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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING Int. J. Adapt. Control Signal Process. 2007; 21:635–637 Published online 22 August 2007 in Wiley InterScience (www.interscience.wiley.com). DOI: 10.1002/acs.996 Editorial Sliding Mode Control Sliding mode theory is currently one of the ...

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Sliding Mode Control Andrzej Bartoszewicz International Journal of Adaptive Control and Signal Processing

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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING Int. J. Adapt. Control Signal Process. 2007; 21:635–637 Published online 22 August 2007 in Wiley InterScience (www.interscience.wiley.com). DOI: 10.1002/acs.996

Editorial

Sliding Mode Control Sliding mode theory is currently one of the most significant research topics within the control engineering domain. Moreover, recently a number of important applications of the theory in the field of power electronics, motion control, robotics, bioprocess, etc. have also been reported. Therefore, this Special Issue presents both novel trends in fundamental research on sliding mode control (SMC) and some successful engineering applications. The special issue consists of 10 papers. The first paper by T. Floquet et al. considers the problem of designing an observer for a multivariable linear system partially driven by unknown inputs. Such a problem arises in systems subject to disturbances or with inaccessible/unmeasurable inputs and has many applications such as fault detection and isolation (FDI), parameter identification and cryptography. Floquet et al. attempt to broaden the class of systems for which these observers can be designed. Specifically, the paper shows how the relative-degree-one condition can be weakened if a classical sliding mode observer is combined with sliding mode exact differentiators to generate additional independent output signals from the available measurements. In the second paper by X. G. Yan and C. Edwards, a sensor FDI scheme for non-linear systems is considered. A non-linear diffeomorphism is introduced to explore the system structure and a simple filter is used to ‘transform’ the sensor fault problem into a pseudo-actuator fault scenario. A sliding mode observer is designed to reconstruct the sensor fault precisely if the system does not experience any uncertainty and to estimate the sensor fault when uncertainty exists. The reconstruction and estimation signals are based only on the available information and thus can be implemented online. The next paper written by A. Topalov et al. is devoted to neural network-based sliding mode controllers. In this work, an innovative dynamical online learning algorithm for robust model-free neuro-adaptive control of a class of non-linear systems with uncertain dynamics is proposed. The algorithm is experimentally tested in order to evaluate its performance and practical feasibility for industrial application. The control application studied is the trajectory tracking control task for the first three joints of an open architecture-articulated robot manipulator. The control scheme makes use of variable structure systems theory and the feedback–error–learning concept. In the fourth paper, the control of dynamic non-linear systems by output feedback is addressed by T. R. Oliveira et al. A model-reference tracking SMC approach is adopted to develop a controller for uncertain plants with arbitrary relative degree and unknown control direction. The uncertainty of the control direction is circumvented by a switching mechanism that adjusts the control sign through a monitoring function that depends on an appropriate auxiliary error. The relative degree compensation and the ultimate finite time or exponential convergence of the tracking error to zero are achieved by means of a hybrid lead filter based on the switching between a conventional linear differentiator and a robust exact differentiator. The next paper by A. Ferrara and C. Lombardi deals with the problem of the interaction control of robot manipulators, the end-effector of which is expected to enter in contact with the environment, characterized by a known elastic constant. The model of the manipulator is affected by uncertainties Copyright q

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EDITORIAL

in the terms representing the torques induced by the Coriolis and centrifugal forces, and the friction torques, so that a classical impedance control scheme cannot be adopted. Therefore, in this paper the use of second-order SMC is investigated and the novel idea is developed to circumvent the chattering problem while extending the applicability of the impedance control philosophy to the uncertain case. Another contribution to the control of systems in interaction with their environment is proposed ˇ by A. Sabanovi´ c. He examines the applicability of SMC in complex motion steering systems. The applicability of SMC to trajectory tracking and force control is already established in the literature ˇ and Sabanovi´ c focuses on bilateral control (master–slave operation) and the control of multilateral systems in interaction. He shows how the SMC framework is very suitable for unified formulation of these control problems. In the seventh paper, F. Betin and G. Capolino propose an SMC algorithm that can be applied to regulate the position of an electrical machine that is submitted to large changes of inertia and load torque. For that purpose, they apply the linear feedback with a switched gain—approach which, although not often used, can alleviate the chattering effect. The proposed algorithm is applied to a three-phase induction machine. To eliminate the reaching phase, a time-varying switching surface is introduced into the algorithm. The next two papers follow on from the theme that the reaching phase can be obviated (in certain cases). Y. Pan and K. Furuta propose a variable structure controller, without the requirement of reaching movement. The control system is stabilized by switching the system control inputs among a set of feedback control laws no matter whether a sliding mode takes place or not. Each feedback control law is easily designed because it uses only one state variable with a gain of fixed magnitude but changing sign. The proposed variable structure control system is quadratically stable. Following on this theme, A. Bartoszewicz and A. Nowacka present a new SMC algorithm for a third-order uncertain, non-linear and time-varying dynamic system subject to input, velocity and acceleration constraints. The algorithm employs a time-varying switching plane. In order to select the switching plane parameters, the integral of the absolute error is minimized. The switching plane is chosen in such a way that the reaching phase is eliminated and the insensitivity of the system to the external disturbance and the model uncertainty are guaranteed from the very beginning of the proposed control action. Finally, the last paper of this special issue by D. Selis¸teanu et al. focuses on control of biotechnological reactors. The paper considers two aspects. First of all, a dynamical sliding modebased feedback strategy is designed in order to ensure the asymptotic output stabilization of non-linear bioprocesses. The control law is designed to combine exact linearization and sliding mode techniques. The second part of the paper extends this study to include an adaptive SMC strategy that is derived for the class of non-linear systems considered. In order to deal with the parametric uncertainties of the bioprocesses, the adaptive form of the SMC law is designed by means of direct, over-parameterized adaptive control techniques available for linearizable systems. In conclusion, the main objective of this special issue is to present a range of well worked out, recent theoretical contributions as well as application studies in the field of SMC. We believe that thanks to the world-renowned experts in the field, who kindly agreed to contribute to this special issue this ambitious objective, has been successfully accomplished. The Editors and authors are grateful to the Editorial Board of the International Journal of Adaptive Control and Signal Processing for allowing the preparation of this special issue to proceed. It is hoped that the result Copyright q

2007 John Wiley & Sons, Ltd.

Int. J. Adapt. Control Signal Process. 2007; 21:635–637

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of this joint effort will be of true interest to the control community working on various aspects of non-linear control systems and in particular those working in the variable structure systems community. ANDRZEJ BARTOSZEWICZ Institute of Automatic Control Technical University of Ł´od´z 18/22 Stefanowskiego St. 90-924 Ł´od´z Poland RON J. PATTON Control and Intelligent Systems Engineering Research Group Department of Engineering University of Hul1 Cottingham Road Hull HU6 7RX, U.K.

Copyright q

2007 John Wiley & Sons, Ltd.

Int. J. Adapt. Control Signal Process. 2007; 21:635–637...