发布求助
文献互助 智能选刊 最新文献

Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -最新文献

筛选
英文 中文
On DSP-based real time control of an induction motor using sliding mode 基于dsp的异步电动机滑模实时控制研究
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578563
A. Benchaib, M. Tadjine, A. Rachid
{"title":"On DSP-based real time control of an induction motor using sliding mode","authors":"A. Benchaib, M. Tadjine, A. Rachid","doi":"10.1109/VSS.1996.578563","DOIUrl":"https://doi.org/10.1109/VSS.1996.578563","url":null,"abstract":"This paper deals with the control and observation of an induction motor using a sliding mode technique. Our aim is to regulate the rotor speed and the square of the rotor flux magnitude to specified references. Assuming that all the states are measured, nonlinear sliding surfaces are used to this end. Then the stator voltages are derived such that the sliding surfaces are asymptotically attractive. Since in practice the rotor fluxes are not usually measurable, a sliding mode observer is derived to estimate the rotor fluxes. Furthermore, it is shown that our observer is robust against modeling uncertainty and measurement noise. For the sake of illustration we present experimental results obtained on a digital signal processor (DSP) TMS 320C31/40 MHz based system for 0.37 kW induction motor. The experimental results show that the proposed control system is robust against stator and rotor resistance variations.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"153 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114049427","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
Neural network approach to variable structure based adaptive tracking of SISO systems 基于变结构自适应跟踪的SISO系统神经网络方法
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578593
L. Fu
{"title":"Neural network approach to variable structure based adaptive tracking of SISO systems","authors":"L. Fu","doi":"10.1109/VSS.1996.578593","DOIUrl":"https://doi.org/10.1109/VSS.1996.578593","url":null,"abstract":"This paper presents a novel approach to adaptive tracking control of linear SISO systems, which can solve the traditional model reference adaptive control (MRAC) problems. In this approach, a neural network universal approximator is included to furnish an online estimate of a function of the state and some signals relevant to the desired trajectory. The salient feature of the present work is that a rigorous proof via Lyapunov stability theory is provided. It is shown that the output error will fall into a residual set which can be made arbitrarily small.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124562202","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
A control engineer's guide to sliding mode control 控制工程师滑模控制指南
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578521
K. Young, V. Utkin, Ü. Özgüner
{"title":"A control engineer's guide to sliding mode control","authors":"K. Young, V. Utkin, Ü. Özgüner","doi":"10.1109/VSS.1996.578521","DOIUrl":"https://doi.org/10.1109/VSS.1996.578521","url":null,"abstract":"This paper presents a guide to sliding mode control for practising control engineers. It offers an accurate assessment of the so-called chattering phenomenon, catalogues implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124826117","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: 2259
A VSS analysis of robot dynamics under Coulomb frictions and a proposal of inertia-only robots 库仑摩擦作用下机器人动力学的VSS分析及纯惯性机器人的提出
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578600
S. Arimoto, H. Koga, T. Naniwa
{"title":"A VSS analysis of robot dynamics under Coulomb frictions and a proposal of inertia-only robots","authors":"S. Arimoto, H. Koga, T. Naniwa","doi":"10.1109/VSS.1996.578600","DOIUrl":"https://doi.org/10.1109/VSS.1996.578600","url":null,"abstract":"Robot dynamics under static and Coulomb frictions are shown to be equivalent to a nonlinear position-dependent circuit including a set of on-off switches and can be analyzed as a VSS (variable structure system). It is shown that, under the existence of static and Coulomb frictions at each joint, an ordinary PD feedback with gravity compensation for setpoint position control leads to a trapping of motion at some immovable state within a finite time without attaining the given target position. On the contrary, by introducing regressors for uncertain parameters of gravity forces and Coulomb frictions it is possible to show that a proper update law of such regressors leads to global asymptotic stability of setpoint position control without incurring any offset. This fact suggests a proposal of robots subject to only the terms due to inertia, that is, a proposal of inertia-only robots (or gravity/friction-free robots).","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116614296","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
Self-tuning type variable structure control method for a class of nonlinear systems 一类非线性系统的自整定型变结构控制方法
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578547
Jian-xin Xu, Tong-heng Lee, Mao Wang
{"title":"Self-tuning type variable structure control method for a class of nonlinear systems","authors":"Jian-xin Xu, Tong-heng Lee, Mao Wang","doi":"10.1109/VSS.1996.578547","DOIUrl":"https://doi.org/10.1109/VSS.1996.578547","url":null,"abstract":"In this paper we propose a new self-tuning type variable structure control (VSC) method for a class of nonlinear dynamical systems with parametric uncertainties. The control law is designed to satisfy the sliding mode condition while the online parameter identification is incorporated in the control system. Necessary modifications are made for the parameter identification to avoid the singularity of control input. By virtue of sliding mode, the proposed identification algorithm can be applied to those nonlinear systems which may not be linear in parametric space but are linear while in sliding mode. A model-based strategy is further introduced to estimate the uncertainty bound. The new approach attains the gain scheduling property by tuning the switching gain in accordance with the estimated system uncertainties, that is, the switching gain tends to reduce asymptotically while ensuring that the sliding mode condition is maintained.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128342162","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: 6
Second order steady modes in the relay control systems with time delay 时滞继电控制系统的二阶稳态模式
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578570
L. Fridman, E. Fridman, E. Shustin
{"title":"Second order steady modes in the relay control systems with time delay","authors":"L. Fridman, E. Fridman, E. Shustin","doi":"10.1109/VSS.1996.578570","DOIUrl":"https://doi.org/10.1109/VSS.1996.578570","url":null,"abstract":"The second order relay control systems with delay (SORCSD) are considered. It is shown that the average frequency of any oscillatory solution of SORCSD after a finite time interval becomes a constant. We give sufficient conditions for the existence of periodic oscillations in SORCSD for any frequency, and sufficient conditions for the orbital asymptotic stability of periodic oscillations with the minimal (zero) average frequency.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128014334","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
Frequency-shaped sliding mode control using H/sub /spl infin// control and /spl mu/ synthesis theory 频率型滑模控制采用H/sub /spl / infin/ control和/spl mu/ synthesis理论
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578602
K. Nonami, T. Ito, Y. Kitamura, K. Iwabuchi
{"title":"Frequency-shaped sliding mode control using H/sub /spl infin// control and /spl mu/ synthesis theory","authors":"K. Nonami, T. Ito, Y. Kitamura, K. Iwabuchi","doi":"10.1109/VSS.1996.578602","DOIUrl":"https://doi.org/10.1109/VSS.1996.578602","url":null,"abstract":"This paper proposes a new sliding mode control method using H/sub /spl infin////spl mu/ control theory and shows its applications. This concept is based on the frequency-shaped approach. A conventional hyperplane consists of a desired reference model without dynamics. Therefore, the sliding mode control system often becomes unstable based on spillover phenomena in a higher frequency region. On the other hand, the proposed design method can completely suppress such spillover phenomena because of the frequency-shaped hyperplane. Also, it has good robustness and robust performance in cases of parameter variations on the hyperplane to minimize the maximum singular value and structured singular value from some noise to the controlled variables. We have applied this new method to the flexible structure of the miniature test rig with four stories like high rise building and the positioning control system with the flexible arm. We have verified from simulations and experiments that the new sliding mode control method proposed in previous paper has good performances and it is very useful to suppress the spillover in a higher frequency region.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"499 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115328250","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: 6
Steady modes in the relay control systems with time delay 具有时滞的继电控制系统的稳态模式
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578572
L. Fridman
{"title":"Steady modes in the relay control systems with time delay","authors":"L. Fridman","doi":"10.1109/VSS.1996.578572","DOIUrl":"https://doi.org/10.1109/VSS.1996.578572","url":null,"abstract":"The multidimensional relay control systems with time delay are considered. We show that the time delay does not allow to realize an ideal sliding mode, but indicates oscillations, whose stability is determined by one discrete parameter-oscillation frequency. Any motion of scalar discontinuous delay system turns into a steady mode-a motion with a constant frequency. The existence of the periodic steady modes autonomous multidimensional relay delay control systems for any even frequency is proved. The sufficient conditions for stability of the zero frequency steady modes are discussed. The theorem about existence and stability of the zero frequency steady modes of the singularly perturbed multidimensional relay control systems with time delay is proved. The algorithm of asymptotic representation of periodic solutions using boundary layer method is suggested.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131024472","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
Variable structure control for uncertain sampled data systems 不确定采样数据系统的变结构控制
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578575
M. Letizia Corradini, G. Orlando
{"title":"Variable structure control for uncertain sampled data systems","authors":"M. Letizia Corradini, G. Orlando","doi":"10.1109/VSS.1996.578575","DOIUrl":"https://doi.org/10.1109/VSS.1996.578575","url":null,"abstract":"A novel discrete-time variable structure control technique is presented in this paper, for the control of uncertain continuous-time systems. The design algorithm makes also use of time delay control in order to estimate the effects of the system perturbations inside the switching region. The controller performances have been evaluated by simulation using a benchmark problem proposed in literature. A satisfactory behaviour is obtained also in presence of remarkable uncertainties, showing noticeable robustness with respect to parameter variations and external disturbances. Moreover, the time response can be shaped by the designer, properly tuning the control algorithm parameters.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131246475","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: 2
Continuous sliding mode control system using virtual reconstruction 采用虚拟重构的连续滑模控制系统
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578595
Kang-Bark Park, Jujang Lee
{"title":"Continuous sliding mode control system using virtual reconstruction","authors":"Kang-Bark Park, Jujang Lee","doi":"10.1109/VSS.1996.578595","DOIUrl":"https://doi.org/10.1109/VSS.1996.578595","url":null,"abstract":"In this paper, a sliding mode control scheme that guarantees the smoothness of the control signal and the exponential error convergence is proposed for robot manipulators. The proposed method inserts a low-pass filter (LPF) in front of the plant, and the virtual controller is designed for the virtual plant-the combination of the LPF and the robot manipulator. The virtual control signal contains high frequency components because of a switching function. The real control signal, however, always shows a smooth curve since it is an output of the LPF. In addition to the smoothness of the control signal is always assured, the overall system is in the sliding mode at all times, that is, its performance is always invariant under the existence of parameter uncertainties and external disturbances. The closed-loop system is shown to be globally exponentially stable.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126882699","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
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