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Research Papers

Discrete-Time Adaptive Controller Based on Estimated Pseudopartial Derivative and Reaching Sliding Condition

[+] Author and Article Information
Chidentree Treesatayapun

Professor
Department of Robotic and Advanced Manufacturing,
CINVESTAV-Saltillo,
Ramos Arizpe 25903, Mexico
e-mails: treesatayapun@gmail.com;
chidentree@cinvestav.edu.mx

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 18, 2015; final manuscript received March 30, 2016; published online June 8, 2016. Assoc. Editor: Hashem Ashrafiuon.

J. Dyn. Sys., Meas., Control 138(10), 101002 (Jun 08, 2016) (6 pages) Paper No: DS-15-1639; doi: 10.1115/1.4033408 History: Received December 18, 2015; Revised March 30, 2016

An adaptive controller based on sliding mode condition is developed with estimated pseudopartial derivative (PPD) of data-driven scheme. The controlled plant is considered as a class of unknown discrete-time systems with only output feedback, which allows the proposed controller to be applicable for practical plants operated by computerization systems. The convergence of estimated PPD is analyzed by Lyapunov direct method under reasonable assumptions. The control law is derived by the estimated PPD and reaching condition of sliding surface as a model-free of controlled plant. The performance of the proposed control scheme is validated by theoretical analysis and experimental system with direct current (DC) motor current control.

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References

Figures

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Fig. 1

Discrete-time system and digital computerization control: DC motor

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Fig. 2

Control system block diagram

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Fig. 3

Estimated PPD θ̂(k)

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Fig. 4

Learning rate of PPD estimator η̂(k)

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Fig. 5

Estimated output ŷ(k)

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Fig. 6

Tracking performance y(k)

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Fig. 7

Control effort u(k)

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Fig. 8

Phase plane trajectory

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Fig. 9

Illustration of Theorem 4.1

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