2018 15th International Workshop on Variable Structure Systems (VSS)最新文献_第3页

Multi-Input Nonlinear Systems with Time and State Dependent Uncertain Control Direction 控制方向随时间和状态变化的多输入非线性系统

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460243

G. Bartolini, A. Estrada, Elisabetta Punta

引用次数: 0

Use of second-order sliding mode observer for low-accuracy sensing in hydraulic machines 二阶滑模观测器在液压机低精度传感中的应用

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460227

M. Ruderman, L. Fridman

引用次数: 3

Second order sliding mode control using unit dual-quaternion dynamics with application to robotics 基于单元双四元数动力学的二阶滑模控制及其在机器人中的应用

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460307

Kirtiman Singh, Harshal B. Oza

{"title":"Second order sliding mode control using unit dual-quaternion dynamics with application to robotics","authors":"Kirtiman Singh, Harshal B. Oza","doi":"10.1109/VSS.2018.8460307","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460307","url":null,"abstract":"This paper gives a new control framework for connected rigid bodies using unit dual quaternion dynamics. The equations of motion are obtained by direct differentiation of dual quaternion that represents the pose and position of the end effector. The novelty lies in the synthesis of torque vector in dual quaternion space. This is based entirely on the second derivative of the dual quaternion tracking error. The key contribution is in achieving finite time stability while explicitly using equations of acceleration dynamics of the underlying dual quaternion error, a concept that has not been explored before. The presented results utilize the method of modeling of serial link robots using an abstraction of inverted pendulum proposing a suitable controller for each link. A second order sliding mode control is utilized to enforce finite time stability of the error dual quaternion and its first temporal derivative. The utility of this method is demonstrated using a planar two link robot where individual generalized force vectors in dual quaternion space are synthesized with a discussion on the physical meaning of a torque defined in dual quaternion space.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125228963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Cyber-Attack Reconstruction via Sliding Mode Differentiation and Sparse Recovery Algorithm: Electrical Power Networks Application 基于滑模微分和稀疏恢复算法的网络攻击重建:电力网络应用

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460426

Shamila Nateghi, Y. Shtessel, J. Barbot, G. Zheng, Lei Yu

引用次数: 18

Switching Surface as a Filter and its Application to Anti-synchronisation of Lü Chaotic System 开关面作为滤波器及其在Lü混沌系统反同步中的应用

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460412

J. Samantaray, S. Chakrabarty, B. K. Roy

引用次数: 0

On Loeb's criterion of orbital stability of self-excited periodic motions 关于自激周期运动轨道稳定性的Loeb判据

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460414

I. Boiko

引用次数: 1

Disturbance decoupling using a novel approach to integral sliding-mode 一种新的积分滑模扰动解耦方法

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460323

Tobias Posielek, K. Wulff, J. Reger

引用次数: 2

Novel Higher Order Sliding Mode Observer for Output Noise Attenuation 一种新型高阶滑模输出噪声衰减观测器

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460393

B. Tamhane, S. Kurode, B. Bandyopadhyay

引用次数: 3

On Parametric Uncertainty in Dynamically Perturbed Sliding Mode Controlled Systems 动态摄动滑模控制系统参数不确定性研究

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460325

A. Rosales, Luis Ibarra, L. Fridman, Y. Shtessel, P. Ponce, A. Molina

{"title":"On Parametric Uncertainty in Dynamically Perturbed Sliding Mode Controlled Systems","authors":"A. Rosales, Luis Ibarra, L. Fridman, Y. Shtessel, P. Ponce, A. Molina","doi":"10.1109/VSS.2018.8460325","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460325","url":null,"abstract":"The unmodeled dynamics inside an SMC control loop such as actuators, sensors, time-delays, etc., dynamically perturb their close-loop response, inducing chattering. Dynamically perturbed SMC systems have been widely analyzed in the frequency domain via the Describing Function (DF), Tzypkin method, Locus of a Perturbed Relay System (LPRS), and others, that require a linear representation of the plant (usually given as a transfer function) to later estimate the resulting chattering parameters. However, if parametric variation/uncertainty is present, a unique value of the chattering parameters cannot be guaranteed. In this paper, a method to analyze dynamically perturbed SMC with parametric uncertainty is presented. Parametric uncertainty is addressed as a family of interval second-order transfer functions, formed by cascading a first-order actuator with a plant with relative-degree of one. The proposed method identifies (in closed-form) the member system among the interval, corresponding with the marginal chattering parameters. Hence, leading to the worst-case condition for the whole systems' family and enabling direct design criteria. Analytic and simulated examples to validate the proposed methods are presented.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134549195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Output Feedback Discontinuous Integral Controller for SISO Nonlinear Systems SISO非线性系统的输出反馈不连续积分控制器

2018 15th International Workshop on Variable Structure Systems (VSS) Pub Date : 2018-07-01 DOI: 10.1109/VSS.2018.8460305

Ángel Mercado‐Uribe, J. Moreno

引用次数: 7