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
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2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) 2018: Proceedings October 10 - 12, 2018 Sinaia, România. ed. / Marian Barbu; Răzvan Şolea; Adrian Filipescu. Piscataway: IEEE - Institute of Electrical and Electronics Engineers Inc., 2018. p. 765-770 8540681.
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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TY - CHAP
T1 - Model predictive control for switching gain adaptation in a sliding mode controller of a DC drive with nonlinear friction
AU - Haus, Benedikt
AU - Röhl, Jan Hendrik
AU - Mercorelli, Paolo
AU - Aschemann, Harald
N1 - Conference code: 22
PY - 2018/11/1
Y1 - 2018/11/1
N2 - 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.
AB - 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.
KW - Adaptive Control
KW - DC Drives
KW - Flatness
KW - Friction Compensation
KW - Model Predictive Control
KW - Sliding Mode Control
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85059956510&partnerID=8YFLogxK
U2 - 10.1109/ICSTCC.2018.8540681
DO - 10.1109/ICSTCC.2018.8540681
M3 - Article in conference proceedings
AN - SCOPUS:85059956510
SN - 978-1-5386-4445-4
SP - 765
EP - 770
BT - 2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) 2018
A2 - Barbu, Marian
A2 - Şolea, Răzvan
A2 - Filipescu, Adrian
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
CY - Piscataway
T2 - 22nd International Conference on System Theory, Control and Computing - ICSTCC 2018
Y2 - 10 October 2018 through 12 October 2018
ER -