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

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Adaptive sliding mode control for an electropneumatic actuator 电动气动执行器的自适应滑模控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544714
Vincent Bregeault, Vincent Brégeault, F. Plestan, Y. Shtessel, A. Poznyak
{"title":"Adaptive sliding mode control for an electropneumatic actuator","authors":"Vincent Bregeault, Vincent Brégeault, F. Plestan, Y. Shtessel, A. Poznyak","doi":"10.1109/VSS.2010.5544714","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544714","url":null,"abstract":"This paper presents a novel control strategy based on adaptive sliding mode control. The proposed adaptation law allows adjusting the control gain by taking into account the effects of bounded uncertainties and perturbations with unknown bounds. The main advantage of the proposed adaptive sliding mode control algorithm is in adjusting the control gain without its overestimation in the presence of the bounded perturbations with the unknown bounds. This yields the reduction of chattering. The control law is applied for position-pressure control of electropneumatic actuator experimental setup.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"293 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":"116570670","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
Integrated missile flight control using quaternions and Third-order sliding mode control 基于四元数和三阶滑模控制的综合导弹飞行控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544652
David C. Foreman, C. Tournes, Y. Shtessel
{"title":"Integrated missile flight control using quaternions and Third-order sliding mode control","authors":"David C. Foreman, C. Tournes, Y. Shtessel","doi":"10.1109/VSS.2010.5544652","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544652","url":null,"abstract":"An integrated autopilot-and-guidance algorithm that is robust to missile's model parametric and dynamic uncertainties is developed, using Higher Order Sliding Mode (HOSM) quasi-continuous control, for an endoatmospheric missile. Unlike in traditional guidance and control solutions that use a nested-loop design, a single loop integrated design of guidance/autopilot is proposed. 6-Degree of Freedom simulations of a simplified missile model with and without realistic actuator models, delays and parametric uncertainties confirms the efficacy of the proposed robust integrated HOSM guidance/control design.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"13 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":"127788686","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
Super-twisting control of induction motors with core loss 带铁芯损耗的异步电动机超扭控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544737
J. Rivera Dominguez, Christian Mora-Soto, S. Ortega, J. Raygoza, A. de la Mora
{"title":"Super-twisting control of induction motors with core loss","authors":"J. Rivera Dominguez, Christian Mora-Soto, S. Ortega, J. Raygoza, A. de la Mora","doi":"10.1109/VSS.2010.5544737","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544737","url":null,"abstract":"A novel nonlinear affine model for the induction motor with core loss is developed in the well known (α β) stationary reference frame. The core is represented with a resistance in paralled with the magnetization inductance. Then, an optimal rotor flux modulus is calculated such that, the power loss due to stator, rotor and core resistances is minimized, and as a consequence the motor efficiency is raised. The calculated optimal flux modulus is forced to be tracked by the induction motor along with a desired rotor velocity by means of a super-twisting sliding mode controller. Using a novel Lyapunov function, the closed-loop stability of the system is demonstrated. A simulation study is carried on, where the superior performance of the proposed controller is put in evidence when compared to the same controller when not taking into account an optimal flux modulus.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"95 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133617246","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: 15
Achieving consensus amongst self-propelling agents by enforcing sliding modes 通过强制滑动模式在自推进代理之间达成共识
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544684
Sachit Rao, Debasish Ghose
{"title":"Achieving consensus amongst self-propelling agents by enforcing sliding modes","authors":"Sachit Rao, Debasish Ghose","doi":"10.1109/VSS.2010.5544684","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544684","url":null,"abstract":"An algorithm, based on sliding mode control and graph algebraic theories, for the provision of consensus to a swarm of self-propelling agents is presented. Swarms, comprised of agents with first-order dynamics, that can be described by fully-connected and connected graphs with time-invariant topologies are considered. For consensus, the agents' inputs are designed to enforce sliding mode on surfaces that depend on the graph Laplacian matrix. The property of sliding mode occurring within a finite time interval, which can be varied, is lent to the swarm and it is this facet that distinguishes the proposed algorithm. As will be shown, applying this algorithm results the swarm achieving a constant consensus value equal to the average of the largest and smallest initial states of the agents. Owing to this result, by introducing a virtual agent with a pre-calculated initial condition, the algorithm allows for the tuning of the consensus value.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"15 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":"134620565","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
A trajectory stabilization algorithm for a mobile robot 移动机器人的轨迹稳定算法
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544691
S. Kochetkov, V. Utkin
{"title":"A trajectory stabilization algorithm for a mobile robot","authors":"S. Kochetkov, V. Utkin","doi":"10.1109/VSS.2010.5544691","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544691","url":null,"abstract":"Wheeled mobile robots are used widely in many applications. There are many algorithms for robot movements control and trajectory stabilization proposed in literature. In this paper we consider using block approach to synthesize control algorithm for trajectory stabilization of mobile platform. The main idea consists in introducing relation between position and angular coordinates, which excludes loss of controllability of mobile robot. Then step by step synthesis procedure is used on the base of block approach to provide fulfillment of mentioned above interconnection. Simulation results demonstrate the effectiveness of proposed algorithm.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"19 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":"133291748","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
Limit cycles in an industrially applied hybrid system 工业应用混合动力系统的极限环
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544728
A. Hultgren, J. Melin, P. Ranstad
{"title":"Limit cycles in an industrially applied hybrid system","authors":"A. Hultgren, J. Melin, P. Ranstad","doi":"10.1109/VSS.2010.5544728","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544728","url":null,"abstract":"An industrially applied LCC power converter is modelled as a hybrid system. It is found that the hybrid system with three continuous states and one logic state given a parameter set up and different initial conditions has among other solutions one central closed trajectory and two types of limit cycles, on the left and the right side. The other solutions are indicated.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"29 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":"133772389","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
Output feedback second order sliding mode control design for a 3-DOF helicopter based on its simplified model 基于简化模型的三自由度直升机输出反馈二阶滑模控制设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544663
Jovan Merida-Rubio, L. Aguilar
{"title":"Output feedback second order sliding mode control design for a 3-DOF helicopter based on its simplified model","authors":"Jovan Merida-Rubio, L. Aguilar","doi":"10.1109/VSS.2010.5544663","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544663","url":null,"abstract":"This paper presents the solution to the tracking control problem for an underactuated scaled autonomous helicopter using variable structure control via output measurements. First, it is designed a state-feedback second order sliding mode controller to stabilize height and rotation positions. Controller is designed from a reduced model of the helicopter and the resulting control law is tested in its full model thus showing the robustness against unmodelled dynamics. Simulation results illustrate the performance the effectiveness of the controller.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"61 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":"132731681","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
Adaptive continuous control with sliding mode for plants under nonlinear perturbations, external disturbances and actuator failures 对象在非线性扰动、外部扰动和执行器失效情况下的滑模自适应连续控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544645
B. Mirkin, P. Gutman, Y. Shtessel
{"title":"Adaptive continuous control with sliding mode for plants under nonlinear perturbations, external disturbances and actuator failures","authors":"B. Mirkin, P. Gutman, Y. Shtessel","doi":"10.1109/VSS.2010.5544645","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544645","url":null,"abstract":"In this paper, we develop a combined adaptive-sliding mode control scheme with smooth control actions for a class of nonlinear dynamic systems with actuator failure which is robust with respect to actuator failures, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov-Krasovskii type functional is introduced to design the adaptation algorithms, and to prove stability. The simulation results demonstrate the efficacy of the proposed adaptive-sliding mode techniques.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"78 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":"115886891","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
Coordinated decentralized adaptive control with sliding mode of composite plants with time-varying delays in nonlinear interconnections 非线性互联时变时滞复合对象的滑模协调分散自适应控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544730
B. Mirkin, P. Gutman, Y. Shtessel
{"title":"Coordinated decentralized adaptive control with sliding mode of composite plants with time-varying delays in nonlinear interconnections","authors":"B. Mirkin, P. Gutman, Y. Shtessel","doi":"10.1109/VSS.2010.5544730","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544730","url":null,"abstract":"In this paper, a coordinated decentralized state-feedback model reference adaptive control with a sliding mode is developed for a class of large-scale systems with time-varying delays in the nonlinear interconnections. The design procedure is based on the concept of reference model coordination. A novel decentralized controller parametrization that is robust to unknown information exchange delays and to external disturbances with unknown bounds is proposed.","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":"129655282","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
Application of sliding mode techniques to the delay identification of nonlinear systems 滑模技术在非线性系统延迟辨识中的应用
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544660
M. Buss, S. Hirche, L. Levaggi
{"title":"Application of sliding mode techniques to the delay identification of nonlinear systems","authors":"M. Buss, S. Hirche, L. Levaggi","doi":"10.1109/VSS.2010.5544660","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544660","url":null,"abstract":"The issue of delay identification for autonomous nonlinear systems is addressed in this work. Using sliding modes control methods it is first proven that the estimation goal can be fulfilled by finding the global norm minimizer of an infinite dimensional mapping. This result is then exploited to design, under different assumptions on the system's knowledge, both a finite-time and an asymptotically convergent identifier.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"1 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":"130050718","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
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