Marcos I. Galicia

Second order sliding mode sensorless torque regulator for induction motor

In this paper the torque and the square of the rotor fluxes magnitude using a second order sliding mode (SM) controller for an induction motor, is proposed. The main contribution of the control scheme presented here is the output regulation as well as the asymptotically stabilization of the zero dynamics. The sliding manifold is designed such that the speed zero dynamics become asymptotically stable on this manifold. To enforce the SM motion on the designed manifold a super-twisting SM algorithm is used. This algorithm permits to reduce chattering that is inherent in standard sliding mode control and to improve accuracy. The rotor fluxes and speed are estimated by means of an adaptive observer, whereas the estimate of the load torque is obtained via design of a robust differentiator. The effectiveness of the designed observer-control scheme is confirmed via simulation.

Robust nested sliding mode integral control for anti-lock brake system

An integral nested Sliding Mode (SM) block control is proposed to control an Anti-lock Brake System (ABS) by employing integral SM and nested SM concepts. The control problem is to achieve reference tracking for the slip rate, in such a way that the friction between the tyre and the road surface is good enough to control the car. The closed-loop system is robust in the presence of matched and unmatched perturbations. To show the performance of the proposed control strategy, a simulation study is carried on, where results show good behaviour of the ABS under variations in the road friction.

Sliding mode control for Antilock Brake System

A Sliding Mode (SM) Block Control is proposed to control an Antilock Brake System (ABS). The control problem is to achieve reference tracking for the slip rate, such that, the friction between tyre and road surface is good enough to control the car. The closed-loop system is robust in presence of matched and unmatched perturbations. To show the performance of the proposed control strategy, a simulation study is carried on, where results show good behavior of the ABS under variations in the road friction.

Second order sliding mode sensorless torque control of induction motor

In this paper the torque and the square of the rotor flux magnitude control using second order sliding mode controller for an induction motor, is proposed. Designed super-twisting controller permits to reduce chattering that is inherent in standard sliding mode control and to improve accuracy. To estimate the rotor flux and speed, an adaptive observer is proposed. The effectiveness of the designed control scheme is confirmed via simulation.

ABS and active suspension control via high order sliding modes and linear geometric methods for disturbance rejection

In this work, high order sliding mode techniques are used to control an Anti-lock Brake System (ABS) which is assisted with an active suspension. The main objective is to modify the slip rate of a vehicle and ensure a shorter stopping distance in the braking process. The control system is designed in independent way for the ABS and the suspension subsystem. For the ABS subsystem a second order sliding mode controller is used. On the other hand, for the active suspension subsystem the supertwisting algorithm combined with regular form and linear geometric techniques is proposed. The use of sliding mode controllers allows that both closed-loop subsystems are robust against a class of external perturbations and system uncertainties, furthermore the chattering effect is reduced and higher tracking accuracy is obtained. The effectiveness of the proposed control strategy is confirmed via simulations.

ABS design and active suspension control based on HOSM

This paper tackles the control of a brake assisted with an active suspension. The goal of the paper is ensure an effective braking process improving the vehicle safety in adverse driving conditions. To address this, the wheel slip ratio is kept to a desired value reducing the effective braking distance by designing of a robust tracking controller based on high order sliding modes algorithms, imposing the anti-lock brake system feature. On the other hand, the active suspension problem is carried with a nested backward sliding surface design. The purpose of this control is to improve the driving comfort. To this aim, the designed controller compensate the effects of the unmatched perturbation coming from the road. This controller exploits a high order sliding modes observer, which guarantees theoretically exact state and perturbation estimation. In both cases, a continuous control action drives the state trajectories to the designed sliding manifolds and keeps them there in spite of the matched and unmatched perturbations. The feasibility of the proposed scheme has been exposed via simulations.

Discrete-time sliding mode regulator for nonminimum phase systems

This work presents an approach to solve the output regulation problem for a class of nonlinear discrete-time nonminimum phase perturbed systems. Based on feedback linearization block control technique and discrete-time sliding mode (SM) control, we propose a sliding manifold on which the zero dynamics are stabilized. To enforce the robust SM motion on the designed manifold, a discrete-time super-twisting SM algorithm is implemented. The effectiveness of the proposed methodology is verified via the design of a position tracking controller for an under-actuated robotic system, the Pendubot.

Second order SM Regulator for Nonlinear Non Minimum Phase Systems

Abstract This work presents an approach to solve the output regulation problem for a class of nonlinear non minimum phase systems. Based on decomposition block control technique and sliding mode (SM) control, we propose a sliding manifold which is designed such that the zero dynamics become asymptotically stable on this manifold. To enforce the SM motion on the designed manifold a super-twisting SM algorithm is used. The effectiveness of the proposed methodology is verified via the design of a torque tracking controller for an induction motor.

A Sliding Mode Regulator for Antilock Brake System

A Sliding Mode (SM) Regulator is proposed for an Antilock Brake System (ABS) control problem by employing Block Control SM and regulation concepts. This regulator has robustness against matched and unmatched perturbations, and the capability to estimate and incorporate the residual dynamics. Numeric simulations are carried on in order to verify the closed-loop system performance, where simulations predict the robustness of the ABS to matched and unmatched perturbations.

Indirect discrete-time sliding mode torque control of induction motors

In this paper the sliding mode technique is used to design a discrete-time control scheme for torque and flux tracking for induction motors. The controller is designed on the basis of an approximated nonlinear discrete-time model. First, the reference current vector is determined to impose the control objectives. Then, we propose a discrete-time sliding mode controller to force the motor currents to converge to the reference values. The rotor flux and the load torque are estimated by using a reduced order observer. The effectiveness of the designed control scheme is confirmed via simulations.