Xinming Yan

Comparison of differentiation schemes for the velocity and acceleration estimations of a pneumatic system

Abstract In this paper, various type of differentiators are studied. In the context of velocity and acceleration estimations of a pneumatic system, a comparison is made between numerical methods, based on classical or algebraic approaches, and a high order sliding mode differentiator.

A New Third-Order Sliding-Mode Controller—Application to an Electropneumatic Actuator

The objective of this brief is to propose a new third-order sliding-mode (TOSM) controller. The main feature of this controller is that it only requires the sliding variable and its first time derivative (whereas standard TOSM controllers are also using the second-order time derivative of the sliding variable). This reduction of the use of time derivatives is very important, because it reduces the noise introduced in the controller. Parameters tuning rules are also given. The control strategy is experimentally applied to an electropneumatic system.

Third order sliding mode controller based on adaptive integral sliding mode concept: Experimental application to an electropneumatic actuator

This paper presents an adaptive third order sliding mode controller based on integral sliding mode concept. This new controller is designed for the position control of an electropneumatic actuator, on which bounded external perturbations with unknown magnitude are applied. The efficiency of the controller is experimentally evaluated.

Higher order sliding mode control with a reduced use of sliding variable time derivatives

The objective of this paper is to propose a new control strategy in the context of higher order sliding mode. In fact, the main result concerns a third order sliding mode controller which requires only the sliding variable and its first time derivative (whereas standard third order sliding mode controllers are using also the second order time derivative of the sliding variable). This reduction of the use of time derivatives is very important because it strongly reduces the noise introduced in the controller, and simplifies the controller application to real systems. The control strategy is experimentally applied to an electropneumatic system.

Perturbation observer for a pneumatic system: High gain versus higher order sliding mode solutions

This paper presents two perturbation observers for an electropneumatic system: the first one is based on differentiation by higher order sliding mode theory, whereas the second one is based on high gain approach. The main interest of these observers is the estimation of a perturbation external force, which offers the possibility to improve the robustness of the control law. Observability analysis of a such physical system is detailed, and experimental application of both observation solutions is used in order to make a comparison between the performances of both designed observers.

An unified formalism based on gain switching for second order sliding mode control

In this paper, an unified formalism using gain switching is proposed, thanks to which some second order sliding mode control laws can be rewritten. Indeed, three second order sliding mode control laws, including the twisting algorithm, a second order sliding mode output feedback control and a very recent output feedback control (called “twisting-like”), are presented and written under a similar formalism. Then, convergence analysis is made for these three control laws by proposing a new theorem for the convergence condition. Finally, a comparison of the three control laws performances is made through an academic example.

Electropneumatic actuator position control using second order sliding mode

Pneumatic actuators are quite difficult to control in an accurate way. Indeed their dynamics are generally described by an uncertain nonlinear system. The uncertainties are caused by friction, (external) perturbations and parametric uncertainties due to a very tedious identification process. This paper deals with the position control problem of an electropneumatic actuator using sliding mode control.ZusammenfassungEine hochgenaue Positionsregelung pneumatischer Aktuatoren stellt aufgrund der nichtlinearen Systemdynamik und der wirkenden Unsicherheiten eine große Herausforderung dar. Die Unsicherheiten stammen von Reibeffekten, (externen) Störungen und unsicheren Modellparametern. In diesem Artikel werden Sliding Mode-Methoden verwendet, um eine Positionsregelung eines elektropneumatischen Aktuators zu entwerfen.

Integral twisting-like control with application to UAVs attitude control

In this paper, a novel second order sliding mode control law named “integral twisting-like control” is proposed. This controller is applicable to systems with relative degree equal to one, and a real second order sliding mode with respect to the sliding variable is ensured after a finite time. Thanks to the integration technique, the discontinuity is acting on the derivative of the control input. By this way, the proposed controller offers a smooth input. Then, such control law is applied to an experimental set-up describing the attitude control for UAVs (Unmanned Aerial Vehicles). Its performances are compared to those obtained by super-twisting algorithm.