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Open AccessArticle

Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators

1
Institute of Product and Process Innovation, Leuphana University of Lüneburg, Volgershall 1, D-21339 Lüneburg, Germany
2
Chair of Mechatronics, University of Rostock, Justus-von-Liebig-Weg 6, D-18059 Rostock, Germany
*
Author to whom correspondence should be addressed.
Information 2019, 10(5), 182; https://doi.org/10.3390/info10050182
Received: 12 April 2019 / Revised: 20 May 2019 / Accepted: 22 May 2019 / Published: 25 May 2019
(This article belongs to the Special Issue ICSTCC 2018: Advances in Control and Computers)
In this contribution, a gain adaptation for sliding mode control (SMC) is proposed that uses both linear model predictive control (LMPC) and an estimator-based disturbance compensation. Its application is demonstrated with an electromagnetic actuator. The SMC is based on a second-order model of the electric actuator, a direct current (DC) drive, where the current dynamics and the dynamics of the motor angular velocity are addressed. The error dynamics of the SMC are stabilized by a moving horizon MPC and a Kalman filter (KF) that estimates a lumped disturbance variable. In the application under consideration, this lumped disturbance variable accounts for nonlinear friction as well as model uncertainty. Simulation results point out the benefits regarding a reduction of chattering and a high control accuracy. View Full-Text
Keywords: sliding mode control; model predictive control; adaptive control; disturbance estimation; actuators sliding mode control; model predictive control; adaptive control; disturbance estimation; actuators
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Haus, B.; Mercorelli, P.; Aschemann, H. Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators. Information 2019, 10, 182.

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