Pub Date : 2018-07-09DOI: 10.1109/VSS.2018.8460263
H. Caballero-Barragán, L. Osuna-Ibarra, A. Loukianov, F. Plestan
In the present paper, a robust predictor-based sliding mode control for perturbed time-varying delay systems is proposed. A predictor is designed to compensate the time-varying delay effect in control input, and then an integral sliding mode control technique along with super-twisting algorithm is applied to compensate partially the effect of the perturbation term. Finally, a nominal delay-free part of the control input is designed to stabilize the sliding mode dynamics. Conditions for the stability of the closed-loop perturbed system are derived. Simulation result is presented.
{"title":"Robust Control for Perturbed Linear Systems with Time-Varying Delay via Sliding Mode Control","authors":"H. Caballero-Barragán, L. Osuna-Ibarra, A. Loukianov, F. Plestan","doi":"10.1109/VSS.2018.8460263","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460263","url":null,"abstract":"In the present paper, a robust predictor-based sliding mode control for perturbed time-varying delay systems is proposed. A predictor is designed to compensate the time-varying delay effect in control input, and then an integral sliding mode control technique along with super-twisting algorithm is applied to compensate partially the effect of the perturbation term. Finally, a nominal delay-free part of the control input is designed to stabilize the sliding mode dynamics. Conditions for the stability of the closed-loop perturbed system are derived. Simulation result is presented.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"6 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124593001","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-09DOI: 10.1109/VSS.2018.8460284
Stefan Koch, M. Reichhartinger
This paper proposes an entirely new discrete-time realization of an arbitrary order robust exact differentiator. Its construction relies on the redesign of the differentiator in the discrete-time domain by means of a non-linear eigenvalue placement. The resulting algorithm is consistent with the continuous-time algorithm and preserves the best possible asymptotic accuracies known from the continuous-time differentiator. In contrast to the existing discretization schemes, the proposed schemes are exact in the sense that in the unperturbed case the differentiators ensure vanishing estimation errors. Limit cycles typically present in the error state variables enforced by the forward Euler discretized algorithm are avoided and the precision is insensitive to an overestimation of the gains.
{"title":"Discrete-Time Equivalent Homogeneous Differentiators","authors":"Stefan Koch, M. Reichhartinger","doi":"10.1109/VSS.2018.8460284","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460284","url":null,"abstract":"This paper proposes an entirely new discrete-time realization of an arbitrary order robust exact differentiator. Its construction relies on the redesign of the differentiator in the discrete-time domain by means of a non-linear eigenvalue placement. The resulting algorithm is consistent with the continuous-time algorithm and preserves the best possible asymptotic accuracies known from the continuous-time differentiator. In contrast to the existing discretization schemes, the proposed schemes are exact in the sense that in the unperturbed case the differentiators ensure vanishing estimation errors. Limit cycles typically present in the error state variables enforced by the forward Euler discretized algorithm are avoided and the precision is insensitive to an overestimation of the gains.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127110226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460469
Alexander Barth, C. Weise, J. Reger
This paper presents a control strategy that combines feedback-linearization with higher-order sliding-mode control for the tracking control of a cam-plate driven ball and plate system. The concept of the practical relative degree legitimates to reconsider the system representation as a simpler feedback-linearizable system. For the remaining linear dynamics, a higher-order sliding-mode algorithm serves to estimate the states required for a super-twisting controller. The effectiveness of the proposed approach is demonstrated on a laboratory test-bench imposing a circular trajectory for tracking.
{"title":"Application of Higher-Order Sliding-Modes to a Ball and Plate System","authors":"Alexander Barth, C. Weise, J. Reger","doi":"10.1109/VSS.2018.8460469","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460469","url":null,"abstract":"This paper presents a control strategy that combines feedback-linearization with higher-order sliding-mode control for the tracking control of a cam-plate driven ball and plate system. The concept of the practical relative degree legitimates to reconsider the system representation as a simpler feedback-linearizable system. For the remaining linear dynamics, a higher-order sliding-mode algorithm serves to estimate the states required for a super-twisting controller. The effectiveness of the proposed approach is demonstrated on a laboratory test-bench imposing a circular trajectory for tracking.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120865578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460259
A. Levant
New finite-time-exact robust (FTER) differentiators, filters and observers based on sliding modes are produced which are capable of filtering out unbounded sampling noises and of the complete FTER output-dynamics observation in the case of known relative degrees and high-frequency gains.
{"title":"Filtering Differentiators and Observers","authors":"A. Levant","doi":"10.1109/VSS.2018.8460259","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460259","url":null,"abstract":"New finite-time-exact robust (FTER) differentiators, filters and observers based on sliding modes are produced which are capable of filtering out unbounded sampling noises and of the complete FTER output-dynamics observation in the case of known relative degrees and high-frequency gains.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125166445","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460260
Sachit Rao
The closed-loop properties as well as the simple design procedure for the control of linear time-invariant (LTI) systems, offered by the sliding mode control (SMC) algorithm, are well known. The focus of this paper is in designing an SMC for a fixed-wing aircraft in the presence of control constraints and illustrating that the switching surface parameters decide the initial conditions of the aircraft states from which sliding mode can even be expected to occur. The need to perform a trade-off between the magnitudes of these initial states and the speed of the sliding mode dynamics is highlighted; a procedure to calculate these magnitudes is also proposed. A dynamic model of the longitudinal dynamics of a fixed-wing aircraft, linearised about some trim conditions, is chosen for the study.
{"title":"Selection of Switching Surface Parameters in the Presence of Control Constraints in Aerospace Applications","authors":"Sachit Rao","doi":"10.1109/VSS.2018.8460260","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460260","url":null,"abstract":"The closed-loop properties as well as the simple design procedure for the control of linear time-invariant (LTI) systems, offered by the sliding mode control (SMC) algorithm, are well known. The focus of this paper is in designing an SMC for a fixed-wing aircraft in the presence of control constraints and illustrating that the switching surface parameters decide the initial conditions of the aircraft states from which sliding mode can even be expected to occur. The need to perform a trade-off between the magnitudes of these initial states and the speed of the sliding mode dynamics is highlighted; a procedure to calculate these magnitudes is also proposed. A dynamic model of the longitudinal dynamics of a fixed-wing aircraft, linearised about some trim conditions, is chosen for the study.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116430877","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460449
M. Golkani, L. Fridman, Stefan Koch, M. Reichhartinger, M. Horn
In this paper, a second-order system affected by perturbations is considered. A feedback control law adopting the continuous twisting algorithm is designed such that a saturated and continuous control signal is introduced to the system. In the case that a state variable is not measurable, estimate information obtained through a super-twisting observer is incorporated into the design. For the closed-loops (with and without observer), global finite-time stability properties are established. The feasibility and effectiveness of the strategy is shown employing numerical simulations.
{"title":"Saturated Continuous Twisting Algorithm","authors":"M. Golkani, L. Fridman, Stefan Koch, M. Reichhartinger, M. Horn","doi":"10.1109/VSS.2018.8460449","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460449","url":null,"abstract":"In this paper, a second-order system affected by perturbations is considered. A feedback control law adopting the continuous twisting algorithm is designed such that a saturated and continuous control signal is introduced to the system. In the case that a state variable is not measurable, estimate information obtained through a super-twisting observer is incorporated into the design. For the closed-loops (with and without observer), global finite-time stability properties are established. The feasibility and effectiveness of the strategy is shown employing numerical simulations.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116621033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460428
Abhisek K. Behera, B. Bandyopadhyay
In this paper, we investigate the stability of a controlled system in the event-triggering framework. By designing the triggering scheme, the control signals are updated when it is demanded subject to some satisfactory system performance. However, the stability of the system is not yet fully investigated with respect to the triggering conditions. So, the main purpose of the paper is to analyse the stability of the system with respect to the proposed triggering scheme. In this paper, sliding mode control (SMC) is used to design the event-triggered control. Our analysis proposes a new notion called bounded event property for the event which guarantees the triggering instants are generated in finite-time for all possible values of the triggering parameter. It is shown that the event-triggered SMC ensures possess the bounded event property and moreover the proposed triggering mechanism also guarantees the stability of the closed loop system stability.
{"title":"On Stability of Event-Triggered Systems With Sliding Mode Control","authors":"Abhisek K. Behera, B. Bandyopadhyay","doi":"10.1109/VSS.2018.8460428","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460428","url":null,"abstract":"In this paper, we investigate the stability of a controlled system in the event-triggering framework. By designing the triggering scheme, the control signals are updated when it is demanded subject to some satisfactory system performance. However, the stability of the system is not yet fully investigated with respect to the triggering conditions. So, the main purpose of the paper is to analyse the stability of the system with respect to the proposed triggering scheme. In this paper, sliding mode control (SMC) is used to design the event-triggered control. Our analysis proposes a new notion called bounded event property for the event which guarantees the triggering instants are generated in finite-time for all possible values of the triggering parameter. It is shown that the event-triggered SMC ensures possess the bounded event property and moreover the proposed triggering mechanism also guarantees the stability of the closed loop system stability.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130652613","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460385
Markus Tranninger, Martin Steinberger, L. Fridman, M. Horn, S. Zhuk
This paper presents a cascaded observer scheme for state estimation of the lateral vehicle dynamics. A velocity dependent linear time varying model where the road curvature acts as an unknown input is considered. The proposed observer structure is based on an $mathcal{H}_{alpha}$, filter in combination with a higher order sliding mode compensator and yields finite time exact state reconstruction. The observer design is carried out step by step and simulation results show the applicability of the proposed approach.
{"title":"Robust State Estimation for Linear Time Varying Lateral Vehicle Dynamics with Unknown Road Curvature","authors":"Markus Tranninger, Martin Steinberger, L. Fridman, M. Horn, S. Zhuk","doi":"10.1109/VSS.2018.8460385","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460385","url":null,"abstract":"This paper presents a cascaded observer scheme for state estimation of the lateral vehicle dynamics. A velocity dependent linear time varying model where the road curvature acts as an unknown input is considered. The proposed observer structure is based on an $mathcal{H}_{alpha}$, filter in combination with a higher order sliding mode compensator and yields finite time exact state reconstruction. The observer design is carried out step by step and simulation results show the applicability of the proposed approach.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123508705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460266
E. Tahoumi, F. Plestan, M. Ghanes, J. Barbot
In this paper, a new controller is proposed, based on a well known homogeneous controller. The suggested controller gives rise to an efficient trade-off between the standard linear state feedback and twisting algorithm. As a consequence, the obtained controller has the advantages of both controllers with their drawbacks reduced. To achieve this objective, a parameter on the exponent terms of the homogeneous controller is adapted. The convergence of the closed loop system to a vicinity of the origin is given. Finally, some simulations validate the effectiveness of the proposed controller.
{"title":"Adaptive Exponent Parameter: a Robust Control Solution Balancing Between Linear and Twisting Controllers","authors":"E. Tahoumi, F. Plestan, M. Ghanes, J. Barbot","doi":"10.1109/VSS.2018.8460266","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460266","url":null,"abstract":"In this paper, a new controller is proposed, based on a well known homogeneous controller. The suggested controller gives rise to an efficient trade-off between the standard linear state feedback and twisting algorithm. As a consequence, the obtained controller has the advantages of both controllers with their drawbacks reduced. To achieve this objective, a parameter on the exponent terms of the homogeneous controller is adapted. The convergence of the closed loop system to a vicinity of the origin is given. Finally, some simulations validate the effectiveness of the proposed controller.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"122 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124524981","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460335
M. Cross, Y. Shtessel
The guidance and control (G&C) on a missile interceptor orchestrate the vehicle's functional subsystems to minimize miss distance. In contrast to the traditional cascaded G&C loop structure that handles the guidance and control separately, a single-loop and single control law govern the fin actuation. The high relative degree of a missile engagement scenario makes controller design more difficult. The use of higher order sliding mode differentiators mitigates the problem. The objective of this work is to develop a robust, high-order sliding mode controller that intercepts maneuvering targets using minimal information. Nonlinear pitch plane engagement kinematics and linear pitch plane missile dynamics are defined for controller development and simulation purposes. Through simulation the control law is shown to be simple and intuitive, only requiring relative normal velocity for state feedback, meaning it can work in a GPS-denied environment.
{"title":"A Single-Loop High-Order Sliding Mode Controller for a Missile Interceptor","authors":"M. Cross, Y. Shtessel","doi":"10.1109/VSS.2018.8460335","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460335","url":null,"abstract":"The guidance and control (G&C) on a missile interceptor orchestrate the vehicle's functional subsystems to minimize miss distance. In contrast to the traditional cascaded G&C loop structure that handles the guidance and control separately, a single-loop and single control law govern the fin actuation. The high relative degree of a missile engagement scenario makes controller design more difficult. The use of higher order sliding mode differentiators mitigates the problem. The objective of this work is to develop a robust, high-order sliding mode controller that intercepts maneuvering targets using minimal information. Nonlinear pitch plane engagement kinematics and linear pitch plane missile dynamics are defined for controller development and simulation purposes. Through simulation the control law is shown to be simple and intuitive, only requiring relative normal velocity for state feedback, meaning it can work in a GPS-denied environment.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134112680","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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