Print ISSN: 1811-9212

Online ISSN: 2617-3352

Keywords : Sliding Mode Controller


Sliding Mode Controller Design for a Crane Container System

Assist. Prof. Dr. Shibly Ahmed AL-Samarraie; Bashar Fateh Midhat

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2014, Volume 14, Issue 1, Pages 58-71

Abstract- Applying automatic control on gantry cranes to move loads with minimal sway angle is considered as a challenge due to the crane system uncertain parameters and a robust automatic control is needed. In this paper a sliding mode controller is applied to overcome the crane system uncertainties and achieve the desired performance. Some labor is spent to transform the system to the regular form and an error function is written depending on the transformed variables then a switching function in terms of the error function is constructed and a sliding mode controller is designed to make the error function reach zero so the crane moves to the specified displacement with minimum sway angle. Stability analyses are provided to show that the system is stable under the control we proposed. Simulations are held by software to validate the effectiveness of our work and prove that the proposed control is successful in giving our system the preferred behavior then Results are discussed and some point view is to be put.

Optimal Controller Design for Dynamic Systems with Perturbed Time-Varying Delay

Dr. Asmaa Q. Shareif; Dr. Abdulsalam H. Nafia

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2012, Volume 12, Issue 2, Pages 81-89

Abstract:
In this paper, a controller design is proposed to control systems subjected to uncertainties and perturbed time-varying delay. The proposed controller strategy is composed of three parts, the linear state feedback part is used for assigning the closed loop eigenvalues, and the nonlinear switching part of the sliding mode and the adaptive part are used to achieve the robustness of global stability. By using the stability theorem, the adaptive law is utilized for adapting the unknown bounds of the lumped perturbations so that the objective of asymptotical stability is achieved, and then to use the variable structure control method to enhance the robustness of stability of the controlled systems. Once the system goes inside of the sliding surface of the variable structure controller, the dynamics of the controlled systems are insensitive to effect of perturbations. The system and controller are simulated by using Matlab/Simulink. Finally, a real numerical example is given to demonstrate the feasibility of the proposed controller.