检索结果-内蒙古大学图书馆

A sliding mode control Architecture for Autonomous Driving in Highway Scenarios Based on Quadratic Artificial Potential Fields

引用

IEEE control SYSTEMS LETTERS 2024年 8卷 2937-2942页

作者： Punta, Elisabetta Canale, Massimo Cerrito, Francesco Razza, Valentino CNR IMATI I-27100 Pavia Italy Politecn Torino Dept Control & Comp Engn I-10129 Turin Italy Politecn Torino Dept Management & Prod Engn I-10129 Turin Italy

An approach for automated driving in highway scenarios based on Super-Twisting (STW) sliding mode control (SMC) methodologies supported by the use of Artificial Potential Fields (APF) is presented. The use of APF allows us to propose an effective SMC solution based on the gradient tracking (GT) principle. In this regard, a novel formulation of the APF functions is introduced that exploits a sequence of attractive quadratic functions. This solution simplifies the computation of the fields and allows for trajectory generation with improved regularity properties. Extensive simulation tests, as well as comparisons with baseline and state of the art solutions, show the effectiveness of the proposed approach.

关键词： Autonomous vehicles Autonomous vehicles automotive control automotive control variable-structure/sliding-mode control variable-structure/sliding-mode control

来源：评论

学校读者我要写书评

暂无评论

Multivariable Disturbance Observer-Based Finite-Time sliding mode Attitude control for Fixed-Wing UAVs Under Matched and Mismatched Disturbances

引用

IEEE control SYSTEMS LETTERS 2023年 7卷 1999-2004页

作者： Nguyen, Ngo Phong Oh, Hyondong Moon, Jun Kim, Yoonsoo Ulsan Natl Inst Sci & Technol Dept Mech Engn Ulsan South Korea Hanyang Univ Dept Elect Engn Seoul South Korea Gyeongsang Natl Univ Grad Sch Mech & Aerosp Engn Jinju 52828 South Korea

In this letter, we propose a multivariable disturbance observer-based finite-time sliding mode attitude control (MDOB-FT-SM-AC) for fixed-wing UAVs in the presence of both matched and mismatched disturbances. Compared with existing sliding mode attitude controllers, the significant improvements of the proposed MDOB-FT-SM-AC are the multivariable control structure, strong robustness, and high precision performance with continuous control input signal. In the proposed MDOB-FT-SM-AC, we first develop multivariable finite-time disturbance observers such that the precise estimation of both matched and mismatched disturbances is ensured. Next, a nonsingular terminal sliding manifold is designed such that the fixed-wing UAV is driven to track its desired attitude command in finite time. We finally present a multivariable super-twisting reaching law such that the finite-time convergence of the sliding variable and its derivative to zero is guaranteed. Attentive finite-time convergence analysis is derived based on the Lyapunov and homogeneity theories. Simulation results are given to illustrate the superiority of the proposed MDOB-FT-SM-AC.

关键词： Flight control uncertain systems variable-structure/sliding-mode control

来源：评论

学校读者我要写书评

暂无评论

Ratiometric control of Two Microbial Populations via a Dual Chamber Bioreactor

引用

IEEE control SYSTEMS LETTERS 2024年 8卷 1301-1306页

作者： Brancato, Sara Maria Salzano, Davide Fiore, Davide Russo, Giovanni di Bernardo, Mario Univ Naples Federico II Dept Elect Engn & Informat Technol I-80125 Naples Italy Scuola Super Meridionale Modelling Engn Risk & Complex I-80128 Naples Italy Univ Naples Federico II Dept Math & Applicat R Caccioppoli I-80125 Naples Italy Univ Salerno Dept Informat Engn Elect Engn & Appl Math I-84084 Salerno Italy

Maintaining stable coexistence in microbial consortia, particularly when one species grows faster than the other (i.e., the species are non-complementary), poses significant challenges. We introduce a novel control architecture that employs two bioreactors. In this system, the slower-growing species is cultivated separately before being introduced into the main mixing chamber. We analyze the open-loop dynamics of this setup and propose a switching feedback mechanism that controls the dilution rates to ensure robust regulation of population density and composition within the microbial consortium. Validated in silico using parameters identified from real experiments, our approach demonstrates effective and robust maintenance of microbial balance across various strains without requiring genetic modifications.

关键词： Systems biology variable-structure/sliding-mode control process control

来源：评论

学校读者我要写书评

暂无评论

Experimental modeling and variable structure control for Cyborg Cockroaches

引用

IEEE control SYSTEMS LETTERS 2024年 8卷 67-72页

作者： Caforio, Antonio Punta, Elisabetta Morishima, Keisuke Politecn Torino Dept Elect & Telecommun I-10129 Turin Italy Osaka Univ Dept Mech Engn Suita 5650871 Japan Natl Res Council Italy CNR IEIIT Inst Elect Comp & Telecommun Engn I-10129 Turin Italy Osaka Univ Dept Mech Engn Suita 5650871 Japan

Cyborg insects are rapidly becoming the frontier in research into alternative robotic systems. They are particularly suitable for applications where it is necessary to move in unstructured environments. On the other hand, it is still difficult to precisely model their movements due to the highly nonlinear behavior of biological systems compared to engineered robots. In this letter, the kinematic mathematical model of the Madagascar Hissing Cockroach obtained through experiments is presented. The model is then used to show the feasibility of the proposed variable structure control algorithm to obtain trajectory tracking for a biological system with the aim of improving trajectory planning for the cyborg insect. The obtained results are presented.

关键词： Biological systems control applications modeling uncertain systems variable-structure/sliding-mode control

来源：评论

学校读者我要写书评

暂无评论

Adaptive sliding mode-based control System for Flexible Spacecraft

Adaptive Sliding Mode-based Control System for Flexible Spac...

引用

American control Conference (ACC)

作者： Mancini, Mauro Capello, Elisa Politecn Torino Dept Mech & Aerosp Engn Corso Duca Abruzzi 24 I-10129 Turin Italy Politecn Torino CNR IEIIT Corso Duca Abruzzi 24 I-10129 Turin Italy

ISBN: (纸本)9781665441971

A design of a robust attitude control system for flexible spacecraft is proposed in this paper, since satellites are often characterized by complicated shapes, with large appendages. The mathematical model of the spacecraft is derived, considering a rigid main body, i.e. the hub, and bending motion of the movable appendage. The Lagrangian approach is used to derive a set of five differential equations for the attitude dynamics of the spacecraft and for the vibrations of the appendage. Since the dynamics of the flexible system includes nonlinearities and parametric uncertainties, an adaptive variable structure controller, based on the theory of sliding mode control (SMC), is proposed for the attitude tracking. The main objective is to analyze the effectiveness of the proposed control methodology for both precise tracking of the attitude dynamics and for suppression of the structural vibration, handling actuation and hardware limitations. Moreover, external disturbances and parametric variations are included, to show the robustness and the adaptability of the proposed control methods. The proposed control strategy is validated by extensive simulations performed in MATLAB and it appears easy to be converted on C language and suitable for real-time on-board implementation.

关键词： variable-structure/sliding-mode control Spacecraft control Adaptive control

来源：评论

学校读者我要写书评

暂无评论

Design of sliding mode Techniques for a CMG-based Testbed Attitude control System 3rd

Design of Sliding Mode Techniques for a CMG-based Testbed At...

引用

3rd IFAC Conference on modelling, Identification and control of Nonlinear Systems (MiCNON)

作者： D'Ortona, A. Capello, E. Satoh, S. Politecn Torino Dept Mech & Aerosp Engn Corso Duca Abruzzi 24 I-10129 Turin Italy Natl Res Council Italy CNR IEIIT Inst Elect Comp & Telecommun Engn Turin Italy Osaka Univ Grad Sch Engn 2-1 Yamadaoka Suita Osaka 5650871 Japan

Precise pointing accuracy and rapid maneuvering are two key features for attitude control missions of small spacecraft. control moment gyroscopes (CMGs) are applied as ideal actuator for large torque output capability but are usually limited due to the problem of inherent mechanical singularity. This paper proposes a robust attitude control methodology, based on sliding mode control (SMC) techniques, in presence of CMG practical restrictions and disturbances. Two second-order SMC techniques are designed, to guarantee accuracy and limited convergence time. Moreover, attitude control torques are generated by means of four single gimbal CMGs in pyramidal configuration, considering the design of an experimental testbed. The effectiveness of the proposed methodologies are shown in simulations, for different mission scenarios, including singularity points. Copyright (C) 2021 The Authors.

关键词： variable-structure/sliding-mode control Spacecraft attitude control control moment gyroscopes Space applications

来源：评论

学校读者我要写书评

暂无评论

Simultaneous Fault and Input Time Delay Estimation for an Actuator System: Theory and Flight Data Validation

引用

IEEE control SYSTEMS LETTERS 2022年 6卷 1172-1177页

作者： Chen, Lejun Edwards, Christopher Alwi, Halim Sato, Masayuki Cranfield Univ Sch Aerosp Transport & Mfg Cranfield MK43 0AL Beds England Univ Exeter Coll Engn Math & Phys Sci Exeter EX4 4QF England Japan Aerosp Explorat Agcy Aeronaut Technol Directorate Dept Tokyo 1810015 Japan

This letter proposes a first order sliding mode observer for the purpose of simultaneously estimating the unknown input time delay and reconstructing the loss of effectiveness in a model of an actuator. The adaptive algorithm is driven by the 'equivalent output error injection' signal associated with the sliding motion. Sufficient conditions are given to ensure finite time convergence of the state estimation error system, ensuring both the time delay estimation error and the estimation error associated with the actuator fault converge to a small region around zero. The efficacy of the approach has been evaluated via both a numerical simulation and flight data validation.

关键词： Fault detection delay systems variable-structure/sliding-mode control

来源：评论

学校读者我要写书评

暂无评论

Design of sliding mode Techniques for a CMG-based Testbed Attitude control System

引用

IFAC-PapersOnLine 2021年第14期54卷 506-511页

作者： A. D’Ortona E. Capello S. Satoh Department of Mechanical and Aerospace Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Department of Mechanical and Aerospace Engineering Politecnico di Torino and with Institute of Electronics Computer and Telecommunication Engineering National Research Council of Italy (CNR-IEIIT) Torino Italy Graduate School of Engineering Osaka University 2-1 Yamadaoka Suita Osaka 565-0871 Japan

关键词： variable-structure/sliding-mode control Spacecraft attitude control control moment gyroscopes Space applications

来源：评论

学校读者我要写书评

暂无评论

Spatially Distributed Networked sliding mode control

引用

IEEE control SYSTEMS LETTERS 2019年第4期3卷 972-977页

作者： Ludwiger, Jakob Steinberger, Martin Horn, Martin Graz Univ Technol Inst Automat & Control A-8010 Graz Austria Graz Univ Technol Inst Automat & Control Christian Doppler Lab Model Based Control Complex A-8010 Graz Austria

A robust control algorithm for spatially distributed multi-input networked control systems with time-varying transmission delays is proposed. In order to increase the dependability of the spatially distributed scheme, a pivotal requirement to the algorithm is the exclusive usage of locally available information in each controller node. This ensures that no communication between the controller nodes is necessary. The algorithm consists of a buffering mechanism and discrete-time integral sliding mode control laws which are capable of rejecting matched perturbations with bounded change rate. The effectiveness of the proposed approach is demonstrated by means of a numerical simulation.

关键词： variable-structure/sliding-mode control networked control systems robust control LMIs

来源：评论

学校读者我要写书评

暂无评论

Joint-Space Impedance control Using Intrinsic Parameters of Compliant Actuators and Inner sliding mode Torque Loop

引用

IEEE control SYSTEMS LETTERS 2019年第1期3卷 1-6页

作者： Garofalo, Gianluca Werner, Alexander Loeffl, Florian Ott, Christian German Aerosp Ctr Inst Robot & Mechatron D-82234 Wessling Germany

A new control law for joint-space impedance in robots with variable impedance actuators is presented. The objective is achieved using reduced information on high order derivatives compared to standard approaches, therefore leading to more reliable interactions with unknown environments. Most importantly, the impedance characteristic is given by the real stiffness and damping coefficients of each actuator, therefore updating strategies of the latter directly modify the system response obtained on the link side. The method is evaluated both in simulations and experiments. Additionally, the control law is also adapted for systems with series elastic actuators.

关键词： Robotics control applications variable-structure/sliding-mode control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：