Model predictive control for switching gain adaptation in a sliding mode controller of a DC drive with nonlinear friction

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet


This paper presents an optimal, robust, adaptive tuning strategy based on a linear model predictive control (LMPC) scheme for the switching gain of a sliding mode control (SMC). The LMPC employs a moving horizon, where the dynamics of the sliding-mode-controlled system is addressed. The control design is presented exemplary for a DC drive which is subject to both nonlinear friction as well as model uncertainty. The overall control has a cascade structure. In the inner control loop for the currents, a flatness-based control is used. The outer control loop involves an integral sliding mode control of the angular velocity that is combined with a LMPC that adapts the switching height of the discontinuous control action.

Titel2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) 2018 : Proceedings October 10 - 12, 2018 Sinaia, România
HerausgeberMarian Barbu, Răzvan Şolea, Adrian Filipescu
Anzahl der Seiten6
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)978-1-5386-4445-4
ISBN (elektronisch)978-1-5386-4444-7, 978-1-5386-4443-0
PublikationsstatusErschienen - 01.11.2018
Veranstaltung22nd International Conference on System Theory, Control and Computing - ICSTCC 2018 - Sinaia, Rumänien
Dauer: 10.10.201812.10.2018
Konferenznummer: 22

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