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

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Digitally controlled sliding mode based servo-system with active disturbance estimator 带有自扰估计器的数字控制滑模伺服系统
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644492
B. Veselić, C. Milosavljevic, B. Perunicic-Drazenovic, D. Mitic
{"title":"Digitally controlled sliding mode based servo-system with active disturbance estimator","authors":"B. Veselić, C. Milosavljevic, B. Perunicic-Drazenovic, D. Mitic","doi":"10.1109/VSS.2006.1644492","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644492","url":null,"abstract":"This paper considers the design of robust servo system for accurate tracking of complex referent signals in the presence of internal and external disturbances. Discrete-time sliding mode tracking controller is employed in servo-system design. In order to improve tracking accuracy, application of active disturbance estimator is suggested. The same sliding mode controller, designed for reference tracking of nominal system, is identically implemented in the control subsystem within the estimator. The overall servo-system exhibits high tracking accuracy under action of parameter uncertainties and external disturbances. Experimental results confirm the effectiveness of the proposed servo-system structure","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"42 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":"128623121","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 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
Absolute orientation estimation based on high order sliding mode observer for a five link walking biped robot 基于高阶滑模观测器的五连杆双足行走机器人绝对方位估计
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644546
V. Lebastard, Y. Aoustin, F. Plestan, L. Fridman
{"title":"Absolute orientation estimation based on high order sliding mode observer for a five link walking biped robot","authors":"V. Lebastard, Y. Aoustin, F. Plestan, L. Fridman","doi":"10.1109/VSS.2006.1644546","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644546","url":null,"abstract":"An observer to determine the absolute orientation of a 5-link biped robot is designed, in order to avoid the use of a sensor, which is one of the originalities of this paper. As a matter of fact, the measurement of such variable is quite delicate. The observer is based on the high order sliding mode approach, for its features of robustness and finite-time convergence property","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"27 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":"117212799","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
Design of Integral Sliding Manifolds for Multi-model Uncertain Systems via LMI 基于LMI的多模型不确定系统积分滑动流形设计
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644494
F. Castaños, L. Fridman
{"title":"Design of Integral Sliding Manifolds for Multi-model Uncertain Systems via LMI","authors":"F. Castaños, L. Fridman","doi":"10.1109/VSS.2006.1644494","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644494","url":null,"abstract":"In this note we provide a way of designing the nominal trajectory of an integral sliding mode controller for linear multi-model uncertain systems. The nominal system is chosen using a mini-max criterion for the norm of the discontinuous, feed-forward control. The continuous feed-back control is then designed using linear matrix inequalities","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":"125190670","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: 3
Optimal Sliding Mode Control For Linear Systems 线性系统的最优滑模控制
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644508
Rong Xu, U. Ozguner
{"title":"Optimal Sliding Mode Control For Linear Systems","authors":"Rong Xu, U. Ozguner","doi":"10.1109/VSS.2006.1644508","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644508","url":null,"abstract":"A sliding mode control with a dynamic sliding surface is proposed to solve the infinite-time optimal control problem for linear systems. The advantage of this kind of control is that it provides a robust optimal control to the optimal control problem","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"06 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":"116124604","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
Design of SPR Systems with Dynamic Compensators and Output Variable Structure Control 带动态补偿和输出变结构控制的SPR系统设计
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644539
M. Teixeira, M. R. Covacic, E. Assunção
{"title":"Design of SPR Systems with Dynamic Compensators and Output Variable Structure Control","authors":"M. Teixeira, M. R. Covacic, E. Assunção","doi":"10.1109/VSS.2006.1644539","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644539","url":null,"abstract":"This paper presents necessary and sufficient conditions for the following problem: given a linear time invariant plant G(s) = N(s)D(s) <sup>-1</sup> = C(sI -A)<sup>-1</sup>B, with m inputs, p outputs, p > m, rank(C) = p, rank(B) = rank(CB) = m, find a tandem dynamic controller G<sub>c</sub>(s) = D<sub>c</sub>(s)<sup>-1</sup>N<sub>c</sub>(s) = C<sub>c</sub>(sI - A<sub>c</sub>)<sup>-1</sup>B<sub>c</sub> B<sub>c</sub> + D<sub>c</sub>, with p inputs and m outputs and a constant output feedback matrix K<sub>o</sub> isin Ropf<sup>mtimesp</sup> such that the feedback system is strictly positive real (SPR). It is shown that this problem has solution if and only if all transmission zeros of the plant have negative real parts. When there exists solution, the proposed method firstly obtains G<sub>c </sub>(s) in order to all transmission zeros of G<sub>c</sub>(s)G(s) present negative real parts and then K<sub>o</sub> is found as the solution of some linear matrix inequalities (LMIs). Then, taking into account this result, a new LMI based design for output variable structure control (VSC) of uncertain dynamic plants is presented. The method can consider the following design specifications: matched disturbances or nonlinearities of the plant, output constraints, decay rate and matched and nonmatched plant uncertainties","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"2004 19","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132969149","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: 20
First and High-Order Sliding Mode Observers to Estimate the Contact Forces 一阶和高阶滑模观测器估计接触力
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644530
N. M'Sirdi, A. Rabhi, M. Ouladsine, L. Fridman
{"title":"First and High-Order Sliding Mode Observers to Estimate the Contact Forces","authors":"N. M'Sirdi, A. Rabhi, M. Ouladsine, L. Fridman","doi":"10.1109/VSS.2006.1644530","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644530","url":null,"abstract":"In this work two efficient approaches to observe tire forces are developed. The cascaded observers, based on first or second order sliding modes, to estimate the contact forces are used. The contact forces are identified as unknown inputs","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"111 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":"130822706","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
Adaptive sliding mode control of belt driven prismatic manipulator 带驱动棱镜机械手的自适应滑模控制
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644547
M. Tanaka, Yaodong Pan, K. Furuta
{"title":"Adaptive sliding mode control of belt driven prismatic manipulator","authors":"M. Tanaka, Yaodong Pan, K. Furuta","doi":"10.1109/VSS.2006.1644547","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644547","url":null,"abstract":"This paper presents an adaptive controller for a new type prismatic manipulator. This adaptive controller is designed with the sliding mode, by which on-line parameters estimation mechanism is implemented and the control input is determined adaptively combining the estimation mechanism. The derivative of the signal is estimated by an adaptive VS-differentiator","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"16 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":"122495036","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
On the GPI-sliding mode control of switched fractional order systems 切换分数阶系统的gpi -滑模控制
International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI: 10.1109/VSS.2006.1644536
H. Sira-Ramírez, V. Feliu-Batlle
{"title":"On the GPI-sliding mode control of switched fractional order systems","authors":"H. Sira-Ramírez, V. Feliu-Batlle","doi":"10.1109/VSS.2006.1644536","DOIUrl":"https://doi.org/10.1109/VSS.2006.1644536","url":null,"abstract":"The control of a special class of single input single output (SISO) switched fractional order systems (SFOS) is addressed from the viewpoints of the generalized proportional integral (GPI) feedback control approach and a sliding mode based Sigma - Delta modulation implementation of an average model based designed feedback controller. A fractional order GPI controller is proposed which transforms the average model of the system into a pure, integer order, chain of integrations with desired closed loop dynamics achieved through a classical compensation network robustly acting in the presence of constant load perturbations. A sliding mode based Sigma - Delta modulation implementation of the continuous, bounded, dynamic average output feedback control signal is adopted for the switched system. An illustrative simulation example dealing with an electric radiator system is presented","PeriodicalId":146618,"journal":{"name":"International Workshop on Variable Structure Systems, 2006. VSS'06.","volume":"146 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":"124692702","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: 7
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