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

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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
LQG-robust sliding mode control for linear stochastic systems with uncertainties 线性随机不确定系统的lqg鲁棒滑模控制
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644496
M. Basin, A. Ferreira, L. Fridman
{"title":"LQG-robust sliding mode control for linear stochastic systems with uncertainties","authors":"M. Basin, A. Ferreira, L. Fridman","doi":"10.1109/VSS.2006.1644496","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644496","url":null,"abstract":"This paper presents the integral sliding mode technique robustifying the optimal linear quadratic Gaussian (LQG) controller for linear stochastic systems with uncertainties, which is compared to the conventional sliding mode approach. The obtained controller ensures robustness of the system against perturbations throughout the entire response starting from the initial time instant and provides a method for evaluating uncertainty values. Numerical simulations are given for the inverted pendulum system","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"50 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":"114426732","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
Optimal trajectory planning for structure-variant mechanical systems 变结构机械系统的最优轨迹规划
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644534
K. Yunt
{"title":"Optimal trajectory planning for structure-variant mechanical systems","authors":"K. Yunt","doi":"10.1109/VSS.2006.1644534","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644534","url":null,"abstract":"The planning of optimal trajectories for nonholonomic systems and of structure-variant mechanical systems are active research areas. In this report the optimal trajectories of a structure-variant mechanical systems are determined by making use of a combined direct shooting and successive unconstrained minimization method (SUMT), which performs the integrations of the dynamical system based on the timestepping scheme. A certificate of optimality is provided for the structure-variant trajectories obtained by the new optimization method","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"32 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":"133405586","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: 4
Digital sliding modes and quasi-exact tracking discrete-valued signals 数字滑模和准精确跟踪离散值信号
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644486
I. Shkolnikov, Y. Shtessel, R. Adhami
{"title":"Digital sliding modes and quasi-exact tracking discrete-valued signals","authors":"I. Shkolnikov, Y. Shtessel, R. Adhami","doi":"10.1109/VSS.2006.1644486","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644486","url":null,"abstract":"This work initiates study of level quantization effect in the digital implementations of sampled-data systems featuring real sliding modes of first and second order. The effect of rounding midtreat quantizer at the input or in the loop of a feedback control system of relative degree one is analyzed. Novel concepts of regular digital codes, relative degree of digital signal autocorrelation, discrete-level and digital sliding modes are introduced","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":"124967650","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
Multirate Output Feedback based Digital Redesign of Sliding Mode Control Algorithms 基于多速率输出反馈的滑模控制算法的数字化再设计
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644490
S. Janardhanan, B. Bandyopadhyay, A. Abera
{"title":"Multirate Output Feedback based Digital Redesign of Sliding Mode Control Algorithms","authors":"S. Janardhanan, B. Bandyopadhyay, A. Abera","doi":"10.1109/VSS.2006.1644490","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644490","url":null,"abstract":"Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding mode control algorithms are based on reaching laws that are only approximations of continuous-time reaching laws and thus may not give a performance close to continuous-time sliding mode control. This paper presents a method of multirate output feedback based discrete-time control design which guarantees the closest possible performance for a pre-designed continuous-time sliding mode control algorithm","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"83 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":"124810602","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: 5
Design of sliding mode controllers for linear uncertain systems based on first order approximation filters 基于一阶逼近滤波器的线性不确定系统滑模控制器设计
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644541
J. Cunha, R. Costa, L. Hsu
{"title":"Design of sliding mode controllers for linear uncertain systems based on first order approximation filters","authors":"J. Cunha, R. Costa, L. Hsu","doi":"10.1109/VSS.2006.1644541","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644541","url":null,"abstract":"The focus of this paper is on the synthesis of first order filters which generate approximations for upper bounds of the norm of signals needed in the modulation function of some sliding mode control laws. The design of output-feedback sliding mode controllers for uncertain multivariable linear systems in regular form is considered. Optimization methods are applied to reduce the amplitude of the control signals. The model-reference control of a mechanical system with uncertain parameters and uncertain order illustrates the design method","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"11 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":"129507400","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: 4
Output integral sliding mode with application to the LQ - optimal control 输出积分滑模在LQ最优控制中的应用
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644495
F. Bejarano, L. Fridman, A. Poznyak
{"title":"Output integral sliding mode with application to the LQ - optimal control","authors":"F. Bejarano, L. Fridman, A. Poznyak","doi":"10.1109/VSS.2006.1644495","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644495","url":null,"abstract":"The problem of the realization of integral sliding mode controllers, based on output information only, is discussed. In the case when the number of inputs is more or equal than a number of outputs, the closed system, describing the integral sliding mode dynamics, is shown to lose observability. For any other case, a hierarchical sliding mode observer is proposed, allowing to reconstruct the system states practically just after the initial moment (theoretically). A low pass filter is suggested to be used for the observer realization. Taking the sampling step (during this filter realization) small enough, the convergence time and the observation error can be made arbitrary without the observer parameters adjustment. This allows to implement an output integral sliding mode concept ensuring the insensitivity (robustness) of the state trajectory with respect to the matched uncertainties. The results obtained are illustrated by numerical simulations","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"15 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":"129464619","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
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