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

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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
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
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
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
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
A sliding mode optimal regulator for nonlinear polynomial systems with a non-quadratic criterion 非二次准则非线性多项式系统的滑模最优调节器
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544699
M. Basin, A. Loukianov, Rocío Hernández-Fabián
{"title":"A sliding mode optimal regulator for nonlinear polynomial systems with a non-quadratic criterion","authors":"M. Basin, A. Loukianov, Rocío Hernández-Fabián","doi":"10.1109/VSS.2010.5544699","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544699","url":null,"abstract":"This paper presents the optimal control problem for a nonlinear polynomial system with respect to a Bolza-Meyer criterion with non-quadratic state energy terms. A distinctive feature of the obtained result is that a part of the optimally controlled state trajectory occurs to be in a sliding mode, i.e., represents an enforced motion along a certain manifold. The optimal solution is obtained as a sliding mode control, whereas the conventional linear feedback control fails to provide a causal solution. Performance of the obtained optimal controller is verified in the illustrative example against the conventional polynomial-quadratic regulator that is optimal for the quadratic Bolza-Meyer criterion. The simulation results confirm an advantage in favor of the designed sliding mode control.","PeriodicalId":407705,"journal":{"name":"2010 11th International Workshop on Variable Structure Systems (VSS)","volume":"7 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":"124872265","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
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
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
Second order sliding mode observer for estimation of SI engine Volumetric Efficiency & Throttle Discharge Coefficient 基于二阶滑模观测器的SI发动机容积效率和节气门排放系数估计
2010 11th International Workshop on Variable Structure Systems (VSS) Pub Date : 2010-06-26 DOI: 10.1109/VSS.2010.5544649
Q. Ahmed, Aamer Iqbal Bhatti
{"title":"Second order sliding mode observer for estimation of SI engine Volumetric Efficiency & Throttle Discharge Coefficient","authors":"Q. Ahmed, Aamer Iqbal Bhatti","doi":"10.1109/VSS.2010.5544649","DOIUrl":"https://doi.org/10.1109/VSS.2010.5544649","url":null,"abstract":"Identification and estimation of non-measurable critical parameters of automotive engine provide significant information to monitor its functions and health. This article proposes a novel estimation scheme of identifying such parameters. Two of the critical parameters are: Volumetric Efficiency and Throttle Discharge Coefficient. These parameters are estimated from the single nonlinear equation of engine inlet manifold pressure dynamics. The estimation scheme utilizes second order sliding mode observer based on super twisting algorithm. Mean Value Engine Model is considered to model the inlet manifold behavior. The estimation is carried out on production vehicle equipped with engine control unit compliant to OBD-II standards. The proposed observer is simple enough for implementation. The estimated parameters have vast application in the area of engine controller design and fault diagnosis/prognosis.","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":"130703984","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: 11
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
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