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

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Authors

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.

Original languageEnglish
Title of host publication2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) 2018 : Proceedings October 10 - 12, 2018 Sinaia, România
EditorsMarian Barbu, Răzvan Şolea, Adrian Filipescu
Number of pages6
Place of PublicationPiscataway
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date01.11.2018
Pages765-770
Article number8540681
ISBN (print)978-1-5386-4445-4
ISBN (electronic)978-1-5386-4444-7, 978-1-5386-4443-0
DOIs
Publication statusPublished - 01.11.2018
Event22nd International Conference on System Theory, Control and Computing - ICSTCC 2018 - Sinaia, Romania
Duration: 10.10.201812.10.2018
Conference number: 22
http://www.icstcc.ugal.ro/2018/

    Research areas

  • Adaptive Control, DC Drives, Flatness, Friction Compensation, Model Predictive Control, Sliding Mode Control
  • Engineering