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

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Dynamics observation and parameters identification of heavy vehicle via second order sliding mode 基于二阶滑模的重型车辆动力学观测与参数辨识
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5545142
M. Bouteldja, M. Djemai, L. Fridman
{"title":"Dynamics observation and parameters identification of heavy vehicle via second order sliding mode","authors":"M. Bouteldja, M. Djemai, L. Fridman","doi":"10.1109/VSS.2010.5545142","DOIUrl":"https://doi.org/10.1109/VSS.2010.5545142","url":null,"abstract":"In road transport domain, the use of state dynamics observation/estimation and parametric identification techniques are necessary for control diagnosis. Unfortunately, the use of different methods of observations/estimation and parametric identification is not without risk. This risk can be observed in term of accumulation of errors which can be considerable and more still, on the level of the total stability of the system. This article presents an original method allowing the observation/estimation of sates dynamics and parametric identification. This method is based on the approach of the High order sliding modes, with the application of the super-twisting algorithm and tested on a articulated heavy vehicle model.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"9 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":"125202797","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
A hybrid sliding mode strategy for minimum-phase systems with output constraints 具有输出约束的最小相位系统的混合滑模策略
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544720
H. Richter
{"title":"A hybrid sliding mode strategy for minimum-phase systems with output constraints","authors":"H. Richter","doi":"10.1109/VSS.2010.5544720","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544720","url":null,"abstract":"A new setpoint control scheme is proposed for single-input systems, where a regulated output must be transferred between two setpoints, with the additional requirement that a set of limited outputs remain within prescribed bounds. The strategy is based on a max-min selector system frequently used in the process control and aerospace fields. The regulators used for the controlled and outputs are of the sliding mode type, where the sliding variable is defined as the difference between an output and its limit. The max and min arrangements enjoy many beneficial properties, including a separation principle allowing the independent design of the sliding regulators, with overall asymptotic stability guarantee. The paper details the stability proof for the separate min and max selector systems and describes the invariance properties leading to limit protection. Some results applicable to the max-min case are also included. Design guidelines, as well as a detailed simulation example, demonstrate practical applicability.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"39 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":"114165031","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
Reconfiguration of a mobile communication network via Higher-Order Sliding Mode control 基于高阶滑模控制的移动通信网络重构
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544688
S. Holleran, S. Baev, Y. Shtessel, P. Gutman
{"title":"Reconfiguration of a mobile communication network via Higher-Order Sliding Mode control","authors":"S. Holleran, S. Baev, Y. Shtessel, P. Gutman","doi":"10.1109/VSS.2010.5544688","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544688","url":null,"abstract":"The mobile communication network studied here consists of a group of agents which move in response to external commands to perform a data-gathering task. As these agents move, connectivity of their communication network may be disrupted, preventing data transmission. Higher-Order Sliding Mode (HOSM) observers are used to reconstruct the external commands, from which future positions of the agents, as well as possible sites of connectivity disruption, are predicted on a certain time window. Controlled agents are introduced that are driven along trajectories to these sites by means of HOSM controllers, which cancel out effects of unknown bounded external disturbances; collisions with other agents along these trajectories are avoided. An intact communication network is thus constantly reconfigured by the movement of controlled agents. A case study demonstrates the proposed algorithm.","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":"125547774","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
Second-order sliding modes control for in-vehicle pedal robots 车载踏板机器人的二阶滑模控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544545
B. Alt, F. Svaricek
{"title":"Second-order sliding modes control for in-vehicle pedal robots","authors":"B. Alt, F. Svaricek","doi":"10.1109/VSS.2010.5544545","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544545","url":null,"abstract":"In this contribution a second-order sliding modes based control design approach for setpoint tracking of an in-vehicle pedal robot's position is introduced. For this purpose a novel concept of in-vehicle pedal robots is considered, which is based on a PM-DC drive with rope winch and an optical distance sensor. In the control design task the distance between a brake, clutch or accelerator pedal and the ground of the driver's cab should follow a given reference value. Nonlinear simulation results show the efficiency and the robustness properties of the proposed second-order sliding modes control design approach.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"1997 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":"128209651","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
Observer design for a class of parabolic PDE via sliding modes and backstepping 一类基于滑模和反演的抛物型偏微分方程观测器设计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544678
Ramon Miranda, Isaac Chairez, J. Moreno
{"title":"Observer design for a class of parabolic PDE via sliding modes and backstepping","authors":"Ramon Miranda, Isaac Chairez, J. Moreno","doi":"10.1109/VSS.2010.5544678","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544678","url":null,"abstract":"Observation problem for systems governed by Partial Differential Equations (PDE) has been a research field of its own for a long time. In this paper it is presented an observer design for a class or parabolic PDE's using sliding modes theory and bacstepping-like procedure in order to achieve exponential convergence. A Volterra-like integral transformation is used to change the coordinates of the error dynamics into exponentially stable target systems using the backstepping-like procedure. This gives as a result the output injection functions of the observer which are obtained by solving a hyperbolic PDE system. Sliding modes are used to find an explicit solution to the hyperbolic PDE system and to make the observer gains to be discontinuous which have well known advantages. Theoretical results were proved using the Lyapunov theory. A numerical example demonstrates the proposed method effectiveness.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"46 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":"129377363","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: 27
Feedback stabilization and force control using sliding modes in a mechanical system subject to unilateral constraints 单侧约束下机械系统的滑模反馈稳定与力控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544700
R. Rascón, J. Alvarez, L. Aguilar
{"title":"Feedback stabilization and force control using sliding modes in a mechanical system subject to unilateral constraints","authors":"R. Rascón, J. Alvarez, L. Aguilar","doi":"10.1109/VSS.2010.5544700","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544700","url":null,"abstract":"Force feedback sometimes produces an undesirable chattering behavior, where the mechanical system repeatedly makes and breaks contact with the constraint surface this have been shown in experiments on single degree of freedom (1-DOF). This behavior is an example of a limit cycle, and is likely caused by the nonlinearity in the system dynamics introduced by the unilateral (i.e. one-sided) constraint. Yet most published stability analyses of force-controlled robots assume that the constraint is bilateral, meaning the mechanical system never loses contact with the constraint. In this note, we analyze the stability of a 1-DOF force-controlled mechanical system in contact with a rigid unilateral constraint applying a sliding mode control algorithm, with the force sensor modeled as a stiff spring. It is proved that the nonlinear system is globally asymptotically stable and achieves zero steady-state force error.","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":"122909074","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
Integral sliding mode fault tolerant control incorporating on-line control allocation 集成在线控制分配的积分滑模容错控制
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544704
M. T. Hamayun, C. Edwards, H. Alwi
{"title":"Integral sliding mode fault tolerant control incorporating on-line control allocation","authors":"M. T. Hamayun, C. Edwards, H. Alwi","doi":"10.1109/VSS.2010.5544704","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544704","url":null,"abstract":"This paper proposes a novel integral sliding mode on-line control allocation scheme for fault tolerant control. The order of the sliding motion in the sliding mode is not reduced as in conventional sliding mode schemes. Also the robustness of the closed loop system can be guaranteed throughout the entire response, starting from the initial time instant, because there is no reaching phase. Actuator effectiveness levels are used to redistribute the control signals to healthy actuators online in the case of faults or failures without reconfiguring the controller. In this way the scheme can cope with total failure of certain actuators. Simulation results using the Admire aircraft model show good performance in fault and even certain total actuator failure scenarios which validates the effectiveness and feasibility of the proposed scheme.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"22 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":"127122123","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: 27
Terminal sliding mode observer based parameter estimation method for permanent magnet synchronous motor control system 基于终端滑模观测器的永磁同步电机控制系统参数估计方法
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544736
Yong Feng, Liuping Wang
{"title":"Terminal sliding mode observer based parameter estimation method for permanent magnet synchronous motor control system","authors":"Yong Feng, Liuping Wang","doi":"10.1109/VSS.2010.5544736","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544736","url":null,"abstract":"This paper proposes an observer based method for estimating the mechanical parameters of permanent magnet synchronous motor (PMSM) used for complex mechanical systems. A terminal sliding mode observer is designed and the equivalent control principle is utilized to estimate the mechanical parameters of a motor system. The robustness of the estimation can be guaranteed using the sliding mode control technique. The stability of the terminal sliding mode estimator is analyzed. The experiments are carried out in a practical motor system to validate the proposed method. Although the PMSM motor is a linear-time invariant system, the proposed approach will be extended to estimation of linear-time varying or a nonlinear system in the next step of research.","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":"114399187","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
Efficiency optimisation of an experimental PEM fuel cell system via Super Twisting control 基于超扭控制的质子交换膜燃料电池系统效率优化
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544677
C. Kunusch, P. Puleston, M. Mayosky, A. Dávila
{"title":"Efficiency optimisation of an experimental PEM fuel cell system via Super Twisting control","authors":"C. Kunusch, P. Puleston, M. Mayosky, A. Dávila","doi":"10.1109/VSS.2010.5544677","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544677","url":null,"abstract":"A robust control solution is proposed to solve the air supply control problem in autonomous polymer electrolyte membrane fuel cells (PEMFC) based systems. Different second order sliding mode (SOSM) controllers are designed using a model of a laboratory test fuel cell generation system. Very good simulation results are obtained using such algorithms, showing the suitability of the SOSM approach to PEMFC stack breathing control. Subsequently, for experimental validation, a controller based on one of the previously assessed SOSM algorithms, namely a Super Twisting, is successfully implemented in the laboratory test bench. Highly satisfactory results are obtained, regarding dynamic behaviour, regulation error and robustness to uncertainties and external disturbances.","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":"117003774","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: 19
Sliding mode control multiphase Buck converter implementation issues 滑模控制多相Buck变换器实现问题
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544692
D. Biel, E. Fossas, R. Ramos
{"title":"Sliding mode control multiphase Buck converter implementation issues","authors":"D. Biel, E. Fossas, R. Ramos","doi":"10.1109/VSS.2010.5544692","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544692","url":null,"abstract":"Two different approaches to achieve robustness with respect to the input voltage, the reference voltage and the load variations in a step-down multiphase power converter are presented in this paper. The proposal allows both to regulate the output voltage to a given reference and to minimize the current ripple. Design is validated by means of simulation results.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"64 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":"126754234","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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