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European Conference on Power Electronics and Applications

作者： Marcin Zygmanowski Jaroslaw Michalak Michal Jelen Grzegorz Jarek Jan Popczyk Faculty of Electrical Engineering Dept. of Power Electronics Electrical Drives and Robotics SILESIAN UNIVERSITY OF TECHNOLOGY ul. B. Krzywoustego 2 Gliwice Poland Faculty of Electrical Engineering Institute of Power Systems and Control SILESIAN UNIVERSITY OF TECHNOLOGY ul. B. Krzywoustego 2 Gliwice Poland

ISBN: (纸本)9781509014101

Three converter leg variants are analyzed for low power converter used for power electronic system for residential buildings. The two-level Si-IGBT and SiC-MOSFET converters are compared with Si-IGBT three-level T-type converter. Power losses generated in each of these converters over a predicted period of 20 years of operation are contrasted with the cost of converter options. The detailed selection procedure for output inductor is presented in this paper. This procedure shows the influence of the inductor parameters like number of turns, air gap length on its losses, cost and size. Theoretical approach is verified with simulations and experimental results.

关键词： Design IGBT Silicon Carbide (SiC) MOSFET Microgrid

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Frequency Domain Analysis of HOSM Systems

Frequency Domain Analysis of HOSM Systems

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IEEE Annual Conference on Decision and control

作者： Antonio Rosales Yuri Shtessel Leonid Fridman Chandrasekhara Bharath Panathula Electrical and Computer Engineering Dept. The University of Alabama in Huntsville Huntsville AL 35899 USA Deparment of Control and Robotics Faculty of Engineering National Autonomus University of Mexico 4510 Mexico City Mexico

ISBN: (纸本)9781479978878

The frequency domain analysis of dynamically perturbed Higher Order Sliding Mode (HOSM) systems is tackled using Describing Function (DF) and Harmonic Balance (HB) techniques. The goal of this analysis is to study possible limit cycles in such systems. DFs of Nested 3rd and 4th order algorithms are obtained for the first time. Then, HB equation is used to analyze the real sliding motion in the HOSM system, where the sliding set converges to a limit cycle. Chattering (limit cycle) in the HOSM systems is studied, and the chattering parameters (amplitude and frequency) are computed. A definition of Tolerance Limits, which characterizes the acceptable performance in the real HOSM system, is applied to verify if the chattering parameters fit the amplitude and frequency limits. Next, Performance Phase Margin and Performance Gain Margin definitions, which give the metrics for robustness of real HOSM to unmodeled dynamics, are applied to assess the robustness of the limit cycle emerged in the real HOSM system. Examples and simulations that validate the obtained results are presented.

关键词： Sliding Mode control Frequency Domain Analysis Performance Margins Variable structure systems limit cycles CHATTER unmodeled dynamics

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Improved Drive Cycle Following with an ILC Supported Driver Model ∗

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IFAC-PapersOnLine 2015年第15期48卷 347-353页

作者： Lars Eriksson Mikael Norrlöf Lars Eriksson is with Vehicular Systems Dept. of Electrical Engineering Linköping University SE-581 83 Linköping Sweden Mikael Norrlöf is with Automatic Control Dept. of Electrical Engineering Linköping University SE-581 83 Linköping Sweden and ABB AB - Robotics SE-721 68 Västerås Sweden

Drive cycle following is important for concept comparisons when evaluating vehicle concepts, but it can be time consuming to develop good driver models that can achieve accurate following of a specific velocity profile. Here, a new approach is proposed where a simple driver model based on a PID controller is extended with an Iterative Learning control (ILC) algorithm. Simulation results using a nonlinear vehicle and control system model show that it is possible to achieve very good cycle following in a few iterations with little tuning effort. It is also possible to utilize the repetitive behavior in the drive cycle to accelerate the convergence of the ILC algorithm even further.

关键词： Vehicle control learning powertrain

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Design of cruise control system for electric vehicle using piece-wised control

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2014年 269卷 37-44页

作者： Lee, Yongjun Ryoo, Young-Jae Dept. Of Control Engineering and Robotics Mokpo National University 1666 Youngsan-ro Cheongye-myun Muan-Gun Jeonnam534-729 Korea Republic of

In this paper, a design scheme of a speed controller for an electric vehicle’s cruise driving using a piece-wised control is proposed. Cruise driving of electric vehicle is one of the major performance functions. For the cruise driving, while ideal driving motors have linear characteristics of voltage to speed, practical motors have nonlinear characteristics of voltage to speed. The performance of nonlinearity can be improved through the closed-loop control to compensate it. In this paper, we have improved the performance by applying piece-wised control because the drive motor that has highly nonlinear characteristics is difficult to obtain adequate performance only using closedloop control. In order to test the proposed method, the experiments were carried out by applying the proposed method after building the electric vehicle equipped with the drive motors that has highly nonlinear characteristics. The experiment results using the proposed piece-wised control show superior performance than that using closed-loop control. © Springer International Publishing Switzerland 2014.

关键词： Closed loop control systems

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Global Exact Differentiator based on Higher-Order Sliding Modes and Dynamic Gains for Globally Stable Output-Feedback control

Global Exact Differentiator based on Higher-Order Sliding Mo...

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IEEE Annual Conference on Decision and control

作者： Tiago Roux Oliveira Antonio Estrada Leonid M. Fridman Dept. of Electronics and Telecommunication Engineering State University of Rio de Janeiro (UERJ) Rio de Janeiro RJ 20550-900 Brazil Dept. of Mechanical and Aerospace Engineering University of California - San Diego (UCSD) La Jolla CA 92093-0411 USA Dept. of Control Engineering and Robotics National Autonomous University of Mexico (UNAM) Federal District C.P. 04510 Mexico

ISBN: (纸本)9781479978878

In this paper, we propose a global exact differentiator with dynamic gains based on higher-order sliding modes to solve the problem of global trajectory tracking via output-feedback for a class of uncertain nonlinear plants with disturbances. Norm observers for the unmeasured state are employed to dominate the disturbances as well as to adapt the gains of the proposed differentiator since the nonlinearities may be state-dependent and time-varying. Differently from some previous works in the literature, no hybrid switching scheme is necessary to state global stability using only input-output information. For the first time, uniform global exponential stability and ultimate exact tracking are guaranteed exclusively employing higher-order sliding modes based exact differentiators. Numerical simulations are presented to validate the analysis and show the effectiveness of the proposed method.

关键词： Observers Stability analysis Transfer functions Numerical stability Switches Context

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints Mechatronics

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Cyclic scheduling of multimodal concurrently flowing processes

Cyclic scheduling of multimodal concurrently flowing process...

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International Conference on Systems Science, ICSS 2013

作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew Koszalin University of Technology Dept. of Computer Science and Management ul. Sniadeckich 2 Koszalin75-453 Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Warsaw University of Technology Dept. of Business Informatics Warsaw Poland

ISBN: (纸本)9783319018560

The problem of cyclic scheduling of multimodal concurrent processes (MCPs) is considered. Processes composed of sub-sequences of local cyclic processes (LCPs) are treated as multimodal processes, e.g. in case local processes encompass the subway lines network the relevant multimodal processes can be seen as passengers traveling itineraries this network. Since LCPs network implies a MCPs behavior, the following fundamental questions arise: Does the given LCPs network guarantee an assumed cyclic schedule of the MCPs at hand? Does there exist the LCPs network such that an assumed cyclic schedule of MCPs can be achieved? In that context our contribution is to propose a declarative framework allowing one to take into account both direct and reverse problems formulation. © Springer International Publishing Switzerland 2014.

关键词： Scheduling

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ZMP based walking pattern generation of child-sized humanoid robot : CHARLES(Cognitive Humanoid Autonomous Robot with Learning and Evolutionary System)

ZMP based walking pattern generation of child-sized humanoid...

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International Symposium on Soft Computing and Intelligent Systems (SCIS)

作者： Ki-Nam Lee Young-Jae Ryoo Dept. of Control Engineering and Robotics Mokpo National University Muan-gun South Korea

ISBN: (纸本)9781479959563

In this paper, an walking pattern tuning system based on ZMP(Zero Moment Point) for a humanoid robot is proposed. Commonly, it is inevitable to handle the stage with proficient programming skill for realization of humanoid walking. The proposed walking pattern tuning system is a program tool to finely tune the walking pattern based on ZMP by adjusting intuitive parameters that ordinary user can understand easily. The walking pattern tuning system was applied to the humanoid robot of 110cm tall and the humanoid robot with the tuned walking pattern was tested.

关键词： Legged locomotion Humanoid robots Tuning Trajectory Robot kinematics Educational institutions

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Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties

Design of an optimized sliding mode control for loaded doubl...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Manar Lashin Ahmed Ramadan Hossam S. Abbass Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Egypt Computers and Automatic Control Dept. Tanta University Tanta Egypt Electrical Engineering Dept. Assuit University Assuit Egypt

In this paper, the stabilization problem of loaded double inverted pendulum using an optimized state feedback sliding mode control is investigated. ADAMS/Matlab co-simulation environment is used for building a virtual nonlinear model for loaded double inverted pendulum system and the state feedback sliding mode control law is designed for stabilizing the system. Mismatched uncertainties represented by payload variations is considered. Genetic Algorithms are used to optimize the parameters of the sliding mode controller based on a performance index containing the sum of squared errors. The proposed control scheme can significantly suppress chattering effect and improves the performance of the system against uncertainties. Simulation results show the effectiveness of the approach and the robustness of the system against payload changes.

关键词： Mathematical model Payloads Uncertainty MATLAB Robustness Optimization Vectors

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Practical relative degree in SMC systems: Frequency domain approach

Practical relative degree in SMC systems: Frequency domain a...

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International Workshop on Variable Structure Systems, VSS

作者： Antonio Rosales Leonid Fridman Yuri Shtessel Deparment of Control and Robotics National Autonomus University of Mexico Mexico City Mexico Electrical and Computer Engineering Dept. The University of Alabama in Huntsville Huntsville AL USA

A variety of output regulation problems can be addressed via sliding mode control when system's relative degree is known. The difficulties in the implementation of sliding mode controllers emerge when the relative degree is unknown. On the other hand, practical systems controlled by sliding mode algorithms always work under tolerance limits, which are frequently known. This behavior is called real sliding motion. In this work, the concept of practical relative degree in single-input-single-output systems controlled by sliding mode controllers is revisited from the view point of frequency analysis. Practical relative degree is understood as the smallest order of the sliding mode controller that satisfies the tolerance limits. Also, the notion of practical relative degree is analyzed in terms of the definitions of performance margins. The usefulness of the proposed concept is the way to design sliding mode controllers for systems that can be considered a black-box. The practical relative degree is studied and illustrated via examples and simulations.

关键词： Limit-cycles Equations Mathematical model Frequency-domain analysis Sliding mode control Closed loop systems

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