In this paper a strong Lyapunov function is proposed, for the first time, for a parameterized family of homogeneous sliding mode based controllers. Indeed, from twisting algorithm, to the linear PD control law, to the...
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ISBN:
(纸本)9781479952007
In this paper a strong Lyapunov function is proposed, for the first time, for a parameterized family of homogeneous sliding mode based controllers. Indeed, from twisting algorithm, to the linear PD control law, to the uniformly stable control law, a general homogeneous family of control algorithms are considered. The strict locally Lipschitz homogeneous Lyapunov function allows the possibility to estimate an upper bound for the convergence time of the trajectories of the system to the equilibrium point, in finite-time, exponentially, or uniformly asymptotically, by exploiting the homogeneity properties of the system. Moreover, the introduction of Lyapunov function allows the analysis of the relationship between the control gains and its convergence time.
In this paper, higher order sliding mode controller is applied to control a three asynchronous motor which is a nonlinear Multi-Input, Multi-Output (MIMO) system. The performance, robustness and effectiveness of this ...
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ISBN:
(数字)9781728135960
ISBN:
(纸本)9781728135977
In this paper, higher order sliding mode controller is applied to control a three asynchronous motor which is a nonlinear Multi-Input, Multi-Output (MIMO) system. The performance, robustness and effectiveness of this controller was demonstrated using Matlab/Simulink.
In this note we present an adaptive gain twisting sliding mode control strategy achieving chatter alleviation for the control of pneumatic artificial muscles robot arm. The key-point of the paper relies on a simple mo...
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ISBN:
(纸本)9781509015948
In this note we present an adaptive gain twisting sliding mode control strategy achieving chatter alleviation for the control of pneumatic artificial muscles robot arm. The key-point of the paper relies on a simple modification of the twisting algorithm where the control action is proportional to the desired sliding surface and its derivative instead of the sign of it, then the adaptive gain twist control law, continuously drives the sliding surface and its derivative to a predefined domain in finite time in the presence of bounded disturbance with unknown boundary. The derivation and the proof of the adaptation algorithm are derived from the proposed lyapunov function, and the adaptation law doesn't overestimate the values of the control gain. The efficiency of the controller is evaluated through simulation results.
This paper presents a second order sliding mode control for an inverted pendulum which is a nonlinear and unstable system. Two second order sliding mode algorithms are presented: twisting algorithm and super-twisting ...
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ISBN:
(纸本)9781479917594
This paper presents a second order sliding mode control for an inverted pendulum which is a nonlinear and unstable system. Two second order sliding mode algorithms are presented: twisting algorithm and super-twisting algorithm. They are used to ensure not only a better robustness against parametric uncertainties, modeling errors and external disturbances, by the attenuation of chattering, but also a finite time convergence of state variables. Simulations results are shown to manifest the efficiency of these approaches.
For a parameterized family of homogeneous sliding mode based controllers under the influence of bounded perturbation, a strong Lyapunov function is presented for the first time. The family of controllers range from tw...
详细信息
ISBN:
(纸本)9781479952007
For a parameterized family of homogeneous sliding mode based controllers under the influence of bounded perturbation, a strong Lyapunov function is presented for the first time. The family of controllers range from twisting algorithm, the linear PD control law, to the uniformly stable control law. The strict homogeneous Lyapunov function proposed here allows the estimation of the ultimate bound of convergence of the trajectories of the system, in finite-time, exponentially, or uniformly, by exploiting the homogeneity properties of the system, even in the case when it is affected by bounded non-vanishing persistent external perturbation.
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