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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Lebedev, Alexander Filaretov, Vladimir Inst Automat & Control Proc Robot Lab Vladivostok Russia

ISBN: (纸本)9781424424948

The method of the synthesis of multi-channel adaptive variable structure system with the sliding mode for the centralized control of spatial motion of the complex mechatronic object is developed in this paper. The conditions of the existences of stable sliding mode with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The new law of the adaptive adjustment of the position of sliding hyper-surfaces in each control channel is proposed and mathematically substantiated. The application of these control laws allow to provide the high control quality and the maximally possible fast-action at any variations of the object parameters within the given ranges. The efficiency of synthesized control system is confirmed by numerical simulation results.

关键词： variable structure system Nonlinear Object Adaptive Control Sliding Mode Sliding Surface

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Highly robust position control of BLDDSM using an improved integral variable structure system

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AUTOMATICA 2006年第6期42卷 929-935页

作者： Lee, JH Gyeongsang Natl Univ ERI Dept Control & Instrumentat Engn Chinju 660701 South Korea

A highly robust position controller for brushless direct drive servo motors (BLDDSM) is presented using a new improved variable structure system with an integral-augmented sliding surface. With the proposed technique, the reaching phase is completely removed by the integral sliding surface. The dynamics of its ideal sliding mode is analytically obtained from a given initial condition to the origin without any reaching phase. In order to choose a suitable integral sliding surface, the optimal regulator theory is effectively applied. Moreover, the suggested control technique can exhibit the output response identical to that previously designed in the integral sliding surface for all the load variations and parameter uncertainties. The usefulness of the proposed algorithm is illustrated through the comparative experiment studies on the position controls of BLDDSM under load variations. (c) 2006 Elsevier Ltd. All rights reserved.

关键词： variable structure system sliding mode control brushless motor direct drive

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A new perturbation estimator in a variable structure system with application to robot control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2004年第2期218卷 173-181页

作者： Choi, SB Ham, JH Inha Univ Smart Struct & Syst Lab Dept Engn Mech Inchon 402751 South Korea

In this work, a new perturbation estimator using the theory of the variable structure system (VSS) is proposed to enhance control performance of non-linear systems subjected to perturbations such as parameter uncertainties and external disturbances. The proposed estimator is featured by an integrated average value of the imposed perturbation over a certain sampling period. By doing this, undesirable chattering phenomenon in the estimation process can be effectively alleviated. In addition, the proposed method offers a flexibility for tuning the ratio of the perturbation estimation sampling rate to the control input sampling rate. The benefits of the proposed control methodology are demonstrated on a planar robotic manipulator. The position tracking control performances of the manipulator are evaluated and compared between the proposed methodology and conventional scheme for perturbation estimation.

关键词： sliding mode control variable structure system perturbation estimator robot control

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Adaptive variable structure system with the Sliding Surfaces Adjustment for the Control of Nonstationary Linear Object

Adaptive Variable Structure System with the Sliding Surfaces...

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IEEE International Conference on Mechatronics and Automation

作者： Lebedev, Alexander Filaretov, Vladimir Inst Automat & Control Proc Robot Lab Vladivostok Russia

ISBN: (纸本)9781424426317

The method of the synthesis of multi-channel adaptive variable structure system with the sliding mode for the centralized control of spatial motion of the nonstationary linear object is developed in this paper. The conditions of the existences of stable sliding mode with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The new law of the adaptive adjustment of the position of sliding hyper-surfaces in each control channel is proposed and mathematically substantiated. The application of these control laws allow to provide the high control quality and the maximally possible fast-action at any variations of the object parameters within the given ranges. The efficiency of synthesized control system is confirmed by numerical simulation results.

关键词： variable structure system Adaptive Control Sliding Mode Sliding Surface

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Prediction of periodical variable structure system behaviour using minimum data acquisition time

Prediction of periodical variable structure system behaviour...

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26th IASTED International Conference on Modelling, Identification and Control

作者： Dobrucky, Branislav Marcokova, Mariana Pokorny, Michal Sul, Robert Univ Zilina Zilina 01026 Slovakia

ISBN: (纸本)9780889866331

The paper deals with the methodology of dynamic system transient solution, particularly under non-harmonic supply or periodic varying structure of the system. Basic analytic solutions are presented in time domain in the state space acting above state variables. Method of prediction of the transient solution is explained for the systems under periodic non-harmonic supply. The paper introduces, for the first time, a new method for symmetrical m-phase systems with periodic varying structure analysis. This method exploits conjunction of linear orthogonal transform (Park-Clarke) and Z-transform.. It makes possible to estimate time behaviour of the whole transient phenomenon and also deten-nine its stability and convergence solution. All that is done just based on knowledge of situation during the first 1/2m-th of the time period.

关键词： transient phenomena Z-transform Park-Clarke transform variable structure system modelling simulation

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The Synthesis of Multi-Channel Adaptive variable structure system for the Control of AUV

The Synthesis of Multi-Channel Adaptive Variable Structure S...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Lebedev, Alexander V. Filaretov, Vladimir F. Inst Automat & Control Proc Robot Lab Vladivostok Russia

ISBN: (纸本)9781424420575

The new method of the synthesis of multi-channel adaptive variable structure system with the sliding mode for the centralized control of the spatial motion of autonomous underwater vehicles is developed in this paper. The conditions of the existences of stable sliding mode on the intersection of hyper-surfaces in the space of the system coordinates with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The new law of the adaptive tuning of the position of sliding hyper-surfaces in each control channel is proposed and mathematically substantiated. The application of these control laws allow to provide the high control quality and the maximally possible fast-action at any variations of the object parameters within the given ranges. The efficiency of synthesized control system is confirmed by numerical simulation results.

关键词： variable structure system Robust Control Adaptive Control Siding Mode Autonomous Underwater Vehicle

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A variable structure system Control and its Application in Underwater Vehicles

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IFAC-PapersOnLine 2017年第1期50卷 7019-7026页

作者： Dyda A.A. Oskin D. Longhi S. Monteriù A. Admiral Nevelskoy Maritime State University Vladivostok Russian Federation Department of Information Control Systems Far Eastern Federal University Admiral Nevelskoy Maritime State University Vladivostok Russian Federation Dipartimento di Ingegneria dell'Informazione Università Politecnica delle Marche Ancona Italy

The paper proposes a new variable structure system (VSS) control algorithm and its application in underwater robotics. The main features of the proposed approach consist on the usage of coupled switching surfaces, and on the usage of an adaptive adjustment method for their parameters in order to accelerate the transient processes. The adaptive algorithm of linear and nonlinear switching surfaces coefficients, is based on the stabilization of the sliding mode parameter close to the reference value. In this paper, it is shown how the proposed approach improves the system transient processes and the energy efficiency in comparison with conventional VSS, neutralizing also some drawbacks. The proposed adaptive VSS algorithm is applied to control a Remotely Operated Vehicle (ROV), and simulation results confirm the advantages to apply it. © 2017

关键词： adaptation remotely operated vehicle sliding mode switching surface variable structure system

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Synthesis of variable structure system for the complex dynamic object

Synthesis of variable structure system for the complex dynam...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Lebedev, Alexander V. Filaretov, Vladimir F. Inst Automat & Control Proc Robot Lab 5 Radio Str Vladivostok 690041 Russia

ISBN: (纸本)9781424412631

The multi-channel variable structure system with the sliding mode for the centralized control of the spatial motion of the complex mechatronic object is synthesized in this paper. The conditions of the existences of stable sliding mode on the intersection of hyper-surfaces in the space of the system coordinates with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The new method of explosive control signals formation is developed. The application of control law proposed allow to provide the high control quality at any variations of the object parameters within the given ranges.

关键词： nonlinear object robust control sliding mode variable structure system

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Control of a dynamic nonlinear/uncertain system via a variable structure system approach

Control of a dynamic nonlinear/uncertain system via a variab...

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11th International Conference on Optimization of Electrical and Electronic Equipment

作者： Moldoveanu, F. Vittek, J. Ryvkin, S. Floroian, D. Boldisor, C. Transilvania Univ Dept Automat Brasov Romania Univ Zilina Fac Engn Zilina Slovakia Inst Control Sci Moscow Russia

In this paper the control problem of nonlinear/uncertain dynamic systems via a variable structure systems (VSS) approach Is discussed. Observation of the states of such systems is also considered. The extension to an ... 详细信息

ISBN: (纸本)1424415446

关键词： control system nonlinear/uncertain system variable structure system state observation switching surface manipulator

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Multi-channel variable structure system for the control of autonomous underwater vehicle

Multi-channel variable structure system for the control of a...

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IEEE International Conference on Mechatronics and Automation

作者： Lebedev, Alexander Filaretov, Vladimir Inst Automat & Control Proc Robot Lab Vladivostok Russia

ISBN: (纸本)9781424408276

The new method of the synthesis of multi-channel variable structure system with the sliding mode for the centralized control of the spatial motion of autonomous underwater vehicles is developed in this paper. The conditions of the existences of stable sliding mode on the intersection of hyper-surfaces in the space of the system coordinates with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of a new control law allow to provide the high control quality at any variations of the object parameters within the given ranges. The efficiency of synthesized control system is confirmed by numerical simulation results.

关键词： variable structure system robust control siding mode autonomous underwater vehicle

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