Adaptive Sliding Mode Control based on SVR

Kemal Ucak; Gulay O.K.E. Gunel

doi:10.1109/UEMCON51285.2020.9298111

Adaptive Sliding Mode Control based on SVR

Kemal Ucak, Gulay O.K.E. Gunel

Department of Control and Automation Engineering

Massachusetts Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Sliding mode control (SMC) is a prevalent control technique, especially effective for nonlinear systems. Its performance is enhanced if the parameters chosen in the design of the SMC are determined in an optimal way. In this paper an SMC architecture is implemented where support vector regression (SVR) methodology is employed in optimizing one of the design parameters of SMC. A major strength of SVR with respect to gradient based optimization methods is that it finds the global minimum by formulating a convex cost function. The proposed control architecture is tested by simulations performed on an inverted pendulum system. Also, the robustness of the method is justified by additional simulations with measurement noise and disturbance added to the system.

Original language	English
Title of host publication	2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020
Editors	Rajashree Paul
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	381-386
Number of pages	6
ISBN (Electronic)	9781728196565
DOIs	https://doi.org/10.1109/UEMCON51285.2020.9298111
Publication status	Published - 28 Oct 2020
Event	11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020 - Virtual, New York City, United States Duration: 28 Oct 2020 → 31 Oct 2020

Publication series

Name	2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020

Conference

Conference	11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020
Country/Territory	United States
City	Virtual, New York City
Period	28/10/20 → 31/10/20

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

Keywords

Icremental Learning
Inverted Pendulum
SMC
SVR

Access to Document

10.1109/UEMCON51285.2020.9298111

Cite this

Ucak, K., & Gunel, G. O. K. E. (2020). Adaptive Sliding Mode Control based on SVR. In R. Paul (Ed.), 2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020 (pp. 381-386). Article 9298111 (2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UEMCON51285.2020.9298111

Ucak, Kemal ; Gunel, Gulay O.K.E. / Adaptive Sliding Mode Control based on SVR. 2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020. editor / Rajashree Paul. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 381-386 (2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020).

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abstract = "Sliding mode control (SMC) is a prevalent control technique, especially effective for nonlinear systems. Its performance is enhanced if the parameters chosen in the design of the SMC are determined in an optimal way. In this paper an SMC architecture is implemented where support vector regression (SVR) methodology is employed in optimizing one of the design parameters of SMC. A major strength of SVR with respect to gradient based optimization methods is that it finds the global minimum by formulating a convex cost function. The proposed control architecture is tested by simulations performed on an inverted pendulum system. Also, the robustness of the method is justified by additional simulations with measurement noise and disturbance added to the system.",

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Ucak, K & Gunel, GOKE 2020, Adaptive Sliding Mode Control based on SVR. in R Paul (ed.), 2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020., 9298111, 2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020, Institute of Electrical and Electronics Engineers Inc., pp. 381-386, 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020, Virtual, New York City, United States, 28/10/20. https://doi.org/10.1109/UEMCON51285.2020.9298111

Adaptive Sliding Mode Control based on SVR. / Ucak, Kemal; Gunel, Gulay O.K.E.
2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020. ed. / Rajashree Paul. Institute of Electrical and Electronics Engineers Inc., 2020. p. 381-386 9298111 (2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Sliding mode control (SMC) is a prevalent control technique, especially effective for nonlinear systems. Its performance is enhanced if the parameters chosen in the design of the SMC are determined in an optimal way. In this paper an SMC architecture is implemented where support vector regression (SVR) methodology is employed in optimizing one of the design parameters of SMC. A major strength of SVR with respect to gradient based optimization methods is that it finds the global minimum by formulating a convex cost function. The proposed control architecture is tested by simulations performed on an inverted pendulum system. Also, the robustness of the method is justified by additional simulations with measurement noise and disturbance added to the system.

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Ucak K, Gunel GOKE. Adaptive Sliding Mode Control based on SVR. In Paul R, editor, 2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 381-386. 9298111. (2020 11th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2020). doi: 10.1109/UEMCON51285.2020.9298111

Adaptive Sliding Mode Control based on SVR

Abstract

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Bibliographical note

Keywords

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