Advances in high order and adaptive sliding mode control - theory and applications IRCCyN, Nantes, France

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Some references ( young in HOSM communauty - first journal articles in 2006) Adaptive sliding mode control since 2009 (V. Brgeault, Y. Shtessel, A. Poznyak, F. Plestan)
F. Plestan, Y. Shtessel, V. Brgeault, and A. Poznyak, New methodologies for adaptive sliding mode control , International Journal of Control, accepted, 2010.

High order sliding mode control since 2002 (V. Brgeault, A. Glumineau, E. Moulay, A. Girin,
S. Laghrouche, F. Plestan) S. Laghrouche, M. Smaoui, F. Plestan, and X. Brun, Higher order sliding mode control based on optimal approach of an electropneumatic actuator , International Journal of Control, Vol. 79, No. 2, pp.119-131, 2006. S. Laghrouche, F. Plestan, and A. Glumineau, Higher order sliding mode control based on integral sliding surface , Automatica, Vol. 43, No. 3, pp. 531-537, 2007. F. Plestan, A. Glumineau, and S. Laghrouche, A new algorithm for high order sliding mode control , International Journal of Robust and Nonlinear Control, Vol. 18, No. 4-5, pp. 441-453, 2008.

F. Plestan, E. Moulay, and A. Glumineau, Output feedback sampling control: a robust solution based on
second order sliding mode , Automatica, vol.46, pp. 1096-1100, 2010.

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Some references Applications

D. Traor, F. Plestan, A. Glumineau, and J. de Lon-Morales, Sensorless induction motor: high order sliding mode controller and adaptative interconnected observer , IEEE Transactions on Industrial Electronics, Vol. 55, No. 11, pp. 3818-3827, 2008. A. Girin, F. Plestan, X. Brun, and A. Glumineau, Robust control of an electropneumatic actuator : application to an aeronautical benchmark , IEEE Transactions on Control Systems Technology, Vol. 17, No. 3, pp. 633-645, 2009. S. Laghrouche, F. Plestan, and A. Glumineau, Practical higher order sliding mode control: optimal control based approach and application to electromechanical systems , Advances in Variable Structure and Sliding Mode Control, Lecture Notes in Control and Information Sciences, Springer-Verlag, vol.334, pp.169-191, Eds. Edwards C., Fossas Colet E., Fridman L., 2006. V. Lebastard, Y. Aoustin, and F. Plestan, Observer-based control of a walking biped robot without orientation measurement , Robotica, Vol. 24, No. 3, pp. 385- 400, 2006. V. Lebastard, Y. Aoustin, and F. Plestan, Estimation of absolute orientation for a bipedal robot: experimental results , IEEE Transactions on Robotics, conditionally accepted, 2010. 22/07/10 VSS Workshop - Mexico City 3

Outline Problem statement Adaptive sliding mode control (first order)

Application to electropneumatic actuator set-up

High order sliding mode control Integral sliding mode control

Application to electropneumatic actuator set-up

Precomputed trajectories control

Application to sensorless control of asynchronous motor

Output feedback second order sliding mode control (if time !) Application to the differentiation
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Some recalls (to state the notation) (1) Nonlinear uncertain system :

Sliding variable : H1. Relative degree = sliding mode order = r. rth order sliding surface :

(2)

1st order real sliding surface :

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Input-output representation :

H2. Solutions understood in the Filippov sense. Problem of rth order sliding mode control of (1)-(2) equivalent to the stabilization of

H3.
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invertible
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With

H4. Stabilization thanks to a discontinuous input v of

In case of first order sliding mode control

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Outline Problem statement Adaptive sliding mode control (first order)

Application to electropneumatic actuator set-up

High order sliding mode control Integral sliding mode control

Application to electropneumatic actuator set-up

Precomputed trajectories control

Application to sensorless control of asynchronous motor

Output feedback second order sliding mode control (if time !) Application to the differentiation
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Adaptive sliding mode control

F. Plestan, Y. Shtessel, V. Brgeault, and A. Poznyak, New methodologies for adaptive sliding mode control , International Journal of Control, accepted, 2010.

Interests No knowledge of the bounds of uncertainties/perturbations Reduction of chattering thanks to the online gain adaptation Adaptive first order sliding mode control

In case of first order sliding mode control

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Lemma. There exists a positive constant

s.t.

Theorem. The controller allows the establishment of a real sliding mode for all , i.e.

Sketch of proof (based on Lyapunov).

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can be negative !

The sliding variable can go over

Evaluation of the maximal overshoot

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Application to electropneumatic actuator control

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Position (m)

Time (sec)

Pression (bar)

Time (sec) 22/07/10 VSS Workshop - Mexico City 16

Control input (V)

Time (sec)

Time (sec)

Perturbation (N)
Time (sec) 22/07/10 VSS Workshop - Mexico City 17

Gains
Time (sec)

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Outline Problem statement Adaptive sliding mode control (first order)

Application to electropneumatic actuator set-up

High order sliding mode control Integral sliding mode control

Application to electropneumatic actuator set-up

Precomputed trajectories control

Application to sensorless control of asynchronous motor

Output feedback second order sliding mode control (if time !) Application to the differentiation
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High order sliding mode control Joint work with V. Brgeault (Ph.D), A. Girin (Ph.D), S. Laghrouche (Ph.D), A. Glumineau, E. Moulay. Objectives For a large class of nonlinear uncertain systems A priori knowledge of the convergence time Good applicability to real systems

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Synthesis in 2 steps Design of the switching variable

The function has to be chosen in order to ensure the finite time convergence of system trajectories to Establishment of a rth order sliding mode. Furthermore, it is chosen that, early from t = 0, system is evolving in

Initial idea (ISM). Utkin and Shi, CDC, 1996.

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 Control input design

Continuous term (defined in the sequel)

Discontinuous term

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Integral sliding mode control

S. Laghrouche, F. Plestan, and A. Glumineau, Higher order sliding mode control based on integral sliding surface , Automatica, 2007.

Continuous term. Stabilization in a finite time of the ideal system (chain of integrators without any perturbation or uncertainty) : optimal control [Rekasius, IEEE TAC, 1964] with finite time tF a priori stated : finite time convergence ! Discontinuous term. The objective consists in forcing the system to behave like the ideal one early from the initial time in spite of uncertainties/perurbations.

Exogenous variable
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The system is in sliding motion on

from t=0. The discontinuous control

forces the system to evolve on from t=0 and then to follow the ideal system behavior. Given the nature of v0, a high order sliding mode behavior is established at the finite time tF. Application. Position control of an electropneumatic actuator. Desired convergence time : tF = 0.5 sec. Only the position is controlled. Perturbations due to springs.
A. Girin, F. Plestan, X. Brun, and A. Glumineau, Robust control of an electropneumatic actuator : application to an aeronautical benchmark , IEEE Cont. Syst. Tech., 2009 22/07/10 VSS Workshop - Mexico City 24

Position (cm) and tracking error (cm)

Time (sec)

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Control input (V)

Time (sec)

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Precomputed trajectories control (v0 = 0)

F. Plestan, A. Glumineau, and S. Laghrouche, A new algorithm for high order sliding mode control , International Journal of Robust and Nonlinear Control, Vol. 18, No. 4-5, pp. 441-453, 2008.

Drawback. ISM control requires an exogenous variable (dynamics). Solution. The function is pre-computed (off-line) in order to provide trajectories ensuring that Early from initial time, the system is in sliding mode - the computation of is made by taking into account the corresponding constraints on the sliding variable and its (r-1) time derivatives at the initial time

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At the final time, the system is always in sliding motion - the computation of is made by taking into account that the sliding variable and its (r-1) time derivatives equal 0 exactly tF.

2r equations

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APPLICATION. Sensorless position control of an asynchronous motor

D. Traor, F. Plestan, A. Glumineau, and J. de Lon-Morales, Sensorless induction motor: high order sliding mode controller and adaptative interconnected observer , IEEE Trans. Indus. Elec., 2008

Model.

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Sliding vector.

Application of precomputed trajectories algorithm

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Sensorless control : No measurement of mechanical variables (rotor position/velocity, torque) Only currents are measured Use of observer (flux, position/velocity, torque) Loss of observability (low speed) - industrial benchmark Formal proof of control-observer stability

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Robustness evaluation

Rs+50%

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Outline Problem statement Adaptive sliding mode control (first order)

Application to electropneumatic actuator set-up

High order sliding mode control Integral sliding mode control

Application to electropneumatic actuator set-up

Precomputed trajectories control

Application to sensorless control of asynchronous motor

Output feedback second order sliding mode control (if time !) Application to the differentiation
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Output feedback second order sliding mode control

F. Plestan, E. Moulay, and A. Glumineau, Output feedback sampling control: a robust solution based on second order sliding mode , Automatica, 2010.

Double integrator (no uncertainty) Control

Idea : Gain commutation at an adequate time to ensure convergence.

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K(t) = Km

K(t) = Km

K(t) = KM m

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Methodology available also for uncertain double integrator (2nd order sliding mode output feedback control) Application to differentiation (only a small attempt !)

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Future directions Second order sliding mode. Adaptive solution for supertwisting algorithm /Output feedback second order sliding mode controller Adaptive high order sliding mode control ? Observer. New solutions derived from proposed controllers and from output feedback control - Objective : robustness and finite time Applications. Pneumatic muscles (biomimetic system) Flying systems

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