发布求助
文献互助 智能选刊 最新文献

International Workshop on Variable Structure Systems, 2006. VSS'06.最新文献

筛选
英文 中文
Estimation and Analysis of the Tire Pressure Effects on the Comportment of the Vehicle Center of Gravity 胎压对车辆重心舒适性影响的估计与分析
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644529
H. Shraim, A. Rabhi, M. Ouladsine, N. M'Sirdi, L. Fridman
{"title":"Estimation and Analysis of the Tire Pressure Effects on the Comportment of the Vehicle Center of Gravity","authors":"H. Shraim, A. Rabhi, M. Ouladsine, N. M'Sirdi, L. Fridman","doi":"10.1109/VSS.2006.1644529","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644529","url":null,"abstract":"In the presented paper, the tire pressure and its influence on the vehicle centre of gravity are estimated and analysed. For that reason, a relation relating the tire pressure to the vertical force and the tire vertical deflection is proposed and validated by real measures. Basing on this proposed model, the tire pressure estimation is realized by estimating the vertical force and the tire vertical deflection. The vertical force is estimated using data issued from accelerations sensor. The tire vertical deflection is the difference between its initial radius and its radius when it is in contact with the ground and subjected to the vertical load. The initial radius is given by the constructor, and the other one is identified using a second orders sliding mode observer based on the super twisting algorithm (which observes the non measured states and identifies the effective radius). Simulations are made firstly in the absence of faults, results in this case are compared to the real measures, and secondly in the presence of faults, as an escape (sudden puncture) or a total failure in the tire pressure, in this case results are compared to that of a validated model. The analysis is made on the yaw angle and the yaw rate of the vehicle centre of gravity, the later is compared to a certain threshold which varies with the velocity and the coefficient of friction","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114480727","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: 9
Sliding Mode Control of Uncertain Nonlinear Systems with Arbitrary Relative Degree and Unknown Control Direction 具有任意相对度和未知控制方向的不确定非线性系统的滑模控制
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644514
L. Hsu, T. R. Oliveira, A. J. Peixoto
{"title":"Sliding Mode Control of Uncertain Nonlinear Systems with Arbitrary Relative Degree and Unknown Control Direction","authors":"L. Hsu, T. R. Oliveira, A. J. Peixoto","doi":"10.1109/VSS.2006.1644514","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644514","url":null,"abstract":"This paper considers the model reference tracking control for a class of uncertain nonlinear systems, based on sliding mode and output-feedback. No particular growth condition is imposed on the nonlinearity. Moreover, the design does not assume the prior knowledge of the control direction. For plants of arbitrary relative degree, global or semi-global asymptotic stability with respect to a compact set is guaranteed. Ultimate finite-time or exponential convergence of the tracking error to zero is achieved by using a hybrid lead filter based on 2-sliding mode exact differentiators. A monitoring function is used to determine the unknown control direction","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125400345","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: 12
Position/attitude control of a jet-propelled surface-vessel prototype via the simplex-vector sliding-mode approach 基于单纯向量滑模方法的喷气推进水面舰艇原型机位置/姿态控制
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644510
G. Bartolini, N. Orani, A. Pisano, E. Usai
{"title":"Position/attitude control of a jet-propelled surface-vessel prototype via the simplex-vector sliding-mode approach","authors":"G. Bartolini, N. Orani, A. Pisano, E. Usai","doi":"10.1109/VSS.2006.1644510","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644510","url":null,"abstract":"This note concerns the design and implementation of a position/attitude sliding-mode controller for a surface vessel prototype. The prototype is equipped with a special, recently patented (V. Arrichiello, et al., 2005), propulsion system based on hydrojets with variable output section. The sliding mode control design is based on the vector simplex method (G, Bartolini, et al., 1997). First we describe the structure and the working principle of the prototype. Then, we present an approximate dynamic model and describe the detailed derivation of the motion controller. Finally, the major implementation issues are discussed and some experimental results are shown","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126089900","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: 0
Sliding Mode Coordinated Decentralized Adaptive Following of Nonlinear Delayed Plants 非线性时滞对象的滑模协调分散自适应跟踪
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644525
B. Mirkin, E. Mirkin, P. Gutman
{"title":"Sliding Mode Coordinated Decentralized Adaptive Following of Nonlinear Delayed Plants","authors":"B. Mirkin, E. Mirkin, P. Gutman","doi":"10.1109/VSS.2006.1644525","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644525","url":null,"abstract":"In this paper, we develop a coordinated decentralized state-feedback adaptive controllers for a class of large-scale delayed nonlinear interconnected systems. The design is based on a combination of two control techniques: the method of decentralized control with reference model coordination, and the variable structure design methodology. This scheme can not only guarantee closed-loop stability but also improves steady state and transient tracking performance when uncertainties and delays are present in the subsystems and interconnections","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131947261","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: 11
Stabilization of the cart-pendulum system via quasi-homogeneous switched control 准齐次开关控制小车摆系统的镇定
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644507
S. Riachy, T. Floquet, Y. Orlov, J. Richard
{"title":"Stabilization of the cart-pendulum system via quasi-homogeneous switched control","authors":"S. Riachy, T. Floquet, Y. Orlov, J. Richard","doi":"10.1109/VSS.2006.1644507","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644507","url":null,"abstract":"In this paper, a quasi-homogeneous switched controller for the stabilization of the cart-pendulum system is developed. Based on nonlinear system equations, it provides a large domain of attraction as compared to other controllers given in the literature. It is shown to be robust with respect to matched perturbations","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129497509","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: 18
A bumpless method for multivariable process controllers via sliding mode 一种基于滑模的多变量过程控制器的无碰撞方法
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644504
F. Garelli, R. Mantz, H. Battista
{"title":"A bumpless method for multivariable process controllers via sliding mode","authors":"F. Garelli, R. Mantz, H. Battista","doi":"10.1109/VSS.2006.1644504","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644504","url":null,"abstract":"Sliding mode attributes are evaluated for being applied to a bumpless transfer scheme in multiple-input multiple-output (MIMO) process control. Switching from manual to automatic mode is particularly considered, in which case the proposed methodology can be interpreted as building a multivariable sliding mode state-observer of a fictitious offline controller. This approach virtually changes the position of the switch from the controller outputs to internal stages of the controller. Furthermore, it avoids the jumps at the plant inputs even when the switch is performed before the observer transient has extinguished, while at the same time it properly accommodates the remaining controller states","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129776235","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: 0
Robotic application of adaptive VSC with deformable sliding surfaces 可变形滑动面自适应VSC在机器人中的应用
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644548
A. A. Dyda, V. E. Markin
{"title":"Robotic application of adaptive VSC with deformable sliding surfaces","authors":"A. A. Dyda, V. E. Markin","doi":"10.1109/VSS.2006.1644548","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644548","url":null,"abstract":"Variable-structure systems (VSS) are known as a class of nonlinear systems with discontinuous control. One of the most attractive features of VSS is availability of sliding mode. System dynamics in sliding mode can be robust to parametric uncertainties. Adaptive control is also available in VSS. In the paper a new robust adaptive variable-structure control in robotics is proposed. Control algorithm provides both high performance and reduced energy expenditure in comparison with conventional VSS. It is based on usage of a pair of switching surfaces closely located in state space of the system. Another control algorithm uses adaptively deformable sliding surfaces. Simulations of robot drives control with derived adaptive VSS algorithms confirmed their high efficiency","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128877690","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: 0
Feedback linearization and high order sliding mode observer for a quadrotor UAV 四旋翼无人机反馈线性化与高阶滑模观测器
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644545
A. Benallegue, A. Mokhtari, L. Fridman
{"title":"Feedback linearization and high order sliding mode observer for a quadrotor UAV","authors":"A. Benallegue, A. Mokhtari, L. Fridman","doi":"10.1109/VSS.2006.1644545","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644545","url":null,"abstract":"In this paper, a feedback linearization-based controller with a high order sliding mode observer running parallel is applied to a quadrotor unmanned aerial vehicle. The high order sliding mode observer works as an observer and estimator of the effect of the external disturbances such as wind and noise. The whole observer-estimator-control law constitutes an original approach to the vehicle regulation with minimal number of sensors. Performance issues of the controller-observer are illustrated in a simulation study that takes into account parameter uncertainties and external disturbances","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"164 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133868809","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: 171
Sliding Mode Control for Automatic Driving of a Platoon of Vehicles 车辆队列自动驾驶的滑模控制
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644528
A. Ferrara, C. Vecchio
{"title":"Sliding Mode Control for Automatic Driving of a Platoon of Vehicles","authors":"A. Ferrara, C. Vecchio","doi":"10.1109/VSS.2006.1644528","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644528","url":null,"abstract":"During recent years, a number of studies has demonstrated the efficaciousness of the longitudinal control of platoon of vehicles in order to improve the exploitation of the capacity of road networks while maintaining safety distances between vehicles. Yet, the use of cruise control in urban areas can be critical because of the possible presence of pedestrians or other vulnerable road users (VRUs). The objective of increasing pedestrians' safety can be attained by providing the control system of the vehicles of the platoon with some collision avoidance capability. This issue is investigated in the present paper. The driver assistance system presented in this paper is realized by means of vehicle supervisors, which make the decision on which is the appropriate current control mode for each controlled vehicle. The control methodology adopted in the proposed control system is sliding mode control of the first and the second order","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114202022","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: 8
Discrete- Time Variable Structure Control for Casusal Nonminimum Phase Systems Using Stable System Center 基于稳定系统中心的因果非最小相位系统的离散变结构控制
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644491
O. Iskrenovic-Momcilovic, C. Milosavljevic, Y. Shtessel
{"title":"Discrete- Time Variable Structure Control for Casusal Nonminimum Phase Systems Using Stable System Center","authors":"O. Iskrenovic-Momcilovic, C. Milosavljevic, Y. Shtessel","doi":"10.1109/VSS.2006.1644491","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644491","url":null,"abstract":"The output tracking is considered for discrete-time causal SISO n th order linear time invariant system with unstable zero dynamics (nonminimum phase zeros) via discrete-time variable structure control. The stable system center method that originally was developed for controlling the output in continuous time nonminimum phase causal system using sliding mode (variable structure) control is extended to the discrete-time systems. The developed discrete-time stable system center technique transforms an output tracking problem to a corresponding state variable tracking problem by asymptotically identifying the ideal internal dynamics for the unstable internal states of a discrete-time system. The causal disturbances and output tracking profiles are assumed to obey a linear exogenous system with known characteristic polynomial. The theoretical results are confirmed by robust to matched disturbances discrete variable structure control design for the track parabolic-type signal problem in the third order nonminimum phase systems","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128734756","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: 8
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信