongchan Jeong, Myunghwan Eom(Ajou University, Korea, Republic of )

This paper proposes disturbance-estimation-based hierarchical-sliding-mode tracking control method for hovercraft in the presence of wind disturbance. Both a disturbance estimator for wind disturbance that has strong uncertainty and hierarchical sliding mode tracking controller for hovercraft system are designed. This paper defines three sliding surfaces and derives all sliding surfaces converge to zero within finite time. Through the proposed method, the control performance is improved over the conventional method and compensation for the external disturbances can be possible.



17:00~17:15	WC03-3

The Features of Variable Structure System Application in Conditions of Control Signal Saturation
Alexander Lebedev(Far Eastern Federal University, Russian Federation)

The variable structure system with control signal saturation for the position control of second order dynamic object is considered in this paper. The features of system phase trajectories and transition processes at different values of control law coefficients are analyzed. The new conditions of a sliding mode existence in the given areas of a phase plane are formulated. The control systems parameters ensuring the greatest possible fast-action and high dynamic precision are determined. The received conclusions are confirmed by results of control system numerical simulation.



17:15~17:30	WC03-4

An adaptive modified super-twisting sliding mode controller: Applied to the active suspension system
Jagat Jyoti Rath, Suneel Kumar Kommuri, Kalyana Chakravarthy Veluvolu(Kyungpook National University, Korea, Republic of ), Michael Defoort(Univ. Lille Nord de France, France), Sivanagaraja Tatinati(Kyungpook National University, Korea, Republic of )

A robust higher order sliding mode algorithm combining the merits of the modified super-twisting algorithm and the adaptive super-twisting algorithm has been proposed for a class of nonlinear uncertain systems in this article. For a class of linearly growing perturbations whose upper bounds are not known, the convergence of the sliding dynamics in finite time is proven. To illustrate the effectiveness of the proposed approach, an adaptive robust controller based on the proposed algorithm is developed for the nonlinear active suspension system faced with perturbations from the road surface.



17:30~17:45	WC03-5

A Sliding Mode Based Model Predictive Control Structure for Permanent Magnet Synchronous Motor
Ilro Lee(Hanyang univ. System & Control labatory, Korea, Republic of ), Youngwoo Lee, Donghoon Shin(Hanyang university, Korea, Republic of ), Chung Choo Chung(Hanyang University, Korea, Republic of )

This paper presents a sliding mode based model predictive controller for permanent magnet synchronous motor(PMSM). The proposed controller consists of model predictive controller(MPC) for outer velocity control loop and sliding mode controller(SMC) for inner current control loop. The SMC is proposed to track the desired currents in finite time. The MPC is developed to obtain optimal velocity control input for minimized cost function with constraint conditions. The closed-loop stability of the proposed controller is proven by Lyapunov theorem.



17:45~18:00	WC03-6

Sliding mode controller for Sawyer Motors based on singular perurbation theory
Jeonghwan Gil, Donghoon Shin, Youngwoo Lee, Chung Choo Chung(Hanyang University, Korea, Republic of )

We propose a sliding mode controller (SMC) based on singular perturbation theory for Sawyer motors. Since the dynamics of Sawyer motors can be divided into slow and fast subsystem, the current measurements are removed by using singular perturbation theory and passivity of the dynamics of Sawyer motors. Input voltages including auxiliary inputs for slow subsystem are designed to stabilize the fast dynamics. The quasi-steady states of fast subsystem, which become the inputs of reduced model corresponding to slow subsystem, is a function of the auxiliary inputs.