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

作者： Kamal, S. Bandyopadhyay, B. Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India

ISBN: (纸本)9781457720666

This paper proposes an arbitrary higher order sliding mode controller for uncertain minimum phase nonlinear systems. The stability proof of the suggested scheme is analyzed in terms of two Lyapunov functions. Using these two Lyapunov functions it is proved that, output and its higher order derivatives converge to origin in finite time. Simulation results prove the efficiency of the proposed method. © 2012 IEEE.

关键词： Lyapunov functions

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Discrete time sliding mode control with minimal quasi sliding mode band

Discrete time sliding mode control with minimal quasi slidin...

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

作者： Chakrabarty, S. Bandyopadhyay, B. Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India

ISBN: (纸本)9781457720666

A new approach is presented to analyze sliding mode control in discrete-time systems using an established reaching law, whereby the ultimate band is obtained to be lesser than any previous analysis done with the same reaching law. Also, the controller parameters are evaluated according to the ultimate band that is desired. The approach begins with defining several bands in the space of the surface variable, which are key to understanding the dynamics of it. Conditions on these band values are key to assigning appropriate values to the controller parameters. The switching gain obtained in this way comes out to be negative contradicting popular notion of non-negative switching gains used in sliding mode control. A case is also studied where the states measured contribute a quantization error in the system dynamics. The idea developed in analyzing the case without quantization is used while dealing with it. © 2012 IEEE.

关键词： State feedback

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Methods for equitable distribution of bus access among nodes of controller Area Network

Methods for equitable distribution of bus access among nodes...

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2012 IEEE 7th International Conference on Industrial and Information systems, ICIIS 2012

作者： Vyas, Pranjal Hangal, Swaroop A. Vachhani, Leena Interdisciplinary Programme in Systems and Control Indian Institute of Technology Bombay Mumbai 400076 India Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781467326056

controller Area Network (CAN) is the dominant network in automotive applications and is making inroads in the industrial and medical environments too. The basic CAN protocol suffers an inherent shortfall that it starves low priority nodes to transmit data due to its fixed priority (FP) scheme. The paper proposes implementation of two priority schemes to mitigate the same. In the first scheme, that implements Round-Robin(RR) priority, the access to the bus is given in cyclic fashion. Thus, giving opportunity for lower priority nodes to transmit. In the second scheme, that implements Least Recently Used (LRU) priority, priorities of the nodes are rotated depending on node's recent access of the bus, thereby giving equal opportunity to all the nodes for accessing the bus. Proposed schemes therefore give provisions to change fixed priority scheme of CAN protocol into Round-Robin and Least Recently Used (LRU) priority schemes respectively. Also, the proposed RR and LRU priority schemes can coexist with FP scheme. The proposed schemes are applied at every node which avoids the use of any explicit master node or message scheduler to provide equal opportunity to all the nodes. The proposed schemes do not require changes at physical and data-link layers of CAN protocol. Consideration of emergency state for a particular node is another small contribution of this paper. The proposed emergency priority scheme allows particular nodes to have provision of emergency states for gaining access to the bus out of turn. A software simulation of proposed schemes in LabVIEW verify equitable access to nodes. © 2012 IEEE.

关键词： Buses

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Discrete time sliding mode control with minimal quasi sliding mode band

Discrete time sliding mode control with minimal quasi slidin...

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International Workshop on Variable Structure systems, VSS

作者： S. Chakrabarty B. Bandyopadhyay Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

关键词： Quantization Sliding mode control Switches Variable structure systems Measurement uncertainty Conferences Uncertainty

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Arbitrary higher order sliding mode control based on control Lyapunov approach

Arbitrary higher order sliding mode control based on control...

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International Workshop on Variable Structure systems, VSS

作者： S. Kamal B. Bandyopadhyay Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

关键词： Equations Convergence controllability Sliding mode control Lyapunov methods Uncertainty Conferences

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Finite Time Stabilization of Fractional Order Uncertain Chain of Integrator: A Sliding Mode Approach

Finite Time Stabilization of Fractional Order Uncertain Chai...

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IEEE Interantional Conference on Industrial Technology

作者： S. Kamal Arun Raman B. Bandyopadhyay Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India

ISBN: (纸本)9781467303408

In this paper, a novel method for finite time stabilization of a chain of uncertain fractional order integrator is proposed for the first time. This is accomplished by first designing a controller which is capable of stabilizing the disturbance free states of the system in finite time. Then a suitable sliding surface is designed such that when the system slides on it, the designed controller is transferred to act on the disturbance free states. After that, by switched sliding surface mechanism the remaining state which is affected by the disturbance is also stabilized.

关键词： Fractional order integrator Sliding mode control Finite time stabilization

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Methods for equitable distribution of bus access among nodes of controller Area Network

Methods for equitable distribution of bus access among nodes...

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International Conference on Industrial and Information systems, ICIIS

作者： Pranjal Vyas Swaroop A. Hangal Leena Vachhani Interdisciplinary Programme in Systems and Control Indian Institute of Technology Bombay Mumbai India Department of AeroSpace Engineering Indian Institute of Technology Bombay Mumbai India

关键词： Protocols Queueing analysis Equal opportunities Software Automotive applications Industries

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Characterizing the reachable set for a spacecraft with two rotors

Characterizing the reachable set for a spacecraft with two r...

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American control Conference (ACC)

作者： Ramaprakash Bayadi Ravi N. Banavar Dong Eui Chang Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Department of Applied Mathematics University of Waterloo Waterloo ONT Canada

One commonly employed actuation device to change the orientation and angular velocity of a satellite is the reaction wheel (or internal rotor.) With this mode of actuation, to achieve any arbitrary orientation and angular velocity, three internal rotors suffice. A problem of long standing interest however, is the aspect of controllability when there are only two rotors - either by design or due to the failure of one rotor. An early result on this problem is by Crouch [1]. The paper affirms that the system is not accessible when there are two rotors. However, there is no attempt to characterize the reachable set in this case. In this paper, using a geometric framework based on the Lagrange -Routh reduction procedure, we characterize the reachable set for the case of two rotors.

关键词： Equations Rotors Vectors Space vehicles Angular velocity Mathematical model controllability

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A Reliable and Accurate Calculation of Excitation Capacitance Value for an Induction Generator Based on Interval Computation Technique

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International Journal of Automation and computing 2011年第4期8卷 429-436页

作者： Rajesh Kumar Thakur Vivek Agarwal Paluri S. V. Nataraj Systems and Control Engineering Interdisciplinary Programme (IDP)Mumbai 400076 India Department of Electrical Engineering IIT-Bombay Powai Mumbai 400076 India

A squirrel cage induction generator （SCIG） offers many advantages for wind energy conversion systems but suffers from poor voltage regulation under varying operating conditions. The value of excitation capacitance （C exct ） is very crucial for the selfexcitation and voltage build-up as well as voltage regulation in SCIG. Precise calculation of the value of C exct is, therefore, of considerable practical importance. Most of the existing calculation methods make use of the steady-state model of the SCIG in conjunction with some numerical iterative method to determine the minimum value of C exct . But this results in over estimation, leading to poor transient dynamics. This paper presents a novel method, which can precisely calculate the value of C exct by taking into account the behavior of the magnetizing inductance during saturation. Interval analysis has been used to solve the equations. In the proposed method, a range of magnetizing inductance values in the saturation region are included in the calculation of C exct , required for the self-excitation of a 3-φ induction generator. Mathematical analysis to derive the basic equation and application of interval method is presented. The method also yields the magnetizing inductance value in the saturation region which corresponds to an optimum C exct（min） value. The proposed method is experimentally tested for a 1.1 kW induction generator and has shown improved results.

关键词： d-q model hull consistency induction generator interval analysis interval arithmetic optimization range of interval realpaver self-excitation transients.

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Single image based depth estimation for robotic applications

Single image based depth estimation for robotic applications

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2011 IEEE Recent Advances in Intelligent Computational systems, RAICS 2011

作者： Sabnis, Anupa Vachhani, Leena Interdisciplinary Programme in Systems and Control Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781424494774

Goal of the robot vision is to exploit power of visual sensing to observe and perceive the environment and react it. Visual feedback is used to manipulate the robot among objects by estimating their depths. This paper presents a depth estimation technique based on the defocus blur associated with a camera setting. A sharp image of an object is obtained from a defocused image of the same object by applying sharpening filter. The defocused and sharp images of the object are used to calculate the spread parameter which is related to the object depth. The method calculates the constant camera parameters. The main advantage of this method is use of a single image by the robot to estimate depth. The method is independent of illumination condition and can be applied to the images with different edge orientations. Experiments on real scene images have demonstrated the feasibility of the proposed method for depth estimation. The results indicate that the depth estimation average errors are within two percent of true values. The proposed method is compared with the existing methods. © 2011 IEEE.

关键词： Robot vision

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