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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

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.

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...

引用

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

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.

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

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Minimal quasi sliding mode band with multirate output feedback

Minimal quasi sliding mode band with multirate output feedba...

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International Conference on Electrical and Computer engineering (ICECE)

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

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. Multirate Output Feedback technique of fast output sampling is used to calculate the control action. The controller parameters are evaluated according to the ultimate band that is desired, giving rise to a negative switching gain, contradicting popular notion of non-negative switching gains used in sliding mode control.

关键词： Sliding mode control Output feedback Discrete-time systems Switches State feedback Equations

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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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Discrete-time sliding mode control using an H∞ filter for a quadruple tank system

Discrete-time sliding mode control using an H∞ filter for a...

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

作者： Chandra, Kumar Pakki Bharani Srikanthan, Hemnath Gu, Da-Wei Bandyopadhyay, Bijnan Postlethwaite, Ian Control and Instrumentation Group University of Leicester LE1 7RH United Kingdom Department of Engineering University of Leicester LE1 7RH United Kingdom Interdisciplinary Program in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India Northumbria University NE1 8ST United Kingdom

The quadruple tank system is a challenging multi-variable model consisting of four interconnected tanks, two level sensors and two input pumps. This paper deals with the control and estimation of such a system. All the four levels of the system are controlled by H∞ filter based discrete sliding mode control (SMC). A nonlinear stable sliding surface is constructed using full state information, to enhance the overall performance of the closed loop plant. In this multi-input multi-output quadruple tank system, only the first two states are available for feedback and hence it is not suitable to use any full state feedback control methods directly. To circumvent this problem, the remaining two states, which are required for the SMC design are estimated using a robust H∞ filter. The efficacy of the proposed method is demonstrated by simulations. © 2012 IEEE.

关键词： State feedback

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Single image based depth estimation for robotic applications

Single image based depth estimation for robotic applications

引用

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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Quasi sliding mode control with quantization in state measurement

Quasi sliding mode control with quantization in state measur...

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Annual Conference of Industrial Electronics Society

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

Whenever we compute control using digital computer, the states measured need to be converted to digital word before processing in the computer. This conversion gives rise to quantization error in state measurement which in turn affects the applied control to the plant. This would cause the system dynamics to deviate from the behaviour predicted by any theoretical analysis which does not consider the effect of such quantization. Here an analysis has been presented taking into consideration the error due to quantization for Quasi Sliding Mode control with state feedback.

关键词： Quantization Uncertainty Measurement uncertainty Sliding mode control State feedback Mathematical model Equations

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Super-twisting-like algorithm in discrete time nonlinear systems

Super-twisting-like algorithm in discrete time nonlinear sys...

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2011 International Conference on Advanced Mechatronic systems, ICAMechS 2011

作者： Salgado, I. Kamal, S. Chairez, I. Bandyopadhyay, B. Fridman, L. Department of Bioprocesses Professional Interdisciplinary Unit of Biotechnology IPN Mexico City Mexico Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India Engineering Faculty National Autonomous University of Mexico Mexico City Mexico

ISBN: (纸本)9780955529375

A new discrete time super-twisting-like second order sliding mode algorithm (DSTA) is proposed. The stability proof of the suggested scheme is analyzed in terms of the discrete Lyapunov approach and Linear Matrix Inequalities (LMI) theory. Using these two tools it is proved that, system state trajectory is ultimately bounded in finite time. The state estimation problem for a class of second order discrete time system has been proposed to show the positive settings obtained from the algorithm introduced here. Also, the ultimate boundedness of the estimation error is demonstrated despite the presence of bounded perturbations. Simulation results illustrates the efficacy of this new discrete-time algorithm. © 2011 Intl Journal of Adv Mechatr.

关键词： Linear matrix inequalities

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Simple and robust correlation based visual compass using omnidirectional view

Simple and robust correlation based visual compass using omn...

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IEEE Region 10 International Conference TENCON

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

In many mobile robotic tasks, it is important to know the local axis of the robot at any pose with respect to a reference or global direction. In this paper, a vision-based algorithm is described for this purpose. A new approach to form the omnidirectional view of an environment is developed using a single camera. The images captured at a definite interval of angles are stitched by a simple method of removing the overlapping area between two successive images. To find the local axis of a mobile robot, a robust technique is developed to determine the orientation of the robot at any pose with respect to the reference direction in an unknown environment. A reference omnidirectional image is correlated with that at the current position. The paper formulates two algorithms : one for finding the fixed amount of overlapping area and another for finding the angle of local axis with respect to the reference using correlation. The paper also proposes two ways using which this visual compass can be used.

关键词： Cameras Correlation Compass Visualization Robot vision systems Mobile robots

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