A New Modeling Reference Direct Adaptive Sliding Mode Control

A New Modeling Reference Direct Adaptive Sliding Mode Control

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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. Index Terms – Model reference adaptive sliding mode control, Electromechanical actuator, Fading factor, Saturation, Chattering. I. INTRODUCTION The performance of the flying control system (FCS) is mostly affected by servo actuators. The commonly used actuators in FCS include hydraulic actuator (HA), pneumatic actuator (PA) and electromechanical actuator (EMA). EMA is broadly used in FCS as it is smaller and lighter than the other two kinds, and it has simple structure that can be easily maintained [1]. However, parameters of EMA may vary and the load may fluctuate in a wide range while flying conditions change in flight. Thus the controller of EMA should tackle the issue caused by uncertainties resulting from parameter variation and external load disturbance to achieve favorable dynamic and static property. Sliding mode control (SMC), which provides invariance property to parameter variation and external disturbance, is one of the effective nonlinear robust control approaches as it can restrain the dynamic states of the system within the sliding surface by varying the control structure and has been broadly used in electromechanical systems [2], such as pendulum systems, motors, power converters and robot manipulators. There are two kinds of SMC as the reference This work is supported by Funding Project for Academic Human Resources Development in Institutions of Higher learning under the Jurisdiction of Beijing Municipality (PHRIHLB). Hao Li , Li hua Dou and Jie Chen are with School of Automation, and the Key Laboratory of Complex System Intelligent Control and Decision, Ministry of Education, Beijing Institute of Technology, Beijing 100081, China (E-mail: lhnewmind@163.com; doulihua@bit.edu.cn; chenjie@bit.edu.cn) Zhong Su is with School of Automation, Beijing Information Science & Technology University, Beijing 100101, China (E-mail: sz@bistu.edu.cn) mode is considered, that the non model referenced sliding mode control (NMRSMC) and mode reference sliding mode control (MRSMC) [3]. MRSMC is more widely used as the desired trajectory can be designed by the referenced mode.
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This note was uploaded on 05/08/2011 for the course MECHANICAL 203 taught by Professor Krishna during the Spring '11 term at Akademia Ekonomiczna w Poznaniu.

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A New Modeling Reference Direct Adaptive Sliding Mode Control

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