Model predictive control for switching gain adaptation in a sliding mode controller of a DC drive with nonlinear friction
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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 language | English |
|---|---|
| Title of host publication | 2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) 2018 : Proceedings October 10 - 12, 2018 Sinaia, România |
| Editors | Marian Barbu, Răzvan Şolea, Adrian Filipescu |
| Number of pages | 6 |
| Place of Publication | Piscataway |
| Publisher | IEEE - Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 01.11.2018 |
| Pages | 765-770 |
| Article number | 8540681 |
| ISBN (Print) | 978-1-5386-4445-4 |
| ISBN (Electronic) | 978-1-5386-4444-7, 978-1-5386-4443-0 |
| DOIs | |
| Publication status | Published - 01.11.2018 |
| Event | 22nd International Conference on System Theory, Control and Computing - ICSTCC 2018 - Sinaia, Romania Duration: 10.10.2018 → 12.10.2018 Conference number: 22 http://www.icstcc.ugal.ro/2018/ |
- Adaptive Control, DC Drives, Flatness, Friction Compensation, Model Predictive Control, Sliding Mode Control
- Engineering