Research Article
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Year 2023, , 101 - 107, 31.12.2023
https://doi.org/10.36222/ejt.1381813

Abstract

References

  • [1] P. Wen and T.W. Lu, “Decoupling control of a twin rotor MIMO system using robust deadbeat control technique,” IET Control Theory and Applications, vol. 2, no. 11, pp. 999-1007, 2008. https://doi.org/10.1049/iet-cta:20070335
  • [2] J. Jih-Gau, L. Wen-Kai, and T. Cheng-Yu, “Intelligent control scheme for twin rotor MIMO system,” presented in IEEE International Conference on Mechatronics, ICM '05, 2005. https://doi.org/10.1109/ICMECH.2005.1529235
  • [3] Y. Taskin, “Improving pitch and yaw motion control of twin rotor MIMO system.” Journal of Vibroengineering, vol. 16, no. 4, pp. 1650-1660, 2014.
  • [4] A.C. Aras and O. Kaynak, “Interval Type-2 Fuzzy Neural System Based Control with Recursive Fuzzy C-Means Clustering,” International Journal of Fuzzy Systems, vol. 16, no. 3, pp. 317-326, 2014.
  • [5] Y. Hacioglu, “Multiple-input multiple-output proportional-integral-proportional-derivative type fuzzy logic controller design for a twin rotor system,” Journal of Vibroengineering, vol. 17, no. 6, pp. 3104-3110, 2015.
  • [6] J.G. Juang, W.K. Liu, and R.W. Lin, “A hybrid intelligent controller for a twin rotor MIMO system and its hardware implementation,” ISA Transactions, vol. 50, no. 4, pp. 609-619, 2011. https://doi.org/10.1016/j.isatra.2011.06.006
  • [7] S. Mondal and C. Mahanta, “Adaptive second-order sliding mode controller for a twin rotor multi-input-multi-output system,” IET Control Theory and Applications, vol. 6, no. 14, pp. 2157-2167, 2012. https://doi.org/10.1049/iet-cta.2011.0478
  • [8] Q. Ahmed, A.I. Bhatti, and S. Iqbal, “Nonlinear robust decoupling control design for twin rotor system,” presented in Asian Control Conference, ASCC 2009. 7th., 2009.
  • [9] M. Ilyas, N. Abbas, M. Ubaidullah, W.A Imtiaz, M.a.Q Shah, and K. Mahmood, “Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy,” Discrete Dynamics in Nature and Society, vol. 10, 2016. https://doi.org/10.1155/2016/2952738
  • [10] R. Raghavan and S. Thomas, “Practically Implementable Model Predictive Controller for a Twin Rotor Multi-Input Multi-Output System,” Journal of Control, Automation and Electrical Systems, vol. 28, no. 3, pp. 358-370, 2017. https://doi.org/10.1007/s40313-017-0311-5
  • [11] V.I. Utkin, J. Guldner, and J. Shi, “Sliding mode in control in electromechanical systems,” London, Taylor & Francis, 1999.
  • [12] S. Laghrouche, F. Plestan, and A. Glumineau, “Higher order sliding mode control based on integral sliding mode,” Automatica, vol. 43, no. 3, pp. 531-537, 2007. https://doi.org/10.1016/j.automatica.2006.09.017
  • [13] N. Yagiz and Y. Hacioglu, “Robust control of a spatial robot using fuzzy sliding modes,” Mathematical and Computer Modelling, vol. 49, no. 1-2, pp. 114-127, 2009. https://doi.org/10.1016/j.mcm.2008.05.050
  • [14] Y. Hacioglu, Y.Z. Arslan, and N. Yagiz, “MIMO fuzzy sliding mode controlled dual arm robot in load transportation,” Journal of the Franklin Institute-Engineering and Applied Mathematics, vol. 348, no. 8, pp. 1886-1902, 2011. https://doi.org/10.1016/j.jfranklin.2011.05.009
  • [15] K. D. Young, V.I. Utkin, and U. Ozguner, “A control engineer's guide to sliding mode control,” IEEE Transactions on Control Systems Technology, vol. 7, no. 3, pp. 328-342, 1999. https://doi.org/10.1109/87.761053
  • [16] C. Edwards and S. Spurgeon, “Sliding Mode Control: Theory And Applications,” Taylor & Francis, 1998.
  • [17] M. Huseyinoglu and T. Abut, “Dynamic model and control of 2-DOF robotic arm,” European Journal of Technique (EJT), vol 8, no. 2, pp 141-150, 2018. https://doi.org/10.36222/ejt.497852
  • [18] C. Aydin, S. Unal, and M. Ozdemir, “Comparison between MRAS and SMO based sensorless control methods of permanent magnet synchronous motor,” European Journal of Technique (EJT), vol. 11, no. 1, pp. 53-59, 2021. https://doi.org/10.36222/ejt.811569
  • [19] G. Bartolini, A. Ferrara, and E. Usai, “Chattering avoidance by second-order sliding mode control,” IEEE Transactions on Automatic Control, vol. 43, no. 2, pp. 241-246, 1998. https://doi.org/10.1109/9.661074
  • [20] A. Levant, “Sliding Order and Sliding Accuracy in Sliding Mode Control,” International Journal of Control, vol. 58, no. 6, pp. 1247-1263, 1993. https://doi.org/10.1080/00207179308923053
  • [21] A. Levant, “Homogeneity approach to high-order sliding mode design,” Automatica, vol. 41, no. 5, pp. 823-830, 2005. https://doi.org/10.1016/j.automatica.2004.11.029
  • [22] A. Levant, “Principles of 2-sliding mode design,” Automatica, vol. 43, no. 4, pp. 576-586, 2007. https://doi.org/10.1016/j.automatica.2006.10.008
  • [23] G. Bartolini, A. Ferrara, E. Usai, and V.I. Utkin, “On multi-input chattering-free second-order sliding mode control,” IEEE Transactions on Automatic Control, vol. 45, no. 9, pp. 1711-1717, 2000. https://doi.org/10.1109/9.880629
  • [24] L. Fridman and A. Levant, “Higher order sliding modes, in Sliding Mode Control in Engineering,” Marcel Dekker Inc.: New-York, USA, pp. 53-102, 2002.
  • [25] O. Akar, U. K. Terzi, and O. Ozgonenel, “A new speed control technique for a separately excited direct current motor by PID controller,” Balkan Journal of Electrical and Computer Engineering, vol. 6, pp. 12-17, 2018. https://doi.org/10.17694/bajece.410209
  • [26] H. Calik, Y. Ozoglu, S. H. Undil, and U. K. Terzi, “A study on torque ripple improvement compared to a modified rotor and stator poles SRMs with classical SRMs using dynamic and FFT analysis,” Electric Power Components and Systems, vol. 51, no. 13, pp. 1328-1337, 2023. https://doi.org/10.1080/15325008.2023.2196675
  • [27] H. Uzun, O. Akar, A. Demirci, M. C. Akuner, and U. K. Terzi, “Analyzing high efficiency asynchronous motors using scalar control technique,” Balkan Journal of Electrical and Computer Engineering, vol. 6, pp. 23-26, 2018. https://doi.org/10.17694/bajece.410219
  • [28] J. A. Moreno and M. A. Osorio, “Lyapunov approach to second-order sliding mode controllers and observers,” presented at the 47th IEEE Conference on Decision and Control, (Cdc 2008), pp. 2856-2861, 2008. https://doi.org/10.1109/CDC.2008.4739356
  • [29] S. Pourzeynali, H.H. Lavasani, and A.H. Modarayi, “Active control of high rise building structures using fuzzy logic and genetic algorithms,” Engineering Structures, vol. 29, no. 3, pp. 346-357, 2007. https://doi.org/10.1016/j.engstruct.2006.04.015
  • [30] D. Kalyanmoy, “Multi-Objective Optimization using Evolutionary Algorithms,” Wiley & Sons, 2001.
  • [31] A.P. Wang and C.D. Lee, “Fuzzy sliding mode control for a building structure based on genetic algorithms,” Earthquake Engineering & Structural Dynamics”, vol. 31, no. 4, pp. 881-895, 2002. https://doi.org/10.1002/eqe.127
  • [32] K. Ogata, “Modern Control Engineering,” Prentice Hall, 2010.
  • [33] H.O. Ozer, “High-Order Sliding Mode Control of Mechanical Systems,” PhD. thesis in Institute of Graduate Studies in Science and Engineering, Department of Mechanical Engineering, Istanbul University: Istanbul pp. 105. (In Turkish), 2016.

Twin Rotor Control via Second Order Sliding Modes

Year 2023, , 101 - 107, 31.12.2023
https://doi.org/10.36222/ejt.1381813

Abstract

The control problem of a twin rotor system is considered in this study. Since the twin rotor system has highly nonlinear and coupled dynamics, a second order sliding mode controller is proposed which reduces chattering. An estimation for the equivalent part of the controller is also proposed. The classical sliding controller is also calculated and adapted to the twin-rotor system to compare. The numerical results presented that the designed controller achieved superior performance than the classical sliding mode controller in terms of reference tracking and chatter attenuation.

References

  • [1] P. Wen and T.W. Lu, “Decoupling control of a twin rotor MIMO system using robust deadbeat control technique,” IET Control Theory and Applications, vol. 2, no. 11, pp. 999-1007, 2008. https://doi.org/10.1049/iet-cta:20070335
  • [2] J. Jih-Gau, L. Wen-Kai, and T. Cheng-Yu, “Intelligent control scheme for twin rotor MIMO system,” presented in IEEE International Conference on Mechatronics, ICM '05, 2005. https://doi.org/10.1109/ICMECH.2005.1529235
  • [3] Y. Taskin, “Improving pitch and yaw motion control of twin rotor MIMO system.” Journal of Vibroengineering, vol. 16, no. 4, pp. 1650-1660, 2014.
  • [4] A.C. Aras and O. Kaynak, “Interval Type-2 Fuzzy Neural System Based Control with Recursive Fuzzy C-Means Clustering,” International Journal of Fuzzy Systems, vol. 16, no. 3, pp. 317-326, 2014.
  • [5] Y. Hacioglu, “Multiple-input multiple-output proportional-integral-proportional-derivative type fuzzy logic controller design for a twin rotor system,” Journal of Vibroengineering, vol. 17, no. 6, pp. 3104-3110, 2015.
  • [6] J.G. Juang, W.K. Liu, and R.W. Lin, “A hybrid intelligent controller for a twin rotor MIMO system and its hardware implementation,” ISA Transactions, vol. 50, no. 4, pp. 609-619, 2011. https://doi.org/10.1016/j.isatra.2011.06.006
  • [7] S. Mondal and C. Mahanta, “Adaptive second-order sliding mode controller for a twin rotor multi-input-multi-output system,” IET Control Theory and Applications, vol. 6, no. 14, pp. 2157-2167, 2012. https://doi.org/10.1049/iet-cta.2011.0478
  • [8] Q. Ahmed, A.I. Bhatti, and S. Iqbal, “Nonlinear robust decoupling control design for twin rotor system,” presented in Asian Control Conference, ASCC 2009. 7th., 2009.
  • [9] M. Ilyas, N. Abbas, M. Ubaidullah, W.A Imtiaz, M.a.Q Shah, and K. Mahmood, “Control Law Design for Twin Rotor MIMO System with Nonlinear Control Strategy,” Discrete Dynamics in Nature and Society, vol. 10, 2016. https://doi.org/10.1155/2016/2952738
  • [10] R. Raghavan and S. Thomas, “Practically Implementable Model Predictive Controller for a Twin Rotor Multi-Input Multi-Output System,” Journal of Control, Automation and Electrical Systems, vol. 28, no. 3, pp. 358-370, 2017. https://doi.org/10.1007/s40313-017-0311-5
  • [11] V.I. Utkin, J. Guldner, and J. Shi, “Sliding mode in control in electromechanical systems,” London, Taylor & Francis, 1999.
  • [12] S. Laghrouche, F. Plestan, and A. Glumineau, “Higher order sliding mode control based on integral sliding mode,” Automatica, vol. 43, no. 3, pp. 531-537, 2007. https://doi.org/10.1016/j.automatica.2006.09.017
  • [13] N. Yagiz and Y. Hacioglu, “Robust control of a spatial robot using fuzzy sliding modes,” Mathematical and Computer Modelling, vol. 49, no. 1-2, pp. 114-127, 2009. https://doi.org/10.1016/j.mcm.2008.05.050
  • [14] Y. Hacioglu, Y.Z. Arslan, and N. Yagiz, “MIMO fuzzy sliding mode controlled dual arm robot in load transportation,” Journal of the Franklin Institute-Engineering and Applied Mathematics, vol. 348, no. 8, pp. 1886-1902, 2011. https://doi.org/10.1016/j.jfranklin.2011.05.009
  • [15] K. D. Young, V.I. Utkin, and U. Ozguner, “A control engineer's guide to sliding mode control,” IEEE Transactions on Control Systems Technology, vol. 7, no. 3, pp. 328-342, 1999. https://doi.org/10.1109/87.761053
  • [16] C. Edwards and S. Spurgeon, “Sliding Mode Control: Theory And Applications,” Taylor & Francis, 1998.
  • [17] M. Huseyinoglu and T. Abut, “Dynamic model and control of 2-DOF robotic arm,” European Journal of Technique (EJT), vol 8, no. 2, pp 141-150, 2018. https://doi.org/10.36222/ejt.497852
  • [18] C. Aydin, S. Unal, and M. Ozdemir, “Comparison between MRAS and SMO based sensorless control methods of permanent magnet synchronous motor,” European Journal of Technique (EJT), vol. 11, no. 1, pp. 53-59, 2021. https://doi.org/10.36222/ejt.811569
  • [19] G. Bartolini, A. Ferrara, and E. Usai, “Chattering avoidance by second-order sliding mode control,” IEEE Transactions on Automatic Control, vol. 43, no. 2, pp. 241-246, 1998. https://doi.org/10.1109/9.661074
  • [20] A. Levant, “Sliding Order and Sliding Accuracy in Sliding Mode Control,” International Journal of Control, vol. 58, no. 6, pp. 1247-1263, 1993. https://doi.org/10.1080/00207179308923053
  • [21] A. Levant, “Homogeneity approach to high-order sliding mode design,” Automatica, vol. 41, no. 5, pp. 823-830, 2005. https://doi.org/10.1016/j.automatica.2004.11.029
  • [22] A. Levant, “Principles of 2-sliding mode design,” Automatica, vol. 43, no. 4, pp. 576-586, 2007. https://doi.org/10.1016/j.automatica.2006.10.008
  • [23] G. Bartolini, A. Ferrara, E. Usai, and V.I. Utkin, “On multi-input chattering-free second-order sliding mode control,” IEEE Transactions on Automatic Control, vol. 45, no. 9, pp. 1711-1717, 2000. https://doi.org/10.1109/9.880629
  • [24] L. Fridman and A. Levant, “Higher order sliding modes, in Sliding Mode Control in Engineering,” Marcel Dekker Inc.: New-York, USA, pp. 53-102, 2002.
  • [25] O. Akar, U. K. Terzi, and O. Ozgonenel, “A new speed control technique for a separately excited direct current motor by PID controller,” Balkan Journal of Electrical and Computer Engineering, vol. 6, pp. 12-17, 2018. https://doi.org/10.17694/bajece.410209
  • [26] H. Calik, Y. Ozoglu, S. H. Undil, and U. K. Terzi, “A study on torque ripple improvement compared to a modified rotor and stator poles SRMs with classical SRMs using dynamic and FFT analysis,” Electric Power Components and Systems, vol. 51, no. 13, pp. 1328-1337, 2023. https://doi.org/10.1080/15325008.2023.2196675
  • [27] H. Uzun, O. Akar, A. Demirci, M. C. Akuner, and U. K. Terzi, “Analyzing high efficiency asynchronous motors using scalar control technique,” Balkan Journal of Electrical and Computer Engineering, vol. 6, pp. 23-26, 2018. https://doi.org/10.17694/bajece.410219
  • [28] J. A. Moreno and M. A. Osorio, “Lyapunov approach to second-order sliding mode controllers and observers,” presented at the 47th IEEE Conference on Decision and Control, (Cdc 2008), pp. 2856-2861, 2008. https://doi.org/10.1109/CDC.2008.4739356
  • [29] S. Pourzeynali, H.H. Lavasani, and A.H. Modarayi, “Active control of high rise building structures using fuzzy logic and genetic algorithms,” Engineering Structures, vol. 29, no. 3, pp. 346-357, 2007. https://doi.org/10.1016/j.engstruct.2006.04.015
  • [30] D. Kalyanmoy, “Multi-Objective Optimization using Evolutionary Algorithms,” Wiley & Sons, 2001.
  • [31] A.P. Wang and C.D. Lee, “Fuzzy sliding mode control for a building structure based on genetic algorithms,” Earthquake Engineering & Structural Dynamics”, vol. 31, no. 4, pp. 881-895, 2002. https://doi.org/10.1002/eqe.127
  • [32] K. Ogata, “Modern Control Engineering,” Prentice Hall, 2010.
  • [33] H.O. Ozer, “High-Order Sliding Mode Control of Mechanical Systems,” PhD. thesis in Institute of Graduate Studies in Science and Engineering, Department of Mechanical Engineering, Istanbul University: Istanbul pp. 105. (In Turkish), 2016.
There are 33 citations in total.

Details

Primary Language English
Subjects Mechanical Engineering (Other)
Journal Section Research Article
Authors

Hasan Ömür Özer 0000-0002-6388-4638

Yüksel Hacıoğlu 0000-0001-9659-8622

Nurkan Yağız 0000-0002-4871-3099

Publication Date December 31, 2023
Submission Date October 26, 2023
Acceptance Date November 20, 2023
Published in Issue Year 2023

Cite

APA Özer, H. Ö., Hacıoğlu, Y., & Yağız, N. (2023). Twin Rotor Control via Second Order Sliding Modes. European Journal of Technique (EJT), 13(2), 101-107. https://doi.org/10.36222/ejt.1381813

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