Design of Sliding Mode PID Controller with Improved reaching laws for Nonlinear Systems

In this thesis, advanced design technique in sliding mode control (SMC) is presented with focus on PID (Proportional-Integral-Derivative) type Sliding surfaces based Sliding mode control with improved power rate exponential reaching law for Non-linear systems using Modified Particle Swarm Optimization (MPSO). To handle large non-linearities directly, sliding mode controller based on PID-type sliding surface has been designed in this work, where Integral term ensures fast finite convergence time. The controller parameter for various modified structures can be estimated using Modified PSO, which is used as an offline optimization technique. Various reaching law were implemented leading to the proposed improved exponential power rate reaching law, which also improves the finite convergence time. To implement the proposed algorithm, nonlinear mathematical model has to be decrypted without linearizing, and used for the simulation purposes. Their performance is studied using simulations to prove the proposed behavior. The problem of chattering has been overcome by using boundary method and also second order sliding mode method. PI-type sliding surface based second order sliding mode controller with PD surface based SMC compensation is also proposed and implemented. The proposed algorithms have been analyzed using Lyapunov stability criteria. The robustness of the method is provided using simulation results including disturbance and 10% variation in system parameters. Finally process control based hardware is implemented (conical tank system)

Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project

Modified PSO based PID Sliding Mode Control using Improved Reaching Law for Nonlinear systems

In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second order nonlinear differential equations with unknown parameters modified particle swarm intelligent optimization (MPSO) is used for the optimized parameters. This paper throws light on the sliding surface design, on the proposed power rate exponential reaching law, parameters optimization using modified particle swarm optimization and highlights the important features of adding an integral term in the sliding mode such as robustness and higher convergence, through extensive mathematical modeling. Siding mode control law is derived using Lyapunov stability approach and its asymptotic stability is proved mathematically and simulations showing its validity. MPSO PID-type Sliding mode control will stabilize the highly nonlinear systems, will compensate disturbances and uncertainty and reduces tracking errors. Simulations and experimental application is done on the non-linear systems and are presented to make a quantitative comparison.Comment: arXiv admin note: substantial text overlap with arXiv:2207.1112

Regulation Theory

This paper reviews the design of regulation loops for power converters. Power converter control being a vast domain, it does not aim to be exhaustive. The objective is to give a rapid overview of the main synthesis methods in both continuous- and discrete-time domains.Comment: 23 pages, contribution to the 2014 CAS - CERN Accelerator School: Power Converters, Baden, Switzerland, 7-14 May 201

Time-varying sliding mode controller for heat exchanger with dragonfly algorithm

This article proposes the design of a sliding mode controller with a time-varying sliding surface for the plate heat exchanger. A time-varying sliding mode controller (TVSMC) combines the benefit of the control system’s robustness and convergence rate. Using Lyapunov stability theory, the stability of the designed controller is proved. In addition, the controller parameters of the designed controller are specified optimally via the dragonfly algorithm (DA). The input constraint’s effect is considered in the controller design process by applying the concept of the auxiliary system. The bounded disturbances are applied to investigate the robustness of the proposed techniques. Moreover, the quasi-sliding mode controller (QSMC) is developed as a benchmark to evaluate the convergence behavior of the proposed TVSMC technique. The simulation results demonstrate the proposed TVSMC with the optimal parameters provided by the DA algorithm (TVSMC+DA) can regulate the temperature to the desired level under bounded disturbances. When compared to the QSMC method, the TVSMC+DA performs significantly faster convergence speed and greater reduction in chattering occurrence. The results clearly indicate that the proposed controller can enhance convergence properties while being robust to disturbances