Sliding Mode control (SMC) is a unique control strategy that emerged from Variable Structure control. The chattering in 1-Sliding Mode control was a major limitation in real world applications in spite of its proven s...
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ISBN:
(纸本)9781424456956
Sliding Mode control (SMC) is a unique control strategy that emerged from Variable Structure control. The chattering in 1-Sliding Mode control was a major limitation in real world applications in spite of its proven superiority in handling disturbances and uncertainties. The Higher-Order Sliding Mode(HOSM) methods gained popularity with their ability to eliminate chattering. But the current literature available on HOSM is overly complex and difficult to grasp for a practicing engineer. The purpose of this paper is to present the concept in a simplified manner. A reaching law based approach for designing 2-sliding controller is explained and evaluated with examples.
In this paper we study two mixed (finite-dimensional and infinite dimensional) systems - a flexible beam on a moving cart and a fluid tank mounted on a moving cart. The cart is connected to ordinary dampers, which dis...
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In this paper we study two mixed (finite-dimensional and infinite dimensional) systems - a flexible beam on a moving cart and a fluid tank mounted on a moving cart. The cart is connected to ordinary dampers, which dissipate the energy. The ultimate objective of this work is to ensure that all the energy of the infinite dimensional system (due to any disturbances) flows into the dampers and gets dissipated. We show that this is possible under certain conditions and that boundary damping alone is sufficient to bring the composite system to rest. We adopt the port-Hamiltonian approach (van der Schaft and Maschke (2002)) for our analysis, which allows us to look at the composite plant as a power conserving interconnection of infinite and finite dimensional systems.
This paper proposes a simple harmonic feedback strategy for reduction of output voltage harmonics and the removal of any voltage unbalance due to unbalanced linear and non-linear loads in three-phase inverters. The fu...
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We present an open source toolbox in Scilab for multivariate polynomial optimization based on the Bernstein form. The developed toolbox finds the global minimum of unconstrained polynomial optimization problems. We fi...
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We present an open source toolbox in Scilab for multivariate polynomial optimization based on the Bernstein form. The developed toolbox finds the global minimum of unconstrained polynomial optimization problems. We first describe the method used by the toolbox, and then demonstrate its performance on several standard optimization examples. We also compare the quality of the results obtained using the developed toolbox with those of popular global optimization methods, such as genetic algorithms, simulated annealing, pattern search, and global search interior point methods. The tests show the superior performance of the presented toolbox.
This paper proposes a discretization behavior of nonlinear sliding surface based algorithms. Recently nonlinear surfaces are proposed by the authors to improve transient performance of continuous and discrete-time unc...
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This paper proposes a discretization behavior of nonlinear sliding surface based algorithms. Recently nonlinear surfaces are proposed by the authors to improve transient performance of continuous and discrete-time uncertain systems. The nonlinear surface changes system's closed loop damping ratio as output approaches the setpoint. In this paper we propose a nonlinear surface for the system represented by delta operator approach which unifies our continuous-time and discrete-time results.
In the Bernstein approach to polynomial range finding, we propose a new rule for selection of the point where the domain subdivision is to be done. For a given direction of subdivision, instead of subdividing a box at...
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In the Bernstein approach to polynomial range finding, we propose a new rule for selection of the point where the domain subdivision is to be done. For a given direction of subdivision, instead of subdividing a box at its midpoint (as is done in the existing literature), we propose to subdivide the box at a point where the partial derivative of the polynomial (in the direction of subdivision) equals zero. The location of this point is estimated using the variation diminishing property of the derivative polynomial in the Bernstein form. We then compare the performance of the proposed rule for subdivision point with that of the existing midpoint subdivision rule, on nine polynomial problems of different dimensions - varying from two to eight dimensions. We evaluate both the rules using three different existing subdivision direction selection rules, and find the proposed rule to be overall more efficient in computational time and number of subdivisions.
Ranking and selection of optimal alternative among a range of alternatives have always been a multifaceted task in real-world complex decision analysis problems due to the qualitative nature of the decision criteria&#...
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This paper presents a new approach for integral sliding mode controller for a class of unmatched uncertain systems. A nominal control is computed using sliding mode techniques which works for unmatched uncertain syste...
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This paper presents a new approach for integral sliding mode controller for a class of unmatched uncertain systems. A nominal control is computed using sliding mode techniques which works for unmatched uncertain system. Integral sliding mode is further added to ensure robust reaching phase. A control system for slosh-free motion of a partially filled liquid container is sought. This is representative of a broader class of systems to which the proposed methodology is applicable. A simple pendulum model is considered to represent a fundamental mode of the lateral slosh. The effectiveness of the proposed scheme is demonstrated by simulation results.
This work aims in evaluating the closed loop performance of reaching law based discrete time sliding mode controller with multisensor data fusion (MSDF). The work considers six different fusion algorithms, to measure ...
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This work aims in evaluating the closed loop performance of reaching law based discrete time sliding mode controller with multisensor data fusion (MSDF). The work considers six different fusion algorithms, to measure and control the structural vibration of piezo actuated cantilever beam. The vibration is measured using two piezo homogeneous sensors. Each sensor output uses separate estimator, for generating the states, which are then fused. The linear dynamic model identified using linear Recursive Least Square (RLS) method based on ARX model is used to illustrate the effectiveness of closed loop performance with data fusion, as compared to the single sensor case.
There is a growing demand for magnetic suspension systems, especially in the field of high accuracy multi-dimensional positioning. Magnetic Levitation (Maglev) systems offer many advantages such as frictionless, low n...
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There is a growing demand for magnetic suspension systems, especially in the field of high accuracy multi-dimensional positioning. Magnetic Levitation (Maglev) systems offer many advantages such as frictionless, low noise, the ability to operate in high vacuum environments and so on. Reliable and robust controller synthesis of this system is of great practical interest. Robustness is a key issue in designing a control system for a Magnetic Levitation as the models are never 100 percent accurate and the uncertainties in the model must be accounted. In the present work, a new approach using Quantitative Feedback Theory (QFT) is presented for design of a robust two degree of freedom controller for Magnetic Levitation. Experimental tests are conducted to check the reliability and robustness of the designed control system by subjecting it to disturbances. The experimental test results show the control system design to be reliable and robust.
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