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

Research output: Journal contributionsJournal articlesResearchpeer-review

Standard

Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators. / Haus, Benedikt; Mercorelli, Paolo; Aschemann, Harald.
In: Information, Vol. 10, No. 5, 182, 25.05.2019.

Research output: Journal contributionsJournal articlesResearchpeer-review

Harvard

APA

Vancouver

Bibtex

@article{2740e8e3222846cb92feddd9cd6ae648,
title = "Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators",
abstract = "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.",
keywords = "sliding mode control, model predictive control, adaptive control, disturbance estimation, actuators, Engineering",
author = "Benedikt Haus and Paolo Mercorelli and Harald Aschemann",
note = "Publisher Copyright: {\textcopyright} 2019 by the authors.",
year = "2019",
month = may,
day = "25",
doi = "10.3390/info10050182",
language = "English",
volume = "10",
journal = "Information",
issn = "2078-2489",
publisher = "MDPI AG",
number = "5",

}

RIS

TY - JOUR

T1 - Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators

AU - Haus, Benedikt

AU - Mercorelli, Paolo

AU - Aschemann, Harald

N1 - Publisher Copyright: © 2019 by the authors.

PY - 2019/5/25

Y1 - 2019/5/25

N2 - 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.

AB - 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.

KW - sliding mode control

KW - model predictive control

KW - adaptive control

KW - disturbance estimation

KW - actuators

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85069883761&partnerID=8YFLogxK

U2 - 10.3390/info10050182

DO - 10.3390/info10050182

M3 - Journal articles

VL - 10

JO - Information

JF - Information

SN - 2078-2489

IS - 5

M1 - 182

ER -

Documents

DOI

Recently viewed

Activities

  1. Language Teaching (Zeitschrift)
  2. Automatization of comprehension in adult L2 learning
  3. Universität Wien
  4. “...AND THEN THE STUDENTS WÄRE VERY FETT”: TASK PERFORMANCE AND ‘(NOT)-DOING-BEINGAN-EXPERT’ IN A TBLL SETTING
  5. Concurrent Reconceptualization of Concurrent Sourcing
  6. Workshop on Negotiation and Conflict Resolution at University of Amsterdam - UVA 2018
  7. User Journey Analysis and Cross Channel Attribution
  8. HyperKult XI - Computer als Medium: Das Unsichtbare - 2002
  9. Research Workshop “Innovation and Value Creation” - 2009
  10. Overview on the long west European pollen records
  11. Student Consumer Learning in Schools‘ „Cultures of Consumption“: Results of an Empirical Study
  12. Corruption in Comparative Perspective
  13. Integration of a Heat Storage System into an Existing Household
  14. Governing Communities through Music?: Governmentality Insights and Illustrations from Baltimore
  15. Mapping Urban Information as an Interdisciplinary Method for Geography, Art and Architecture Representations
  16. PEER Group Workshop - 2013
  17. Center for Voting and Parties
  18. Investigation of the evolution and kinetics of temperature-driven intermetallic compound during solid-state joining of an Al-Mg alloy via the multiphase-field method
  19. Surviving in the wild: determinants and practices of strategic initiative development
  20. Spas in the New Länder: A Transformation with an Uncertain Outcome.
  21. Mitglied des Review Panel „Mixed Methods’ in the Humanities? – Support for Projects Combining and Synergizing Qualitative-hermeneutical and Digital Approaches“

Publications

  1. What´s in a net? or: The end of the average
  2. Obstacle Coordinates Transformation from TVS Body-Frame to AGV Navigation-Frame
  3. Top-down contingent feature-specific orienting with and without awareness of the visual input
  4. A Sliding Mode Control with a Bang-Bang Observer for Detection of Particle Pollution
  5. Kalman Filter for Predictive Maintenance and Anomaly Detection
  6. Applications of the Simultaneous Modular Approach in the Field of Material Flow Analysis
  7. Active learning for network intrusion detection
  8. Explaining and controlling for the psychometric properties of computer-generated figural matrix items
  9. Transductive support vector machines for structured variables
  10. Object-Oriented Construction Handbook
  11. Aspect-oriented software development
  12. Machine Learning and Data Mining for Sports Analytics
  13. A geometric approach for the design and control of an electromagnetic actuator to optimize its dynamic performance
  14. The Lifecycle of "Facts'': A Survey of Social Bias in Knowledge Graphs
  15. Analyzing the Influence of Knowledge Graph Information on Relation Extraction
  16. Treating dialogue quality evaluation as an anomaly detection problem
  17. Internal forces in robotic manipulation and in general mechanisms using a geometric approach
  18. Early Edema Detection Based on the Examination of Multidimensional Ultra-Wide band Data
  19. Reducing the peaking phenomenon in Luenberger observers in presence of quasi-static disturbances for linear time invariant systems
  20. A geometric approach to the decoupling control and to speed up the dynamics of a general rigid body manipulation system
  21. Das John-Stuart-Mill-Problem
  22. Document assignment in multi-site search engines
  23. Is implicit Theory of Mind real but hard to detect?
  24. The Challenge of Democratic Representation in the European Union
  25. Geometric structures using model predictive control for an electromagnetic actuator
  26. Decoding evidence-based entrepreneurship
  27. New descriptions and typifications of syntaxa within the project 'Plant communities of Mecklenburg-Vorpommern and their vulnerability' - Part II