Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators
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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, 05.2019.Research output: Journal contributions › Journal articles › Research › peer-review
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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
PY - 2019/5
Y1 - 2019/5
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 (Switzerland)
JF - Information (Switzerland)
SN - 2078-2489
IS - 5
M1 - 182
ER -