Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators

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In this contribution, a gain adaptation for sliding mode control (SMC) is proposed that uses both linear model predictive control (LMPC) and an estimator-based disturbance compensation.
Its application is demonstrated with an electromagnetic actuator. The SMC is based on a second-order model of the electric actuator, a direct current (DC) drive, where the current dynamics and the dynamics of the motor angular velocity are addressed. The error dynamics of the SMC are stabilized by a moving horizon MPC and a Kalman filter (KF) that estimates a lumped disturbance variable.
In the application under consideration, this lumped disturbance variable accounts for nonlinear friction as well as model uncertainty. Simulation results point out the benefits regarding a reduction of chattering and a high control accuracy.
Original languageEnglish
Article number182
Issue number5
Number of pages19
Publication statusPublished - 25.05.2019

Bibliographical note

Publisher Copyright:
© 2019 by the authors.

    Research areas

  • sliding mode control, model predictive control, adaptive control, disturbance estimation, actuators
  • Engineering