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Time-varying sliding mode control for a class of uncertain MIMO nonlinear system subject to control input constraint

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Science China(Information Sciences) 2010年第1期53卷 89-100页

作者： JIN YongQiang1,2, LIU XiangDong1, QIU Wei2 & HOU ChaoZhen1 1department of automatic control, Beijing Institute of Technology, Beijing 100081, China 2Aerospace system engineering Shanghai, Shanghai 201108, China 1. Department of Automatic Control Beijing Institute of Technology Beijing 100081 China2. Aerospace System Engineering Shanghai Shanghai 201108 China

To solve the regulator problem of a class of uncertain MIMO nonlinear systems subject to control input constraint, three types of time-varying sliding mode control laws are proposed. The sliding surfaces pass the initial value of the system at the initial time, and are shifted/rotated towards the predetermined ones. The controller parameters are optimized by genetic algorithm (GA). Lyapunov method is adopted to prove the stability and robustness to the parameter uncertainties and external disturbance. By mean of time-varying sliding mode control law, the reaching phase in the conventional sliding mode control is eliminated, and the system is guaranteed to have robustness from the very beginning. Taking the control of two-link manipulator and attitude tracking of rigid spacecraft as two examples, we illustrate the features of the time-varying sliding mode control. The simulation results show the validity of the control law to a class of uncertain MIMO systems. Better robustness against the uncertainties and external disturbance could be achieved by time-varying sliding mode control without violating the constraint on control input.

关键词： time-varying sliding surface sliding mode control MIMO nonlinear system uncertain control input constraints

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Parameter optimization of FES-assisted indoor rowing exercise using MOGA

Parameter optimization of FES-assisted indoor rowing exercis...

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Asia Modelling Symposium 2010: 4th International Conference on Mathematical Modelling and Computer Simulation, AMS2010

作者： Hussain, Zakaria Tokhi, M. Osman Jailani, Rozita Ahmad, Fadzil Faculty of Electrical Engineering Universiti Teknologi MARA Malaysia Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9780769540627

This paper describes the parameter optimization of fuzzy logic control (FLC) of FES-assisted indoor rowing exercise (FES-rowing) using multi objective genetic algorithm (MOGA). The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities through the application of functional electrical stimulation (FES). FLC is used to control the knee and elbow trajectories for smooth rowing manoeuvre. MOGA is implemented in Matlab with a dynamic simulation model of indoor rowing exercise is developed using Visual Nastran (vN4D) software environment. MOGA is used to optimize the FES-rowing with two objective functions specified that are i) to minimize the mean squared error of knee angle trajectory and ii) to minimize the total electrical stimulation required by the muscles. In view of good results obtained, it is concluded that MOGA is able to obtain the optimal design of FLC for FES-rowing with two conflicting objectives. © 2010 IEEE.

关键词： MATLAB

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Stability, bifurcations and response analysis of time delay control system with initial conditions and saturation effects

Stability, bifurcations and response analysis of time delay ...

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18th Mediterranean Conference on control and Automation, MED'10

作者： Ponce, Francisco Javier Muros Gómez, Francisco Manuel Fernández Department of System Engineering and Automatic Control University of Seville Camino de los Descubrimientos s/n 41092 Spain

ISBN: (纸本)9781424480920

Applications of bifurcation theory have been employed in all engineering branches, especially in control. In this paper we analyse one control application to delay differential equations based on mentioned bifurcation theory. The time response of a first order delay model with saturation effects has been studied. A stability parameters map, showing the boundaries which separate zones with different qualitative behaviour, has been obtained by analysing the characteristic transcendental equation. Different cases for initial conditions have been employed in our analysis. © 2010 IEEE.

关键词： control system stability

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A robust wind turbine control using a neural network based wind speed estimator

A robust wind turbine control using a neural network based w...

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2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010

作者： Barambones, Oscar Department of Automatic Control and System Engineering University of the Basque Country EUI de Vitoria Nieves cano 12 01006 Vitoria Spain

ISBN: (纸本)9781424469178

Modern wind turbines are capable to work in variable speed operations. These wind turbines are provided with adjustable speed generators, like the double feed induction generator. One of the main advantage of adjustable speed generators is that they improve the system efficiency compared to fixed speed generators because turbine speed is adjusted as a function of wind speed to maximize output power. In this sense, to implement maximum wind power extraction, most controller designs of the variable-speed wind turbine generators employ anemometers to measure wind speed in order to obtain the desired optimal generator speed. In this paper a Neural Network based wind speed estimator for a wind turbine control is proposed. The design uses a feedforward Artificial Neural Network (ANN) to implement a wind speed estimator. In this work, a sliding mode control for variable speed wind turbines is also proposed. The stability analysis of the proposed controller is provided under disturbances and parameter uncertainties by using the Lyapunov stability theory. Finally simulated results show, on the one hand that the proposed control scheme using an ANN estimator provides high-performance dynamic characteristics, and on the other hand that this scheme is robust under uncertainties that usually appear in the real systems and under wind speed variations. © 2010 IEEE.

关键词： Neural networks

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PID control of knee extension for FES-assisted walking with spring brake orthosis

PID control of knee extension for FES-assisted walking with ...

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Asia Modelling Symposium 2010: 4th International Conference on Mathematical Modelling and Computer Simulation, AMS2010

作者： Jailani, R. Tokhi, M.O. Gharooni, S.C. Hussain, Z. Department of Automatic Control and System Engineering University of Sheffield United Kingdom Faculty of Electrical Engineering Universiti Teknologi MARA 40450 Shah Alam Malaysia

ISBN: (纸本)9780769540627

This paper presents a simulation of bipedal locomotion to control the stimulation pulses of functional electrical stimulation (FES) for activating muscles for paraplegic walking with spring brake orthosis (SBO). The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion and more-natural like trajectory produced by the flexion reflex for gait in spinal cord injured subjects. The study is carried out with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. Stimulated muscle model of quadriceps is developed for knee extension. Proportional integral derivative (PID) control is developed in Matlab/Simulink to regulate the muscle stimulation pulse-width required to drive FES-assisted walking gait and the computed motion is visualised in graphic animation from Vn4D. The results show that SBO can reduce torque and stimulation pulses required for FES-assisted paraplegic walking with wheel walker and PID control is found to be appropriate controller for the leg extension. © 2010 IEEE.

关键词： Three term control systems

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Robust reinforcement learning-based tracking control for wheeled mobile robot

Robust reinforcement learning-based tracking control for whe...

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2nd International Conference on Computer and Automation engineering, ICCAE 2010

作者： Luy, Nguyen Tan Thanh, Nguyen Duc Thanh, Nguyen Thien Ha, Nguyen Thi Phuong National Key Lab. for Digital Control and System Engineering Hochiminh City University of Technology Viet Nam Department of Automatic Control Hochiminh City University of Technology Viet Nam

ISBN: (纸本)9781424455850

This paper proposes a method to design a robust reinforcement learning-based tracking control scheme for the wheeled mobile robot. A policy iteration algorithm and a neural network are used to design an adaptive critic robust controller. A H∞ - tracking performance index optimal function is evaluated by this con troller. The stability of the closed-loop system while learning is proven by Lyapunov theory. The simulation results for wheeled mobile robot verify the effects of the proposed controller. ©2010 IEEE.

关键词： Mobile robots

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Real-time vehicle detection based on Quasi-shot segmentation

Real-time vehicle detection based on Quasi-shot segmentation

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2010 3rd International Congress on Image and Signal Processing, CISP 2010

作者： Liu, Yan Dai, Yaping Wang, Meng Dai, Zhongjian Memon, Zubair Ahmed School of Automation Beijing Key Laboratory of Automatic Control System BIT Beijing China Department of Electrical Engineering Mehran University of Engineering and Technology Jamshoro. Sindh Pakistan

ISBN: (纸本)9781424465149

In this paper, a Quasi-shot Segmentation Vehicle Detection (QSVD) method is proposed to improve the accuracy and robustness of traffic flow detection. The QSVD method is based on histogram intersection method to find the biggest difference between successive frames. Adjacent frames are considered in when vehicle is detected in current frame. Relying on the QSVD method, vehicle can be detected by signal peak and valley search and gradual transition shot detection problem can be resolved. The initial video is used to accomplish detection directly without image preprocessing. Experiments show that vehicles can be detected effectively by the QSVD method. The detection accuracy is remained at 93% or more. ©2010 IEEE.

关键词： Vehicles

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Development of Fuzzy Muscle Contraction and Activation Model using Multi-objective Optimisation

Development of Fuzzy Muscle Contraction and Activation Model...

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Annual IEEE International systems Conference

作者： B. S. K. K. Ibrahim M. O. Tokhi S. C. Gharooni M. S. Huq Department of Automatic Control and System Engineering University of Sheffield

ISBN: (纸本)9781424458820

Characterization of electrically stimulated muscle is complex because of the non-linearity and time-varying nature of the system with interdependent variables. The muscle model consists of relatively well known time-invariant passive properties and uncertain time-variant active properties. The objective of this study is to develop an active properties model that can be implemented in biomechanical models of the lower extremities, which are generally used for the simulation of joint movements such as walking and cycling, A new approach for dynamic characterization of active properties (combination of muscle contraction and activation) of the quadriceps muscle using fuzzy model by optimizing with multi objective genetic algorithm (MOGA) is presented. MOGA is used with two objectives;to minimize the prediction error to fit the experimental data and reduce the weighting factors of the fuzzy rules to minimize the complexity of the fuzzy model. The results show that the knee joint model developed gives an accurate dynamic characterization of active properties of the knee joint.

关键词： Knee joint Functional electrical stimulation Multi objective genetic algorithm Fuzzy inference system Knee Joint Electric Stimulation fuzzy inference system Quadriceps Muscle fuzzy modeling Muscle Contraction joint mobilizations Error of prediction time varying Fuzzy

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Stability, bifurcations and response analysis of time delay control system with initial conditions and saturation effects

Stability, bifurcations and response analysis of time delay ...

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Mediterranean Conference on control and Automation (MED)

作者： Francisco Javier Muros Ponce Francisco Manuel Fernández Gómez Department of System Engineering and Automatic Control University of Seville Spain

ISBN: (纸本)9781424480913

关键词： Stability analysis Mathematical model Bifurcation Delay Numerical stability Orbits

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A robust position control for induction machines

A robust position control for induction machines

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19th International Conference on Electrical Machines, ICEM 2010

作者： Barambones, Oscar Gonzalez De Durana, Jose Maria Camarero, Luis Miguel Department of Automatic Control and System Engineering University of the Basque Country EUI de Vitoria 01006 Vitoria Spain Department of Chemical Engineering and Environment University of the Basque Country EUI de Vitoria Nieves cano 12 01006 Vitoria Spain

ISBN: (纸本)9781424441754

A robust position control for induction motors using field oriented control theory is presented. The proposed controller is based on variable structure control and provides global asymptotic position tracking in the presence of unknown parameters and load torque variations. The proposed design incorporates an improved method of flux estimation that operates on the principle of flux and current observer. The proposed observer is basically an estimator that uses a plant model and a feedback loop with measured stator voltages and currents. The stability analysis of the proposed controller under parameter uncertainties and load disturbances is provided using the Lyapunov stability theory. Finally simulated results show that the proposed controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances ©2010 IEEE.

关键词： controllers

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