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2010 11th International Workshop on Variable Structure Systems (VSS)最新文献

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About second order sliding mode control, relative degree, finite-time convergence and disturbance rejection 关于二阶滑模控制，相对程度，有限时间收敛性和抗干扰性
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5545133
V. Utkin
{"title":"About second order sliding mode control, relative degree, finite-time convergence and disturbance rejection","authors":"V. Utkin","doi":"10.1109/VSS.2010.5545133","DOIUrl":"https://doi.org/10.1109/VSS.2010.5545133","url":null,"abstract":"The paper deals with twisting and super-twisting along with the discussion about the concept of “High Order Sliding Mode Control”. Lyapunov function is designed to demonstrate, first, asymptotic stability and then finite time convergence for the systems with bounded disturbances.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124905473","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: 24
Global non-homogeneous Quasi-continuous controller for a 3-DOF helicopter 三自由度直升机全局非齐次准连续控制器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544716
H. Ríos, A. Rosales, A. Dávila
{"title":"Global non-homogeneous Quasi-continuous controller for a 3-DOF helicopter","authors":"H. Ríos, A. Rosales, A. Dávila","doi":"10.1109/VSS.2010.5544716","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544716","url":null,"abstract":"This paper presents a practical design approach to the stabilization of a three degrees of freedom helicopter. In this paper the global non homogeneous Quasi-continuous controller is presented in order to preserve high position regulation accuracy and robustness to model uncertainties and external disturbances. The non-homogeneous differentiator is also implemented to obtain exact differentiation in the control strategy. Simulations and the obtained results on a 3DOF helicopter by Quanser are shown.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"182 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114951878","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
Lyapunov analysis of non homogeneous Super-Twisting algorithms 非齐次超扭转算法的Lyapunov分析
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544672
J. Moreno
{"title":"Lyapunov analysis of non homogeneous Super-Twisting algorithms","authors":"J. Moreno","doi":"10.1109/VSS.2010.5544672","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544672","url":null,"abstract":"In this paper strict Lyapunov functions for Super-Twisting algorithms that are non homogeneous are proposed. Two basic forms of non homogeneous Algorithms will be studied. Since the homogeneity property cannot be used directly to prove stability of the algorithms, the availability of a Lyapunov function is of great importance for analysis and design in these cases.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115518006","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: 14
Optimal control of sliding mode processes: A general approach 滑模过程的最优控制:一般方法
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544626
V. Azhmyakov
{"title":"Optimal control of sliding mode processes: A general approach","authors":"V. Azhmyakov","doi":"10.1109/VSS.2010.5544626","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544626","url":null,"abstract":"This paper addresses a general theoretical framework of optimal control problems (OCPs) associated with the conventional sliding mode dynamics. We deal with a class of constrained OCPs governed by nonlinear affine control systems and propose some numerically stable approximations to the sophisticated dynamical optimization problem. The above-mentioned structure of the state equations makes it also possible to consider some sensitivity properties of the optimal solutions. The mathematical approach based on the set-valued analysis allows to study the usual discontinuous sliding mode-type dynamics in the abstract setting and to obtain some general analytical results. These facts can be effectively applied to wide classes of OCPs governed by sliding mode processes and variable structure systems (VSSs).","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116366286","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
Sliding modes observers for vehicle dynamics and variable structure automatic systems (SMO-VSAS) 车辆动力学和变结构自动系统(smos - vsas)的滑模观测器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544710
N. M'Sirdi, B. Jaballah, H. Nasser, A. Naamane
{"title":"Sliding modes observers for vehicle dynamics and variable structure automatic systems (SMO-VSAS)","authors":"N. M'Sirdi, B. Jaballah, H. Nasser, A. Naamane","doi":"10.1109/VSS.2010.5544710","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544710","url":null,"abstract":"This paper will show how to handle modeling of vehicles to get efficient and good Sliding Mode Observers. A car model with 16 DoF is decomposed for partial state observation with SMO. This decomposition method may lead, in VSAS, to good estimates of different kind variables and inputs (subsystems states, environment and ground variables, interfaces variables, connections and constraint variables). Robust Sliding Mode Observers and unknown input estimations are developed.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122612676","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
Sliding mode control for comfort improvement in railway vehicles 用于改善轨道车辆舒适性的滑模控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5545145
M. Baier, F. Scholer, Daniel Zhao, W. Rulka, D. Abel
{"title":"Sliding mode control for comfort improvement in railway vehicles","authors":"M. Baier, F. Scholer, Daniel Zhao, W. Rulka, D. Abel","doi":"10.1109/VSS.2010.5545145","DOIUrl":"https://doi.org/10.1109/VSS.2010.5545145","url":null,"abstract":"There already exist various investigations in the field of comfort improvement with the help of actuators in the secondary suspension. They are often based on the assumption that only track set irregularities but not trace are chosen as a disturbance variable of the system. The first part of this contribution describes how to ensure a comfortable journey along a track with inclination changes and no track set irregularities, using information on the trace and current vehicle position. If this technique is combined with comfort optimisation methods to control short-wave irregularities, the nonlinear parts of the characteristic curves of the spring and damper elements are used. The application of successful comfort optimisation methods, notwithstanding these nonlinearities, with the aid of Sliding Mode Control is given in the second part of the paper.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130372774","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
A sliding mode observer for estimating substrate consumption rate in a fermentation process 用于估计发酵过程中底物消耗率的滑模观测器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544697
A. F. N. A. Rahman, S. Spurgeon, Xing-gang Yan
{"title":"A sliding mode observer for estimating substrate consumption rate in a fermentation process","authors":"A. F. N. A. Rahman, S. Spurgeon, Xing-gang Yan","doi":"10.1109/VSS.2010.5544697","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544697","url":null,"abstract":"In a fermentation system, the biomass balance and the substrate mass balance are coupled by a nonlinear growth rate condition. In order to control this nonlinear process, many researchers assume that both substrate and biomass concentration are measurable. In practice, only online measurement of substrate concentration is readily available. Estimating the biomass concentration can be done but it is often an expensive procedure. This paper will consider the development of a software sensor or observer using sliding mode techniques to estimate substrate consumption rate, which comprises a combination of the substrate concentration, biomass concentration, specific growth rate and yield production coefficient. This observer parameterisation simplifies the nonlinear differential equations of the fermentation process. It is shown that the sliding mode exhibited by the observer error dynamics is exponentially stable, and uncertainty effects are considered. The constructive observer parameterisation ensures the sliding mode is reached in finite time. Nonlinear simulation results support the theoretical developments and demonstrate the robustness of the observer in the presence of both parameter uncertainties and external disturbances.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123906806","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 sliding mode control design using reduced order functional observer 基于降阶函数观测器的多速率输出反馈滑模控制设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544544
S. Janardhanan, S. Inamdar
{"title":"Multirate output feedback sliding mode control design using reduced order functional observer","authors":"S. Janardhanan, S. Inamdar","doi":"10.1109/VSS.2010.5544544","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544544","url":null,"abstract":"This paper proposes a technique for computing discrete-time sliding mode control using the concept of functional observer and multirate sampling. The proposed technique has the flexibility of using a lesser order implicit observer than those employed by standard multirate-output feedback based sliding mode controllers. The paper also proves that the complete state observability of a system is not a necessary condition for the existence of a multirate-output feedback based sliding mode controller. The proposed technique has been validated using numerical examples.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126383127","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
Bringing order to chaos: Hybrid modelling of a discontinuous chaotic system 给混沌带来秩序:不连续混沌系统的混合建模
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544705
E. Navarro-López, J. G. Barajas-Ramírez
{"title":"Bringing order to chaos: Hybrid modelling of a discontinuous chaotic system","authors":"E. Navarro-López, J. G. Barajas-Ramírez","doi":"10.1109/VSS.2010.5544705","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544705","url":null,"abstract":"We propose a computational-oriented perspective within the study of discontinuous chaotic systems, and provide insights into the modelling, control and simulation of chaotic systems with switching dynamics. In particular, the Lorenz system in its piecewise-linear version is studied. This system is reinterpreted within the hybrid-automaton framework, and what is referred to as the Lorenz hybrid automaton is established. Furthermore, a discontinuous control which eliminates the chaotic behaviour and steers the trajectories to a desired equilibrium is proposed. An integral characteristic of the modelling framework is that the controlled system, exhibiting three discontinuity surfaces, is reduced to the composition of several Lorenz hybrid automata. The approach proposed here is especially useful in order to specify the transitions between the different system operation modes, which becomes a crucial problem due to the existence of multiple switching surfaces.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128166518","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
Fault tolerant control for induction motors using sliding mode observers 采用滑模观测器的异步电动机容错控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544682
N. Djeghali, M. Ghanes, S. Djennoune, J. Barbot, M. Tadjine
{"title":"Fault tolerant control for induction motors using sliding mode observers","authors":"N. Djeghali, M. Ghanes, S. Djennoune, J. Barbot, M. Tadjine","doi":"10.1109/VSS.2010.5544682","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544682","url":null,"abstract":"In this paper a fault tolerant control design based on a sliding mode observer for induction motors is proposed. First, a direct field oriented controller based on backstepping technique is designed in order to steer the flux and speed variables to their desired references and to compensate the load disturbance. Second, a sliding mode observer is designed in order to detect and reconstruct the faults and also to estimate the flux. Then, additional control laws based on the estimates of the faults are designed in order to compensate the faults. Numerical simulations show the effectiveness of the proposed control scheme.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132119941","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
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