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| Adaptive Terminal Sliding Mode Control of Pantograph Based on Optimal Load |
| Shi Guang, Chen Zhonghua, Guo Fengyi, Liu Jianchen, Wang Zhiyong, Jiang Guoqiang |
| Institute of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China |
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Abstract For pantograph-catenary system, there exists Pareto optimal load that the pantograph-catenary has the best electric and mechanical properties in certain conditions. The fuzzy adaptive terminal sliding mode controller of pantograph is designed in order to improve the performance of the pantograph-catenary and run under optimal load. The uncertainty of the system model is approximated by the fuzzy system, the finite-time convergence is ensured by the terminal sliding manifold. Fuzzy rules are also used to obtain the switch control law in order to reduce chattering on sliding manifold. The stability of the closed loop system is proved using the Lyapunov stability theory. The simulation results show that the proposed method can greatly weaken the effects of parameter perturbation and extraneous disturbance as well as achieve a good tracking performance for optimal load.
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Received: 03 October 2015
Published: 01 March 2017
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2017, Vol. 32 
