WAVELET-BASED OPTIMAL SLIDING MODE CONTROLLER FOR

STRUCTURAL CONTROL
1
MOHAMMAD ALI BADAMCHIZADEH, 2FARZANEH JANI

Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran

E-mails: 1f.jani@tabrizu.ac.ir, 2 mbadamchi@tabrizu.ac.ir

Abstract - This paper presents a new approach to minimize the structure response against the earthquake by using the
wavelet-based optimal sliding mode control. The proposed approach uses the information derived from the wavelet analysis
of the system response in real time to obtain the local energy distribution over frequency bands. Then the weighting matrices
of the states and control effort are updated online by using a scalar multiplier or a factor according to the energy in the
different bands. The optimal LQR control problem is solved for each time interval with updated weighting matrices and
therefore, the time varying gain matrices are resulted through the Ricatti equation. The gain matrices are used in the optimal
sliding mode control law. The proposed controller is applied to single-degree-of-freedom (SDOF) system and the results are
compared with the cases of LQR and wavelet-based LQR. Simulation results indicate the effectiveness of the proposed
method.

Keywords - Optimal LQR algorithm, Optimal sliding mode control, Wavelet analysis, Structural control.

I. INTRODUCTION weighted matrices according to the system response.

One of the most recent issues in the field of system
engineering is the structural control. The presence of
earthquake phenomena and the necessity to
strengthening building against the damage of the
earthquake is caused to establish control of structures.
The aim of control of structure is changing its
parameters with using of special devices in order to
reduce the destructive effects of earthquake. Different
control methods such as LQR control [1], predictive
control, adaptive control were discussed by
researchers for designing suitable controller for
structural control. LQR control method is the one the
most widely used method in this area. This method is
used to obtain an optimal feedback gain that
minimizes a quadratic cost function. It is assumed
that the parameters of the model are accurately
known in this method and also all states of system are
required for using in feedback. But in real world,
structure is in presence of unpredictable
environmental disturbances such as wind and
earthquakes, and also uncertainties in the system
modeling. These disturbances and uncertainties can
cause to drift in optimal value of cost function for
nominal system and also even cause unstable system.
Therefore it necessary to make robust LQR controller
in presence of uncertainties. Sliding mode control is
one of the robust and commonly used methods to
cope the uncertainties in system modeling. Katebi et
al. [2] proposed a robust sliding controller to suppress
the uncertainty in structures control. In [3], Fethemi
et al. used the optimal sliding mode to overcome
uncertainty. The proposed method is used to control a
4-story building and results are compared with the
LQR method. The main drawback of this paper is
calculating weighted matrices in off-line manner.
Therefore, optimal and robust response to
earthquakes will not be reliable. So it is necessary to
introduce a suitable method for calculating online
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Wavelet based analysis methods, as one of the most
common methods for obtaining time- frequency
analysis of the response of the structure, have been
used in recent decades. In [4] wavelet analysis was
used to investigate of energy and frequency of
response of the structure and then the obtained data
was used for pole placement. In [5,6], the wavelet-
based LQR method is used to control the structure
and results are compared with the LQR method. The
results indicate that the presented methods have
desirable responses in the presence of uncertainty.
One of the major drawbacks of these methods is the
lack of consideration of bound of uncertainties and
also stability of closed-loop system has not been
studied. In order to achieve the good performance, it
is necessary to use robust control methods. For this
purpose, in this paper, we have tried to exploit the
advantages of the above methods and also by
providing the optimal sliding mode control method
based on wavelet analysis, in addition to ensuring
system stability, with proper control signal, the
system is robust to uncertainties.
II. SYSTEM DESCRIPTION
Suppose general form of n-degrees of freedom
system as follows
where M, C, K¸ denote the mass, damping and
stiffness matrices with appropriate dimensions,
respectively. is force vector and is
its coefficients matrix. is the influence
coefficient vector. are
thedisplacement, velocity and acceleration ofstructure
respectively and gzt is horizontal acceleration
of earthquake.
 Wavelet-Based Optimal Sliding Mode Controller For Structural Control

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 Wavelet-Based Optimal Sliding Mode Controller For Structural Control

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 Wavelet-Based Optimal Sliding Mode Controller For Structural Control

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 Wavelet-Based Optimal Sliding Mode Controller For Structural Control

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