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

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Uniform Second-Order Sliding Mode Observer for mechanical systems 机械系统均匀二阶滑模观测器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544656
E. Cruz‐Zavala, J. Moreno, L. Fridman
{"title":"Uniform Second-Order Sliding Mode Observer for mechanical systems","authors":"E. Cruz‐Zavala, J. Moreno, L. Fridman","doi":"10.1109/VSS.2010.5544656","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544656","url":null,"abstract":"In this paper we introduce a modification to the classical Second-Order Sliding Mode Observer (SOSMO), used mainly for mechanical systems, and that consists in adding higher order nonlinear injection terms. Besides the usual finite-time con- vergence and exactness of the SOSMO, this new algorithm makes the convergence uniform with respect to the initial conditions, that is, the observation error reaches exactly and robustly the origin in a convergence time that is uniformly bounded above for every initial condition. The properties of the Uniform SOSMO (USOSMO) are studied using strong Lyapunov functions.","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":"128679683","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: 94
A finite-time convergent continuous time sliding mode controller for spacecraft attitude control 一种用于航天器姿态控制的有限时间收敛连续时间滑模控制器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544630
P. M. Tiwari, S. Janardhanan, M. Nabi
{"title":"A finite-time convergent continuous time sliding mode controller for spacecraft attitude control","authors":"P. M. Tiwari, S. Janardhanan, M. Nabi","doi":"10.1109/VSS.2010.5544630","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544630","url":null,"abstract":"In this work a finite time convergent, continuous time sliding mode robust controller is proposed for attitude control of rigid spacecraft. The controller is designed with a new proposed fast terminal sliding mode (FTSM). Finite time reachability to the small neighborhood of sliding surface and faster finite time convergent of system states to equilibrium point is shown using a Lyapunov-type theorem. Simulation results show better convergent performance of the FTSM over terminal sliding mode controller (TSM).","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"33 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":"116142142","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: 22
Variable gain sliding mode observer for heavy duty vehicle tyre forces estimation 重型车辆轮胎力估计的变增益滑模观测器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544542
O. Khemoudj, H. Imine, M. Djemai, L. Fridman
{"title":"Variable gain sliding mode observer for heavy duty vehicle tyre forces estimation","authors":"O. Khemoudj, H. Imine, M. Djemai, L. Fridman","doi":"10.1109/VSS.2010.5544542","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544542","url":null,"abstract":"In the paper a methodology of robust tyre-force estimation for heavy duty vehicles using higher order sliding mode observers is developed. For this goal yaw-roll model is used. The main on-board sensors are provided through the CAN-bus of the vehicle, but low-cost sensors are added. The approach is validated by comparing the estimation results to those given by the software vehicle dynamics PROSPER.","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":"126783276","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
Two-relay controller for real-time trajectory generation and its application to inverted orbital stabilization of inertia wheel pendulum 实时轨迹生成的双继电器控制器及其在惯性轮摆倒轨稳定中的应用
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544724
A. Estrada, L. Aguilar, R. Iriarte, L. Fridman
{"title":"Two-relay controller for real-time trajectory generation and its application to inverted orbital stabilization of inertia wheel pendulum","authors":"A. Estrada, L. Aguilar, R. Iriarte, L. Fridman","doi":"10.1109/VSS.2010.5544724","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544724","url":null,"abstract":"A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller, to generate a set of desired trajectories for the inertia wheel pendulum. The two relay controller produces oscillations at the scalar output of an underactuated system where the desired amplitude and frequency are reached by choosing its gains. The well-known second order sliding mode controller is capable of making the pendulum move tracking the prescribed reference signals determined by the trajectory generator. Performance issues of the controller constructed are illustrated in a simulation study.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"65 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":"130313969","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
Invariant ellipsoid method for time-delayed predictor-based sliding mode control system 基于时滞预测器的不变椭球法滑模控制系统
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544685
A. Polyakov
{"title":"Invariant ellipsoid method for time-delayed predictor-based sliding mode control system","authors":"A. Polyakov","doi":"10.1109/VSS.2010.5544685","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544685","url":null,"abstract":"The new method of the control design for the time delayed system is presented. It is based on combination of the well-known predictor based sliding mode control algorithm and the recently developed invariant ellipsoid method, which allows to minimize the effects of the system uncertainties and disturbances. The theoretical results are illustrated by a numerical example.","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":"134389031","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 backstepping hybrid terminal sliding-mode control for permanent magnet synchronous motor 永磁同步电机自适应反步混合终端滑模控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544661
Hongyu Shi, Yong Feng, Xinghuo Yu
{"title":"Adaptive backstepping hybrid terminal sliding-mode control for permanent magnet synchronous motor","authors":"Hongyu Shi, Yong Feng, Xinghuo Yu","doi":"10.1109/VSS.2010.5544661","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544661","url":null,"abstract":"This paper proposes an adaptive integral backstepping hybrid terminal sliding-mode control for permanent magnet synchronous motors (PMSMs). The adaptive integral backstepping method based on the implicit Lyapunov function is utilized to design the position controller of a PMSM system, which can compensate the parameter uncertainties and the load disturbance of the system. The current controller of the PMSM system is designed using both techniques, i.e. nonsingular terminal sliding-mode (NTSM) and high-order sliding-mode (HOSM). The NTSM is used to improve the robustness and response speed of the system. Meanwhile, the HOSM is adopted to eliminate the chattering phenomenon and soften the control signal. Simulation results are presented to validate the proposed method.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"68 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":"124550129","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
Performance of discrete time sliding mode controller with data fusion 数据融合的离散时间滑模控制器性能
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544695
J. Arunshankar, M. Umapathy, B. Bandhopadhyay
{"title":"Performance of discrete time sliding mode controller with data fusion","authors":"J. Arunshankar, M. Umapathy, B. Bandhopadhyay","doi":"10.1109/VSS.2010.5544695","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544695","url":null,"abstract":"This work aims in evaluating the closed loop performance of reaching law based discrete time sliding mode controller with multisensor data fusion (MSDF). The work considers six different fusion algorithms, to measure and control the structural vibration of piezo actuated cantilever beam. The vibration is measured using two piezo homogeneous sensors. Each sensor output uses separate estimator, for generating the states, which are then fused. The linear dynamic model identified using linear Recursive Least Square (RLS) method based on ARX model is used to illustrate the effectiveness of closed loop performance with data fusion, as compared to the single sensor case.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"20 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":"115124131","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
Nested backward compensation of unmatched effects of unknown inputs based on HOSM identification 基于HOSM识别的未知输入不匹配效应的反向嵌套补偿
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544671
Alejandra Ferreira, Elisabetta Punta
{"title":"Nested backward compensation of unmatched effects of unknown inputs based on HOSM identification","authors":"Alejandra Ferreira, Elisabetta Punta","doi":"10.1109/VSS.2010.5544671","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544671","url":null,"abstract":"The paper considers the regulation problem of linear time invariant systems with unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, which guarantees theoretically exact state and per- turbation estimation. It is introduced a controller with a compensation strategy based on the identified perturbation values. When the system satisfies quite restrictive assumptions, the method ensures exact regulation of the unmatched states. In order to deal with the general case it is proposed a nested backward strategy to design the sliding surface, which allows to compensate the unmatched uncertainties and to stabilize some of the non-actuated state components, while all the remaining states are maintained bounded.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"86 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":"115631175","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
Two sliding mode control approaches for the stator voltage amplitude regulation of a stand-alone WRSM 独立WRSM定子电压幅值的两种滑模控制方法
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544707
A. Dòria-Cerezo, V. Utkin, R. Muñoz-Aguilar, E. Fossas
{"title":"Two sliding mode control approaches for the stator voltage amplitude regulation of a stand-alone WRSM","authors":"A. Dòria-Cerezo, V. Utkin, R. Muñoz-Aguilar, E. Fossas","doi":"10.1109/VSS.2010.5544707","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544707","url":null,"abstract":"In this paper two sliding mode control alternatives to regulate the stator voltage amplitude for a stand alone wound rotor synchronous generator are presented. Both controllers use the stator voltage d-component error in the sliding surface. In a first case an outer PI loop controller is added to provide the proper d-voltage component reference. The second approach consists in extending the dynamic system to include the integral term as state variable and to modify the former sliding surface by adding this new state. Finally, simulations results are done in order to validate the proposed algorithms.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"80 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":"117146300","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
Time-delay effect on continuous approximation of sliding mode control 滑模控制连续逼近的时滞效应
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544541
Xiangjun Li, Xinghuo Yu, Qing-Long Han, Changhong Wang
{"title":"Time-delay effect on continuous approximation of sliding mode control","authors":"Xiangjun Li, Xinghuo Yu, Qing-Long Han, Changhong Wang","doi":"10.1109/VSS.2010.5544541","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544541","url":null,"abstract":"In this paper, time-delay effect on continuous approximation of sliding mode control (SMC) systems is studied in depth. The switching band that bound the zigzagging behaviors due to control switching around the switching manifold is constructed. Robust control theory is employed to develop a sufficient condition for the asymptotical stability of the system. Simulation is conducted to verify the theoretical results.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"288 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":"122086708","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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