{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:39:54Z","timestamp":1760240394692,"version":"build-2065373602"},"reference-count":23,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2019,5,25]],"date-time":"2019-05-25T00:00:00Z","timestamp":1558742400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Information"],"abstract":"<jats:p>In this contribution, a gain adaptation for sliding mode control (SMC) is proposed that uses both linear model predictive control (LMPC) and an estimator-based disturbance compensation. Its application is demonstrated with an electromagnetic actuator. The SMC is based on a second-order model of the electric actuator, a direct current (DC) drive, where the current dynamics and the dynamics of the motor angular velocity are addressed. The error dynamics of the SMC are stabilized by a moving horizon MPC and a Kalman filter (KF) that estimates a lumped disturbance variable. In the application under consideration, this lumped disturbance variable accounts for nonlinear friction as well as model uncertainty. Simulation results point out the benefits regarding a reduction of chattering and a high control accuracy.<\/jats:p>","DOI":"10.3390\/info10050182","type":"journal-article","created":{"date-parts":[[2019,5,26]],"date-time":"2019-05-26T23:07:27Z","timestamp":1558912047000},"page":"182","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2040-0784","authenticated-orcid":false,"given":"Benedikt","family":"Haus","sequence":"first","affiliation":[{"name":"Institute of Product and Process Innovation, Leuphana University of L\u00fcneburg, Volgershall 1, D-21339 L\u00fcneburg, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3288-5280","authenticated-orcid":false,"given":"Paolo","family":"Mercorelli","sequence":"additional","affiliation":[{"name":"Institute of Product and Process Innovation, Leuphana University of L\u00fcneburg, Volgershall 1, D-21339 L\u00fcneburg, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7789-5699","authenticated-orcid":false,"given":"Harald","family":"Aschemann","sequence":"additional","affiliation":[{"name":"Chair of Mechatronics, University of Rostock, Justus-von-Liebig-Weg 6, D-18059 Rostock, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,5,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1063","DOI":"10.1109\/9.508917","article-title":"Chattering reduction and error convergence in the sliding-mode control of a class of nonlinear systems","volume":"41","author":"Kachroo","year":"1996","journal-title":"IEEE Trans. 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