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Sliding surface design with saturated actuator

Sliding surface design with saturated actuator

引用

2012 12th International Workshop on Variable Structure systems, VSS 2012

作者： Fulwani, Deepak Bandyopadhyay, B. Faculty of Electrical Engineering IIT Rajasthan Jodhpur India IDP in Systems and Control Engineering IIT Bombay India

ISBN: (纸本)9781457720666

A class of nonlinear uncertain systems with saturated actuator is considered in this paper. Sliding surface matrix is obtained using parameterized Riccatti equation. The proposed surface ensures that control limits are respected in a region of state space. This region can be made sufficiently large by choosing appropriate value of design parameters. © 2012 IEEE.

关键词： Actuators

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Robust control of rotary slosh using integral sliding modes

Robust control of rotary slosh using integral sliding modes

引用

2012 12th International Workshop on Variable Structure systems, VSS 2012

作者： Thakar, Parth S. Bandyopadhyay, B. Gandhi, P.S. Kurode, Shailaja IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India Department of Mechanical Engineering Indian Institute of Technology Bombay Mumbai 400076 India Department of Electrical Engineering COE Pune 400005 India

ISBN: (纸本)9781457720666

This paper investigates a problem of control of rotary slosh using integral sliding modes (ISM). Slosh coupled with vehicle dynamics represents a class of systems having coupled nonlinear and underactuated dynamics. Rotary slosh is modeled using spherical pendulum. The coordinates are chosen to avoid the singularity at equilibrium point. A stabilizing control is designed using Lyapunov approach. A stabilizing controller (SC) is made robust by adding ISM component. The integral sliding mode control (ISMC) yields robust performance over the entire state space. The effectiveness of the method is validated in simulations. © 2012 IEEE.

关键词： Robust control

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Stabilization of Stewart platform using Higher Order Sliding Mode control

Stabilization of Stewart platform using Higher Order Sliding...

引用

International Conference on Electrical and Computer engineering (ICECE)

作者： P.Ramesh Kumar B. Bandyopadhyay IDP in Systems and Control Engineering Indian Institute of Technology Mumbai India

This paper presents a technique to control the Stewart platform using Higher Order sliding Mode(HOSM). For a given position of the platform, the leg lengths are estimated using inverse kinematics and the corresponding leg velocities are estimated in finite time using a super twisting observer. The desired position of the platform has been achieved in finite time using a higher order sliding mode controller. The effectiveness of this control technique has been proved with simulation results.

关键词： Manipulator dynamics Observers Mathematical model Vectors Kinematics Joints

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Discrete sliding mode control of fractional linear systems

Discrete sliding mode control of fractional linear systems

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： S. Kamal Arun Raman B. Bandyopadhyay IDP in Systems and Control Engineering Indian Institute of Technology Bombay India

ISBN: (纸本)9781467301596

In this paper, a methodology for stabilization of fractional discrete-time system based on discrete sliding mode approach is attempted for the first time. The proposed controller is robust in the presence of matched uncertainties. Stability during sliding is analyzed in terms of gamma function based radius using the property introduced by Hilfer [8]. Numerical example along with simulation is presented to illustrate the efficacy of the proposed method.

关键词： Uncertainty Sliding mode control Switches Stability analysis Robustness Trajectory

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Discrete-time integral sliding-mode flow control for connection-oriented communication networks

Discrete-time integral sliding-mode flow control for connect...

引用

International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： P Baburaj B Bandyopadhyay IDP in Systems & Control Engineering Indian Institute of Technology Bombay Mumbai India

In this paper, a novel discrete-time integral sliding-mode control (DISMC) scheme for connection-oriented communication network is proposed. Network is modeled as an n th order discrete system whose available bandwidth variations at the bottlenecked link act as an exogenous unmatched disturbance. The proposed scheme is characterized by discrete-time integral sliding manifold which inherits the desired properties such as elimination of reaching phase, full order sliding manifold with pole assignment etc. In particular, comparing with the existing discrete flow control scheme, the new scheme ensures more precise tracking with O(T 2 ) steady-state error for state regulation with widely adopted delay-based disturbance estimation. Surface parameters are so chosen to minimise the effect of unmatched uncertainty. Simulation results shows that discrete-time ISMC achieves more effective control performance under the adverse influence of unmatched disturbances, meanwhile eliminating the reaching phase.

关键词： Bandwidth Uncertainty Manifolds Delays Mathematical model Estimation Propagation delay

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Development And Analysis Of The Zero Power Fractional-Order Transfer Function Model For A Nuclear Reactor With Slab Geometry

Development And Analysis Of The Zero Power Fractional-Order ...

引用

第五届国际自动控制联合会分数阶导数及其应用会议

作者： Vishwesh A.Vyawahare P.S.V.Nataraj IDP in Systems and Control Engineering Indian Institute ofTechnology Bombay Powai Mumbai INDIA 400 076 IDP in Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai INDIA 400 076

In this paper,development of the Fractional-order(FO)linear model of the neutron transport in a nuclear reactor is *** general,this linear model is commonly known in the reactor theory as the Zero Power Transfer Funct... 详细信息

关键词： Development And Analysis Of The Zero Power Fractional-Order Transfer Function Model For A Nuclear Reactor With Slab Geometry Model Reactor

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Development And Analysis Of The Fractional-Order Point Reactor Kinetics Model For A Nuclear Reactor With Slab Geometry

Development And Analysis Of The Fractional-Order Point React...

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第五届国际自动控制联合会分数阶导数及其应用会议

This paper presents the development of Fractional-order(FO) Point Reactor Kinetics(FPRK) model for anuclear reactor with slab *** PRK model is the first step towards the development of the 'control' model for a *** is a set of nonlinear,coupled dynamical ordinary differential equations characterizing the time evolution of the neutron flux.

关键词： Reactor Development And Analysis Of The Fractional-Order Point Reactor Kinetics Model For A Nuclear Reactor With Slab Geometry Model

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Sliding surface design with saturated actuator

Sliding surface design with saturated actuator

引用

International Workshop on Variable Structure systems, VSS

作者： Deepak Fulwani B Bandyopadhyay Faculty of Electrical Engineering Indian Institute of Technology Rajasthan Jodhpur India IDP in Systems and Control Engineering IIT Bombay India

关键词： Switches Actuators Equations Closed loop systems Eigenvalues and eigenfunctions Sliding mode control Variable structure systems

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Robust control of rotary slosh using integral sliding modes

Robust control of rotary slosh using integral sliding modes

引用

International Workshop on Variable Structure systems, VSS

作者： Parth S. Thakar B. Bandyopadhyay P. S. Gandhi Shailaja Kurode IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Mechanical Engineering Indian Institute of Technology Bombay Mumbai India Department of Electrical Engineering COE Pune India

关键词： Containers Robustness Mathematical model Equations Vehicle dynamics Aerospace electronics Vehicles

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Design And Analysis Of Model Predictive control Strategy For A Fractional-Order System

Design And Analysis Of Model Predictive Control Strategy For...

引用

第五届国际自动控制联合会分数阶导数及其应用会议

作者： Sharad P.Jadhav Dr.R.H.Chile Dr.S.T.Hamde Mukesh D.Patil Vishwesh A.Vyawahare Research Scholar Shri Guru Gobind Singhji Institute of Engineering andTechnologyNanded431606India ¤¤ Shri Guru Gobind Singhji Institute of Engineering andTechnology Nanded431606India Shri Guru Gobind Singhji Institute of Engineering andTechnology Nanded431606India IDP in Systems and Control Engg. Indian Institute of TechnologyBombay Mumbai India 400 076 IDP in Systems and Control Engg. Indian Institute of Technology Bombay Mumbai India 400 076

＜正＞Fractional calculus（FC）is an important mathematical tool and is becoming popular in diverse field of research *** is a generalization of the conventional calculus that leads to similar concepts and tools,but w... 详细信息

关键词： Fractional calculus Fractional-order systems Discrete approximations Model Predictive control. fractional order control strategy control Theory Instruction repertory Fractional calculus Model predictive control Predictive control approximation

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