Chattering-free Sliding Mode Control for an Active Magnetic Bearing System
In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respectively, while the chattering effect in the input is attenuated. This is proven to be advantageous for AMB system since minimization of chattering results in optimized control effort. The performance of each controller is demonstrated via result of simulation in which the measurement of the total consumed energy and maximum control magnitude of each controller illustrates the effectiveness of the proposed controllers.
[1] J. Y. Hung, W. B. Gao, and J. C. Hung, "Variable Structure control: A
Survey," IEEE Trans. Industrial. Electronics, vol. 40, no. 1, pp. 2-22., 1993.
[2] S. Spurgeon, and C. Edwards, Sliding Mode Control: Theory and
Applications. London: Taylor and Francis, 1998.
[3] M. N. Ahmad, J. H. S. Osman, and M. R. A. Ghani, "Proportional-
Integral Sliding Mode Tracking Controller with Application to a Robot
Manipulator," in 7th Conf. on Contr., Auto., Rob and Sys., ICARCV,
Singapore, 2003, pp. 863-868.
[4] Y. W. Liang, S. D. Xu and T. C. Chu, "Robust Control of the Robot
Manipulator via an Improved Sliding Mode Scheme," In. Proc. of IEEE
In. Conf. on . Mechatronics and Auto., Harbin China, Aug. 5-8, 2007,
pp. 1593-1598.
[5] Y. M. Sam, and J. H. S. Osman, "Modeling and Control of Active
Suspension System Using Proportional Integral Sliding Mode
Approach," Asian Jour. Contr., vol. 7, no. 2, pp. 91-98, 2005.
[6] S. Sivrioglu, and K. Nonami, "Sliding Mode Control With Time-
Varying Hyperplane for AMB Systems," IEEE/ASME Trans. on
Mechatronics, vol. 3, no. 1, pp. 51-59, 1998.
[7] M. S. Chen, Y. R. Hwang and M. Tomizuka, "A State-Dependant
Boundary Layer Design for Sliding mode Control," IEEE Trans. on
Auto. Contrl., vol. 47, no. 10, pp. 1677-1681, 2002.
[8] D. Q. Zhang, and S. K. Panda, "Chattering-free and fast-response sliding
mode controller," IEE Proc. -Contr. Theory Appl., vol. 146, no. 2, pp.
171-177, March 1999.
[9] H. Lee and V. Utkin, "Chattering suppression methods in sliding mode
control system," Annual Review in Control, vol. 31, pp. 179-188, 2007.
[10] C. W. Tao, M. -L. Chan and T. -T. Lee, "Adaptive fuzzy sliding mode
controller for linear systems with mismatched time-varying
uncertainties," IEEE Trans. Sys., Man, and Cybernatics -Part B, vol. 33,
no. 2, pp. 283-294, 2003.
[11] E. Z. Taha, G.S. Happawana, and Y. Hurmuzlu, "Quantitative feedback
theory (QFT) for chattering reduction and improved tracking in sliding
mode control (SMC)," ASME Journal of Dynamic Systems, Meas. And
Contrl., vol. 125, no. 4, pp. 665-669, 2003.
[12] A. R. Husain, M. N. Ahmad and A. H. M. Yatim, " Asymptotic
Stabilization of an Active Magnetic Bearing System using LMI-based
Sliding Mode Control, " Int. Jour. of Mechanical Sys. Sci. and Eng., vol
2, no. 1, pp. 9-16, 2008.
[13] J. H. S. Osman, and P.D. Roberts, "Two Level Control Strategy for
Robot Manipulators," Int. Jour. of Control, vol. 61, no. 6, pp. 1201 -
1222, 1995.
[1] J. Y. Hung, W. B. Gao, and J. C. Hung, "Variable Structure control: A
Survey," IEEE Trans. Industrial. Electronics, vol. 40, no. 1, pp. 2-22., 1993.
[2] S. Spurgeon, and C. Edwards, Sliding Mode Control: Theory and
Applications. London: Taylor and Francis, 1998.
[3] M. N. Ahmad, J. H. S. Osman, and M. R. A. Ghani, "Proportional-
Integral Sliding Mode Tracking Controller with Application to a Robot
Manipulator," in 7th Conf. on Contr., Auto., Rob and Sys., ICARCV,
Singapore, 2003, pp. 863-868.
[4] Y. W. Liang, S. D. Xu and T. C. Chu, "Robust Control of the Robot
Manipulator via an Improved Sliding Mode Scheme," In. Proc. of IEEE
In. Conf. on . Mechatronics and Auto., Harbin China, Aug. 5-8, 2007,
pp. 1593-1598.
[5] Y. M. Sam, and J. H. S. Osman, "Modeling and Control of Active
Suspension System Using Proportional Integral Sliding Mode
Approach," Asian Jour. Contr., vol. 7, no. 2, pp. 91-98, 2005.
[6] S. Sivrioglu, and K. Nonami, "Sliding Mode Control With Time-
Varying Hyperplane for AMB Systems," IEEE/ASME Trans. on
Mechatronics, vol. 3, no. 1, pp. 51-59, 1998.
[7] M. S. Chen, Y. R. Hwang and M. Tomizuka, "A State-Dependant
Boundary Layer Design for Sliding mode Control," IEEE Trans. on
Auto. Contrl., vol. 47, no. 10, pp. 1677-1681, 2002.
[8] D. Q. Zhang, and S. K. Panda, "Chattering-free and fast-response sliding
mode controller," IEE Proc. -Contr. Theory Appl., vol. 146, no. 2, pp.
171-177, March 1999.
[9] H. Lee and V. Utkin, "Chattering suppression methods in sliding mode
control system," Annual Review in Control, vol. 31, pp. 179-188, 2007.
[10] C. W. Tao, M. -L. Chan and T. -T. Lee, "Adaptive fuzzy sliding mode
controller for linear systems with mismatched time-varying
uncertainties," IEEE Trans. Sys., Man, and Cybernatics -Part B, vol. 33,
no. 2, pp. 283-294, 2003.
[11] E. Z. Taha, G.S. Happawana, and Y. Hurmuzlu, "Quantitative feedback
theory (QFT) for chattering reduction and improved tracking in sliding
mode control (SMC)," ASME Journal of Dynamic Systems, Meas. And
Contrl., vol. 125, no. 4, pp. 665-669, 2003.
[12] A. R. Husain, M. N. Ahmad and A. H. M. Yatim, " Asymptotic
Stabilization of an Active Magnetic Bearing System using LMI-based
Sliding Mode Control, " Int. Jour. of Mechanical Sys. Sci. and Eng., vol
2, no. 1, pp. 9-16, 2008.
[13] J. H. S. Osman, and P.D. Roberts, "Two Level Control Strategy for
Robot Manipulators," Int. Jour. of Control, vol. 61, no. 6, pp. 1201 -
1222, 1995.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:52103", author = "Abdul Rashid Husain and Mohamad Noh Ahmad and Abdul Halim Mohd Yatim", title = "Chattering-free Sliding Mode Control for an Active Magnetic Bearing System", abstract = "In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respectively, while the chattering effect in the input is attenuated. This is proven to be advantageous for AMB system since minimization of chattering results in optimized control effort. The performance of each controller is demonstrated via result of simulation in which the measurement of the total consumed energy and maximum control magnitude of each controller illustrates the effectiveness of the proposed controllers.
", keywords = "Active Magnetic Bearing (AMB), Sliding Mode Control (SMC), chattering-free SMC.", volume = "2", number = "3", pages = "254-7", }
