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

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The use of linear filtering to simplify integrator backstepping control of nonlinear systems 利用线性滤波简化非线性系统的积分器反步控制
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578621
P. P. Yip, J. Hedrick, D. Swaroop
{"title":"The use of linear filtering to simplify integrator backstepping control of nonlinear systems","authors":"P. P. Yip, J. Hedrick, D. Swaroop","doi":"10.1109/VSS.1996.578621","DOIUrl":"https://doi.org/10.1109/VSS.1996.578621","url":null,"abstract":"A method is proposed for designing stable controllers with arbitrarily small tracking errors for uncertain mismatched nonlinear systems. This method utilizes the \"integrator backstepping\" approach but with an important addition, /spl gamma/-1 low pass linear filters, where /spl gamma/ is the relative degree of the output to be controlled. It is shown that these low pass filters allow a design where the model and model error bounds are not differentiated. This method is applied to both Lipschitz and nonLipschitz nonlinearities. The nonLipschitz case requires the use of signum functions and is illustrated with a numerical example.","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":"129952804","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: 17
Variable structure controller design for large-scale systems 大型系统的变结构控制器设计
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578624
A. Sheta
{"title":"Variable structure controller design for large-scale systems","authors":"A. Sheta","doi":"10.1109/VSS.1996.578624","DOIUrl":"https://doi.org/10.1109/VSS.1996.578624","url":null,"abstract":"In this paper, a new formulation for controlling large-scale linear, discrete time, and dynamically interconnected system is presented. The large-scale system is decomposed into N subsystems, each satisfying a required performance index criterion. A suboptimal variable structure controller was designed for each subsystem in a decentralized manner to compensate uncertain effects in the interconnection matrix. This controller was designed off-line based on a set of expected system failure modes and switched online when failure detected. This methodology has the advantage of achieving overall system stability robustness for large-scale systems.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"42 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":"126365533","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
Robust sliding mode control of uncertain systems 不确定系统的鲁棒滑模控制
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578531
K. Yasuda, Y. Nakatsuji
{"title":"Robust sliding mode control of uncertain systems","authors":"K. Yasuda, Y. Nakatsuji","doi":"10.1109/VSS.1996.578531","DOIUrl":"https://doi.org/10.1109/VSS.1996.578531","url":null,"abstract":"This paper is concerned with sliding mode control for linear multivariable systems where time-varying unmatched uncertainties lie in both state and input matrices. Sufficient conditions under which a robust sliding mode control can be accomplished, are shown. The conditions include a previous result on only state matrix uncertainties as a special case.","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":"133208783","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: 10
On variable structure observers 关于变结构观测器
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578618
I. Haskara, U. Ozguner, V. Utkin
{"title":"On variable structure observers","authors":"I. Haskara, U. Ozguner, V. Utkin","doi":"10.1109/VSS.1996.578618","DOIUrl":"https://doi.org/10.1109/VSS.1996.578618","url":null,"abstract":"In this paper, a discrete time sliding mode observer design for a linear time invariant system is considered. Continuous time sliding mode observer design is also discussed and summarized as a theorem for a direct implementation in the original state space realization of the given plant. Simulation of a linearized truck-semitrailer during a lane change maneuver illustrates the approach. Results show the effectiveness and finite time convergence characteristics of the proposed discrete and continuous time sliding mode observers.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"34 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":"121247043","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: 39
A sliding mode controlled sinusoidal voltage source with ellipsoidal switching surface 一种椭球形开关面滑模控制正弦电压源
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578561
R. Takahashi, P. Peres, L.L.S. Barbosa
{"title":"A sliding mode controlled sinusoidal voltage source with ellipsoidal switching surface","authors":"R. Takahashi, P. Peres, L.L.S. Barbosa","doi":"10.1109/VSS.1996.578561","DOIUrl":"https://doi.org/10.1109/VSS.1996.578561","url":null,"abstract":"This note presents a methodology for the synthesis of a switched-devices-based controlled sinusoidal voltage source. The sliding modes control leads to a robust behavior against load variations. The ellipsoidal switching surface allows a faster (time sub-optimal) tracking of the sinusoidal reference under amplitude and/or frequency reference changes. Finite switching frequency effects are compensated for.","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":"129697671","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
A sliding mode controller with improved adaptation laws for the upper bounds on the norm of uncertainties 一种具有改进的不确定性范数上界自适应律的滑模控制器
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578594
G. Wheeler, C. Su, Y. Stepanenko
{"title":"A sliding mode controller with improved adaptation laws for the upper bounds on the norm of uncertainties","authors":"G. Wheeler, C. Su, Y. Stepanenko","doi":"10.1109/VSS.1996.578594","DOIUrl":"https://doi.org/10.1109/VSS.1996.578594","url":null,"abstract":"In this paper an improved adaptation law on the upper bound of uncertainties is proposed to guarantee the boundedness of both states of the plant and the estimated control gains when the boundary layer technique is employed.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"58 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":"128539909","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: 49
A combined backstepping/second order sliding mode approach to control a class of nonlinear systems 一类非线性系统的联合反演/二阶滑模控制方法
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578620
G. Bartolini, A. Ferrara, L. Giacomini, E. Usai
{"title":"A combined backstepping/second order sliding mode approach to control a class of nonlinear systems","authors":"G. Bartolini, A. Ferrara, L. Giacomini, E. Usai","doi":"10.1109/VSS.1996.578620","DOIUrl":"https://doi.org/10.1109/VSS.1996.578620","url":null,"abstract":"A combined adaptive/variable structure control approach is presented in this note, which exploits the good properties of the backstepping procedure, on one side, and of a second order sliding mode control algorithm, on the other. It retains the stability and convergence features of the original adaptive strategy, allowing, in addition, the presence of nonparametric uncertainties in the last two equations of the system, as well as ensuring robustness and a reduction of the computational load.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"61 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":"126382693","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: 38
Neural network application in sliding mode control systems 神经网络在滑模控制系统中的应用
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578585
A. Sabanoviç, K. Jezernik, M. Rodic
{"title":"Neural network application in sliding mode control systems","authors":"A. Sabanoviç, K. Jezernik, M. Rodic","doi":"10.1109/VSS.1996.578585","DOIUrl":"https://doi.org/10.1109/VSS.1996.578585","url":null,"abstract":"Application of neural network controller design in dynamical systems with sliding mode motion is introduced to improve performance of the discrete-time sliding mode system. Neural network controller with learning rule based on sliding mode algorithm, is proposed to assure calculation of unknown part of the equivalent control in the presence of the plant uncertainties. Developed algorithm is robust to parameter variations and external disturbances. The effectiveness of the neural network sliding mode controllers is verified by experiments.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"21 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":"124682426","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: 27
Adaptive sliding mode controller with monotonically nonincreasing gain for nonlinear uncertain systems 非线性不确定系统增益单调非递增的自适应滑模控制器
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578583
Kang-Bark Park, Jujang Lee
{"title":"Adaptive sliding mode controller with monotonically nonincreasing gain for nonlinear uncertain systems","authors":"Kang-Bark Park, Jujang Lee","doi":"10.1109/VSS.1996.578583","DOIUrl":"https://doi.org/10.1109/VSS.1996.578583","url":null,"abstract":"In this paper, the adaptive sliding mode controller (ASMC) is proposed for a class of nonlinear uncertain systems. Conventional adaptive robust control system and/or adaptive sliding mode control system could not give when the system shows invariance property against parameter uncertainties and external disturbances. Thus, although the initial system state is on the sliding surface, one can not ensure the occurrence of the sliding mode for the conventional adaptive sliding mode control systems; that is, the system state may leave the sliding surface even if the state hits the sliding surface. For the proposed ASMC, no a priori knowledge of the exact bounds for parameter uncertainties and external disturbances is needed because the proposed control scheme uses adaptive algorithm for bounds of the uncertainty. The overall system is shown to be globally asymptotically stable.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"43 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":"131277057","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
Modified sliding mode controller for a class of nonlinear multi-input systems 一类非线性多输入系统的改进滑模控制器
Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 - Pub Date : 1996-12-05 DOI: 10.1109/VSS.1996.578553
Jian-xin Xu, Tong-heng Lee, Chenlu He
{"title":"Modified sliding mode controller for a class of nonlinear multi-input systems","authors":"Jian-xin Xu, Tong-heng Lee, Chenlu He","doi":"10.1109/VSS.1996.578553","DOIUrl":"https://doi.org/10.1109/VSS.1996.578553","url":null,"abstract":"A modified sliding mode controller with continuous switching is proposed for a class of nonlinear multi-input systems. The control design consists of first choosing a set of suitable sliding sectors, instead of conventional sliding surfaces, then constructing a continuous switching controller. It is shown that, the global attractiveness and stability of the sliding sectors are guaranteed with the continuous switching control strategy. While retaining the robustness property of general sliding mode control, the modified sliding mode controller provides much smoother control signals. Trajectory control of a two-link robot is investigated to show the effectiveness of the new method.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"12 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131752207","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
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