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

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Design of roll autopilot for a tail controlled missile using sliding mode technique 基于滑模技术的尾控导弹滚转自动驾驶仪设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544718
P. Parkhi, B. Bandyopadhyay, Mahendra Jha
{"title":"Design of roll autopilot for a tail controlled missile using sliding mode technique","authors":"P. Parkhi, B. Bandyopadhyay, Mahendra Jha","doi":"10.1109/VSS.2010.5544718","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544718","url":null,"abstract":"Sliding mode design based on Lyapunov matrices is proposed as roll autopilot for a tail controlled missile. The search of Lyapunov matrix for systems with unmatched uncertainties is formulated in terms of linear matrix inequality. The proposed scheme ensures robust roll position control even in the presence of large mismatched parametric uncertainties and external disturbances. The performance of roll autopilot design based on sliding mode technique is compared with the classical autopilot. The simulation results demonstrate that the sliding mode based roll autopilot maintains its performance over wide range of variation of parameters.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"2 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":"129844535","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: 12
Cascades stability analysis applied to a control design for unmatched perturbation rejection based on HOSM 级联稳定性分析应用于基于HOSM的非匹配摄动抑制控制设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544694
A. Estrada, A. Loría, A. Chaillet
{"title":"Cascades stability analysis applied to a control design for unmatched perturbation rejection based on HOSM","authors":"A. Estrada, A. Loría, A. Chaillet","doi":"10.1109/VSS.2010.5544694","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544694","url":null,"abstract":"We present preliminary results on exact stability of hierarchical high order sliding mode (HOSM) controlled systems with smooth perturbations. We solve the exact tracking control problem for triangular systems of second order hence, our results are a starting point for backstepping HOSM control. The approach is based on the so-called quasi-continuous high order sliding modes algorithm however, we relax the conservative assumption of boundedness of solutions. The stability analysis is based on cascaded systems theory for nonlinear time-varying Lipschitz systems.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"156 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":"132501365","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
Two synchronized pendulums in a fuzzy variable structure 模糊变结构的两个同步摆
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5545141
E. Rubio, J. Alvarez
{"title":"Two synchronized pendulums in a fuzzy variable structure","authors":"E. Rubio, J. Alvarez","doi":"10.1109/VSS.2010.5545141","DOIUrl":"https://doi.org/10.1109/VSS.2010.5545141","url":null,"abstract":"In this paper we present a variable structure system representation, in a fuzzy point of view. This approach is shown in a system of two synchronized pendulums in master/slave scheme. The synchronization objective is to match the slave movements to those of the master. A fuzzy model is developed by a Takagi-Sugeno representation of nonlinear systems, from which the difference between the master and slave positions are represented by local linear input-output relations by fuzzy IF-THEN rules. Thus, a variable structure is originated since each fuzzy rules express a structure and an operation condition. The performance of the fuzzy variable structure proposed is illustrated numerically.","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":"134209476","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
Discrete time sliding mode control with application to magnetic levitation system 离散时间滑模控制在磁悬浮系统中的应用
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544659
Harshal B. Oza, V. Thakar, B. Bandyopadhyay
{"title":"Discrete time sliding mode control with application to magnetic levitation system","authors":"Harshal B. Oza, V. Thakar, B. Bandyopadhyay","doi":"10.1109/VSS.2010.5544659","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544659","url":null,"abstract":"This paper presents an interesting application of magnetic levitation system using discrete sliding mode control. There is a limited literature available for sliding mode control as applied to magnetic levitation system. In this work a model of linearized magnetic levitation system having small magnetic disc and cylinder with light weight is considered. As a part of review PD control and full state feedback with pole placement and Kalman estimator are presented. A discrete sliding mode control with multi-rate output feedback is then investigated for the present application. To mitigate chattering, discrete time power rate reaching based algorithm is applied. Numerical result for nonlinear system is also shown. In all the cases, inherently unstable system is shown to exhibit stability and stable initial condition response compared to the uncompensated system.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"48 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":"134338387","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
Practical design of real time VSS applied for flexibal robot 柔性机器人实时VSS的实用设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5545139
Karim Braikia, B. Tondu, P. Acco
{"title":"Practical design of real time VSS applied for flexibal robot","authors":"Karim Braikia, B. Tondu, P. Acco","doi":"10.1109/VSS.2010.5545139","DOIUrl":"https://doi.org/10.1109/VSS.2010.5545139","url":null,"abstract":"In robust control, variable structure system (VSS) theory is appreciated to design control under heavy uncertainties. In this paper authors present controlling a flexible robot arm driven by pneumatic artificial rubber muscles (Parms) with direct transmission. The sliding modes control (SMC) is a special case of VSS. Usually in the SMC, the equivalent control is associated with high frequency control to reduce chattering. Amongst the latter, those applied are the twisting and the super twisting algorithms, which belong to the 2-high order sliding control set. In this paper we focus on the relevance of such an equivalent control based on truly uncertain model. Also It will be shown the effect of a noised sensor signal on the control performances, the use of an additional discontinuous term, which increases performance and stability. Experimental results are presented and discussed.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"37 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":"125787284","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
Design of compensators for second order sliding modes 二阶滑模补偿器的设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544683
J. Rosales, I. Boiko, L. Fridman
{"title":"Design of compensators for second order sliding modes","authors":"J. Rosales, I. Boiko, L. Fridman","doi":"10.1109/VSS.2010.5544683","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544683","url":null,"abstract":"In this paper, compensators for the Twisting and Sub-Optimal algorithms are designed. The compensation is aimed at the increase of the open-loop gain of the system with respect to the averaged variables (at low frequencies) achieved through the mechanism of the increase of the equivalent gains kn of the controller nonlinearities. The describing function method is used for the development of the system model. An example of design and simulations are presented.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"109 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120894156","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
Shunt Indirect Variable Structure Model Reference Adaptive Controller for plants with arbitrary relative degree 任意关联度的并联间接变结构模型参考自适应控制器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544701
Marcus V. A. Fernandes, Samaherni M. Dias, A. Araújo, Josenalde B. Oliveira, K. Queiroz
{"title":"Shunt Indirect Variable Structure Model Reference Adaptive Controller for plants with arbitrary relative degree","authors":"Marcus V. A. Fernandes, Samaherni M. Dias, A. Araújo, Josenalde B. Oliveira, K. Queiroz","doi":"10.1109/VSS.2010.5544701","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544701","url":null,"abstract":"This paper extends the results and features of the recently proposed Indirect Variable Structure Model Refer- ence Adaptive Controller (IVS-MRAC) for non-minimum-phase plants and systems with arbitrary relative degree, through a suitable connection with a parallel feedforward (shunt) compensator, which turns the augmented system (plant + shunt) hyper minimum-phase. Simulations suggest that overall system properties are kept, such as fast transient and robustness to parametric variations, being these characteristics associated with sliding modes control techniques.","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":"120956748","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 algorithm for the four rotors helicopter attitude tracking problem 四旋翼直升机姿态跟踪问题的超扭转控制算法
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544726
L. Derafa, L. Fridman, A. Benallegue, A. Ouldali
{"title":"Super twisting control algorithm for the four rotors helicopter attitude tracking problem","authors":"L. Derafa, L. Fridman, A. Benallegue, A. Ouldali","doi":"10.1109/VSS.2010.5544726","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544726","url":null,"abstract":"This paper deals with the design and implementation of the super twisting control algorithm for the attitude tracking of a four rotors helicopter known as quadrotor. The choice of this algorithm, which is based on the second order sliding mode technique, was justified by the fact that it ensures robustness with respect to modeling errors and external disturbances while reducing the chattering phenomenon caused by all the first order sliding mode based controllers. The stability and finite time convergence characteristics of this algorithm have been recently proved by means of Lyapunov functions, so the stability analysis of the proposed controller has been conducted in the same way. In order to show the effectiveness of the controller, experimental tests were carried out on a quadrotor. The obtained results show the good performances of the proposed controller in terms of stabilization, tracking and robustness.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"12 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":"126602067","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: 46
Input-output linearization and integral sliding mode disturbance compensation for electro-hydraulic drives 电液驱动的输入输出线性化和积分滑模扰动补偿
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544739
J. Komsta, J. Adamy, P. Antoszkiewicz
{"title":"Input-output linearization and integral sliding mode disturbance compensation for electro-hydraulic drives","authors":"J. Komsta, J. Adamy, P. Antoszkiewicz","doi":"10.1109/VSS.2010.5544739","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544739","url":null,"abstract":"This paper discusses problems of the position control of electro-hydraulic drives in the presence of unknown disturbances and uncertain plant parameters. Due to the strong nonlinearities of the system, more sophisticated control algorithms are recommended if an optimal closed-loop dynamic behavior and a high positioning accuracy are required. In order to overcome the system nonlinearities and ensure robustness against matched disturbances and plant uncertainties, an input-output linearization controller with an integral sliding mode disturbance compensator and second-order sliding mode acceleration observer is developed and experimentally tested. The industrial applicability of the new algorithms is also the scope of the investigation. The test results confirm a very good tracking performance and the robustness against model uncertainties.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"12 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114116868","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: 7
Prevention of emergency situations with sliding mode control 用滑模控制预防紧急情况
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544648
V. Utkin, A. Fedorov
{"title":"Prevention of emergency situations with sliding mode control","authors":"V. Utkin, A. Fedorov","doi":"10.1109/VSS.2010.5544648","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544648","url":null,"abstract":"The results of the work demonstrate high efficiency of sliding mode applications for prevention of emergency situations in dangerous systems with the help of automatic control.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"45 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":"114936023","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
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