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

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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
High Order Sliding Mode Controller for blood glucose in type 1 diabetes, with relative degree fluctuations 具有相对程度波动的1型糖尿病血糖高阶滑模控制器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544666
Ana Gallardo Hernandez, L. Fridman, A. Levant, Y. Shtessel, S. Islas Andrade, C. Revilla Monsalve
{"title":"High Order Sliding Mode Controller for blood glucose in type 1 diabetes, with relative degree fluctuations","authors":"Ana Gallardo Hernandez, L. Fridman, A. Levant, Y. Shtessel, S. Islas Andrade, C. Revilla Monsalve","doi":"10.1109/VSS.2010.5544666","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544666","url":null,"abstract":"Glucose is regulated by insulin injections in patients with diabetes type 1. High Order Sliding Mode Controllers are well suited to perform a closed loop control due to is a non linear control, robust with respect to parameter uncertainties, and model unaccounted dynamics. These features represents an advance to other works in this field, due to the system is non linear, variable in the time, and the parameter identification is expensive and invasive to the patient. The improving of the model of glucose-insulin regulatory system, considering additional dynamics, increases, arbitrarily, the model order. The theorem that ensures the robustness of HOSMC with respect to unaccounted dynamics is given. This theorem justify the implementation of a controller designed for a reduced model will be able to handle the dynamics of a extended model. In this paper the theorem is illustrated by the design of a third order sliding mode controller, based on BeM, and tested also in SoM that is one of the most complete models and have 24 differential equations and has relative degree five.","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":"122859331","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
Ultimate robustness of homogeneous sliding modes 均匀滑动模态的极限鲁棒性
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544702
A. Levant
{"title":"Ultimate robustness of homogeneous sliding modes","authors":"A. Levant","doi":"10.1109/VSS.2010.5544702","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544702","url":null,"abstract":"Most known high-order sliding mode controllers are homogeneous. Homogeneous high-order sliding modes are shown to be robust with respect to the presence of fast stable actuators and sensors, small model disturbances changing the relative degree, measurement noises and control delays. Computer simulation confirms the theoretical results.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"746 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":"122961608","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
Finite-time convergence analysis for “Twisting” controller via a strict Lyapunov function 用严格Lyapunov函数分析“扭转”控制器的有限时间收敛性
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5545144
Raul Santiesteban, L. Fridman, J. Moreno
{"title":"Finite-time convergence analysis for “Twisting” controller via a strict Lyapunov function","authors":"Raul Santiesteban, L. Fridman, J. Moreno","doi":"10.1109/VSS.2010.5545144","DOIUrl":"https://doi.org/10.1109/VSS.2010.5545144","url":null,"abstract":"A second order sliding mode controller, the so- called “Twisting” algorithm is under study. A non-smooth strict Lyapunov function is proposed, such that global finite time stability for this algorithm can be proved even in the case when it is affected by bounded external perturbations. The strict Lyapunov function gives the possibility to estimate an upper bound for the time convergence of the trajectories of the system to the equilibrium point. A linear compensator is added to the twisting algorithm so linearly increasing perturbations can be compensated. Indeed, finite time stability and a convergence time estimation for a global finite time convergence algorithm is shown.","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":"123999204","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: 51
The block design of invariant tracking system under incomplete measurements 不完全测量条件下不变跟踪系统的分块设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544646
V. Utkin, S. Krasnova
{"title":"The block design of invariant tracking system under incomplete measurements","authors":"V. Utkin, S. Krasnova","doi":"10.1109/VSS.2010.5544646","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544646","url":null,"abstract":"The paper deals with tracking problem for linear multiple-input multiple-output systems under unmeasurable smooth external disturbances. The step-by-step transformation procedure of initial system to block-canonical form of controllability and observability of the output (measurable) variables with regard for the external disturbances was developed based on the block approach. This form underlies the decomposition procedures of feedback design enabling one to track the given trajectories along with disturbances rejection.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"50 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":"122032175","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
Adaptive continuous finite reaching time control and second order sliding modes 自适应连续有限到达时间控制和二阶滑模
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544721
Y. Shtessel, C. Edwards, S. Spurgeon, J. Kochalummoottil
{"title":"Adaptive continuous finite reaching time control and second order sliding modes","authors":"Y. Shtessel, C. Edwards, S. Spurgeon, J. Kochalummoottil","doi":"10.1109/VSS.2010.5544721","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544721","url":null,"abstract":"In this paper adaptive finite reaching time control is designed for first and second order dynamic systems with perturbation terms given in a regressive form. The adaptive finite reaching time controllers which are proposed do not contain any discontinuities while retaining robustness to bounded disturbances with unknown bounds. Simulation results demonstrate the efficacy of the proposed algorithms.","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":"128038583","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
Sampled output based continuous second order sliding mode observer 基于采样输出的连续二阶滑模观测器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544723
I. Salgado, J. Moreno, I. Chairez
{"title":"Sampled output based continuous second order sliding mode observer","authors":"I. Salgado, J. Moreno, I. Chairez","doi":"10.1109/VSS.2010.5544723","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544723","url":null,"abstract":"Most of state observers implemented in real systems are not able to measure the information continuously. The sliding observers are not an exception. Nevertheless, when state observers are used in numerical applications or even in real systems, one must implement a sampled based observer. In this paper, a second order sliding mode observer based on the supertwisting algorithm is studied, tacking into account that the output only can be measure in specific periods of the time, to do this, a zero order hold is proposed to sampling the output. The continuous observer is analized in terms of Lyapunov stability. It have been proposed a strong Lyapunov function to show finite-time convergence into a boundary layer that depends on the sampled period. The result is applied into a two-link robot manipulator and it is compared the observer efficiency between different sampled periods to show how the result is affected by the sampling interval.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"95 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":"124770301","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
Second-order sliding-mode control of the uncertain heat and wave equations 不确定热波方程的二阶滑模控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544674
Y. Orlov, A. Pisano, E. Usai
{"title":"Second-order sliding-mode control of the uncertain heat and wave equations","authors":"Y. Orlov, A. Pisano, E. Usai","doi":"10.1109/VSS.2010.5544674","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544674","url":null,"abstract":"In the present paper, preliminary results towards the generalization to the infinite-dimensional setting of some known robust finite-dimensional control algorithms are illustrated. The main focus of the present paper is on the rejection of non-vanishing external disturbances. The generalization to the infinite-dimensional setting of some known finite-dimensional controllers, namely the “Power-fractional” controller [5], and two “Second-order sliding-mode” control algorithms (the “Twisting” and “Super-Twisting” algorithms [10]) is performed to address control problems involving the uncertain wave and heat equations. Constructive proofs of stability are developed via Lyapunov functional technique, which leads to simple tuning rules for the controller parameters. Simulation results are discussed to verify the effectiveness of the proposed schemes.","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":"125734861","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: 13
Output feedback design for exact state stability of flat nonlinear systems 平面非线性系统精确状态稳定性的输出反馈设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544668
M. T. Angulo, L. Fridman, C. Moog, J. Moreno
{"title":"Output feedback design for exact state stability of flat nonlinear systems","authors":"M. T. Angulo, L. Fridman, C. Moog, J. Moreno","doi":"10.1109/VSS.2010.5544668","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544668","url":null,"abstract":"The notion of strong observability is generalized for nonlinear systems. It allows to write the state of the system as a function of the measurable outputs and their time derivatives only, therefore allowing the construction of an unknown-input observer once such derivatives are estimated. It is shown that the output based control design problem for robust finite-time state stability for nonlinear systems can be solved in two steps: the design of an unknown-input observer and the design of a full state controller computed from a set of new outputs with suitable invertibility properties. The problem of finding those new outputs can be tackled, for instance, for systems that are flat, or equivalently fully linearizable by dynamic feedback.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"49 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":"133515865","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
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