Home   >   CSC-OpenAccess Library   >    Manuscript Information
A Mode Switching Sliding-mode Controller with Observer-based State-Dependent Boundary Layer and Its Application
Liang-Chun Yao, Jian-Shiang Chen, Chao-Yu Hsu
Pages - 39 - 53     |    Revised - 15-06-2007     |    Published - 30-06-2007
Volume - 1   Issue - 1    |    Publication Date - June 2007  Table of Contents
sliding mode, mode-switching, boundary layer, maglev platform
This paper presents a mode-switching sliding-mode control (MSMC) scheme that combines different sliding-mode control schemes to alleviate adverse effect while achieving precise control tasks. To achieve certain robustness and chattering alleviation, a design of disturbance observer based state-dependent boundary layer is proposed. The proposed method will provide a state-dependent boundary-layer in which the unknown dynamics is estimated a disturbance observer and then utilize it to calculate the width of boundary layer on-line. The convergent analysis of this state-dependent boundary-layer is provided with two theorems. Finally, its efficacy is further validated through experiments on the regulation control of a maglev platform.
1 Google Scholar 
2 Academic Journals Database 
3 ScientificCommons 
4 Academic Index 
5 CiteSeerX 
6 refSeek 
7 iSEEK 
8 Socol@r  
9 ResearchGATE 
10 Libsearch 
11 Bielefeld Academic Search Engine (BASE) 
12 Scribd 
13 WorldCat 
14 SlideShare 
16 PdfSR 
17 Chinese Directory Of Open Access 
B. W. Bekit, J. F. Whidborne and L. D. Seneviratne, “Sliding mode control for robot manipulators using time-varying switching gain and boundary layer”. Control '98. UKACC International Conference on, London, United Kingdom, 1998.
C. -Y. Hsu. “Application of Switching Law to A 2-DOF Maglev Platform”. Master Thesis, National Tsing Hua University, June 2005
International Conference on, Taipei, Taiwan, 2004 8. M. Iwasaki, K. Sakai and N. Matsui, “High-speed and high-precision table positioning system by using mode switching control”. Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE, Nagoya, Japan 1998.
J. J. E. Slotine and S. S. Sastry. “Tracking control of non-liner systems using sliding surface, with application to robot manipulators”. Int. J. of Control, 38(2):465-492, 1983
J. J. E. Slotine and W. Li. “Applied Nonlinear Control, Prentice-Hall”, New Jersey, pp. 276- 310(1991)
K. D. Young, V. I. Utkin and U. Ozguner. “A control engineer’s guide to sliding model control”. IEEE Trans. on Control System Technology, 7(3):328-342, 1999
M. -S. Chen, Y. R. Hwang and M. Tomizuka, “Sliding mode control reduced chattering for systems with dependent uncertainties”. Networking, Sensing and Control, 2004 IEEE International Conference on, Taipei, Taiwan, 2004
M. -S. Chen, Y. R. Hwang and M. Tomizuka. “A state-dependent boundary layer design for sliding mode control”. IEEE Trans. on Automatic Control, 47(10):1677-1681, 2002
T. Yamaguchi, H. Numasato, H. Hirai, “A mode-switching control for motion control and its application to disk drives: design of optimal mode-switching conditions”. IEEE/ASME Trans. on Mechatronics, 3(3):202-209, 1998
Utkin, Jurgen Guldner and Jingxin Shi. “Sliding Mode Control in Electromechanical Systems”, CRC Press, pp. 131-153(1999)
Y. -S. Lu and J. -S. Chen. “Design of a perturbation estimator using the theory of variablestructure system and its application to magnetic levitation systems”. IEEE Trans. on Industrial Electronics, 43(3):281-289, 1995
Mr. Liang-Chun Yao
- Taiwan
Mr. Jian-Shiang Chen
- Taiwan
Mr. Chao-Yu Hsu
- Taiwan