TY - CHAP

T1 - Model predictive control for switching gain adaptation in a sliding mode controller of a DC drive with nonlinear friction

AU - Haus, Benedikt

AU - Röhl, Jan Hendrik

AU - Mercorelli, Paolo

AU - Aschemann, Harald

N1 - Conference code: 22

PY - 2018/11/1

Y1 - 2018/11/1

N2 - 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.

AB - 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.

KW - Adaptive Control

KW - DC Drives

KW - Flatness

KW - Friction Compensation

KW - Model Predictive Control

KW - Sliding Mode Control

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85059956510&partnerID=8YFLogxK

U2 - 10.1109/ICSTCC.2018.8540681

DO - 10.1109/ICSTCC.2018.8540681

M3 - Article in conference proceedings

AN - SCOPUS:85059956510

SN - 978-1-5386-4445-4

SP - 765

EP - 770

BT - 2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) 2018

A2 - Barbu, Marian

A2 - Şolea, Răzvan

A2 - Filipescu, Adrian

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

CY - Piscataway

T2 - 22nd International Conference on System Theory, Control and Computing - ICSTCC 2018

Y2 - 10 October 2018 through 12 October 2018

ER -