Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460466
J. González-Sierra, H. Ríos, A. Dzul
In this paper the problem of motion coordination for a multi-agent system composed of a group of Quad-Rotors, under the leader-follower scheme, is addressed. The proposed control strategy is considered as a decentralized scheme and is composed of cascaded continuous sliding-modes controllers (SMCs). By means of this approach, the Quad-Rotors are able to robustly form a geometric pattern in order to track a desired trajectory despite the presence of bounded unknown inputs. The proposed control strategy provides uniform finite-time stability and uniform exponential stability for the corresponding tracking and formation errors. Numerical simulations illustrate the performance of the proposed control strategy.
{"title":"Robust Continuous Sliding-Mode Control for Motion Coordination of a Team of Quad-Rotors","authors":"J. González-Sierra, H. Ríos, A. Dzul","doi":"10.1109/VSS.2018.8460466","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460466","url":null,"abstract":"In this paper the problem of motion coordination for a multi-agent system composed of a group of Quad-Rotors, under the leader-follower scheme, is addressed. The proposed control strategy is considered as a decentralized scheme and is composed of cascaded continuous sliding-modes controllers (SMCs). By means of this approach, the Quad-Rotors are able to robustly form a geometric pattern in order to track a desired trajectory despite the presence of bounded unknown inputs. The proposed control strategy provides uniform finite-time stability and uniform exponential stability for the corresponding tracking and formation errors. Numerical simulations illustrate the performance of the proposed control strategy.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"25 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":"133790464","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.2018.8460436
C. Edwards, Lejun Chen, A. Khattab, H. Alwi, Masayuki Sato
This paper considers the development of fault tolerant controllers (FTC) and their application to aerospace system. In particular, given the extensive and growing literature in this area, this paper focusses on methods where the schemes have been implemented and flight tested. One thread of the fault tolerant control literature has involved sliding mode controllers. This paper considers a specific class of sliding mode FTC which incorporates control allocation to exploit over-actuation (which is typically present in aerospace systems). The paper describes implementations of these ideas on a small quadrotor UAV and also piloted flight tests on a full-scale twin-engined aircraft.
{"title":"Flight Evaluations of Sliding Mode Fault Tolerant Controllers","authors":"C. Edwards, Lejun Chen, A. Khattab, H. Alwi, Masayuki Sato","doi":"10.1109/VSS.2018.8460436","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460436","url":null,"abstract":"This paper considers the development of fault tolerant controllers (FTC) and their application to aerospace system. In particular, given the extensive and growing literature in this area, this paper focusses on methods where the schemes have been implemented and flight tested. One thread of the fault tolerant control literature has involved sliding mode controllers. This paper considers a specific class of sliding mode FTC which incorporates control allocation to exploit over-actuation (which is typically present in aerospace systems). The paper describes implementations of these ideas on a small quadrotor UAV and also piloted flight tests on a full-scale twin-engined aircraft.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"108 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":"124142924","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.2018.8460272
Hussein Obeid, L. Fridman, S. Laghrouche, M. Harmouche
A novel adaptive twisting controller strategy is designed for the case of second order disturbed systems whose disturbance is bounded with unknown boundary. This strategy consists in using a Barrier Function to adapt the control gain. This barrier strategy can ensure the convergence of the Lyapunov function, and maintain it in some predefined neighborhood of zero. This barrier strategy also has two main advantages: it does not require any information about the upper bound of disturbance, and does not overestimate the control gain.
{"title":"Barrier Function-Based Adaptive Twisting Controller","authors":"Hussein Obeid, L. Fridman, S. Laghrouche, M. Harmouche","doi":"10.1109/VSS.2018.8460272","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460272","url":null,"abstract":"A novel adaptive twisting controller strategy is designed for the case of second order disturbed systems whose disturbance is bounded with unknown boundary. This strategy consists in using a Barrier Function to adapt the control gain. This barrier strategy can ensure the convergence of the Lyapunov function, and maintain it in some predefined neighborhood of zero. This barrier strategy also has two main advantages: it does not require any information about the upper bound of disturbance, and does not overestimate the control gain.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"21 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":"114653955","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.2018.8460281
Selma Zoljic-Beglerovic, M. Golkani, Martin Steinberger, M. Horn
Detecting faults at the right time is crucial both for adequate maintenance and optimal operation of railway vehicles. The increasing complexity of the modern railway system pose a challenge for appropriate fault diagnosis and isolation (FDI). In this paper, a sliding-mode-based parameter identification algorithm is proposed as a solution for the identification of parameters in a simplified railway system. It is assessed on different faulty cases where the accuracy of the estimation and sensitivity to faults are shown, as well as robustness to model uncertainties. The data used for simulations and algorithm evaluation is generated using a validated Multibody Simulation (MBS) model implemented in Simpack, while the numerical simulations are carried out through MATLAB/Simulink.
{"title":"Robust Parameter Identification for Railway Suspension Systems","authors":"Selma Zoljic-Beglerovic, M. Golkani, Martin Steinberger, M. Horn","doi":"10.1109/VSS.2018.8460281","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460281","url":null,"abstract":"Detecting faults at the right time is crucial both for adequate maintenance and optimal operation of railway vehicles. The increasing complexity of the modern railway system pose a challenge for appropriate fault diagnosis and isolation (FDI). In this paper, a sliding-mode-based parameter identification algorithm is proposed as a solution for the identification of parameters in a simplified railway system. It is assessed on different faulty cases where the accuracy of the estimation and sensitivity to faults are shown, as well as robustness to model uncertainties. The data used for simulations and algorithm evaluation is generated using a validated Multibody Simulation (MBS) model implemented in Simpack, while the numerical simulations are carried out through MATLAB/Simulink.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"15 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":"121986551","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.2018.8460395
B. Brogliato, A. Polyakov, D. Efimov
This paper deals with the analysis of the time-discretization of the super-twisting algorithm, with an implicit Euler method. It is shown that the discretized system is well-posed (in the sense that the control input is uniquely computable from known data and measured variable). The existence of a Lyapunov function with convex level sets is proved for the continuous-time closed-loop system. Then the global asymptotic Lyapunov stability of the unperturbed discrete-time closed-loop system is proved. The convergence to the origin in a finite number of steps is proved also in the unperturbed case. Numerical simulations demonstrate the superiority of the implicit method with respect to an explicit discretization with significant chattering reduction.
{"title":"The implicit discretization of the super-twisting sliding-mode control algorithm","authors":"B. Brogliato, A. Polyakov, D. Efimov","doi":"10.1109/VSS.2018.8460395","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460395","url":null,"abstract":"This paper deals with the analysis of the time-discretization of the super-twisting algorithm, with an implicit Euler method. It is shown that the discretized system is well-posed (in the sense that the control input is uniquely computable from known data and measured variable). The existence of a Lyapunov function with convex level sets is proved for the continuous-time closed-loop system. Then the global asymptotic Lyapunov stability of the unperturbed discrete-time closed-loop system is proved. The convergence to the origin in a finite number of steps is proved also in the unperturbed case. Numerical simulations demonstrate the superiority of the implicit method with respect to an explicit discretization with significant chattering reduction.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"54 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":"124494811","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.2018.8460341
Ankit Sachan, S. Kamal, Devender Singh
This paper introduces a new methodology for stabilization of uncertain nonlinear system using immersion and invariance (I&I) based sliding mode control. The attractivity of the manifold ensures the reflection of the desired system behavior by I&I principle for the nominal system. Higher-order sliding mode of an arbitrary $r^{th}$ order is invoked to replace the stabilizing control law of an output regulator theory to derive the off-the-manifold with completely controlling the disturbance/uncertainties in finite-time. This makes the system more systematic to achieve the equilibrium point asymptotically. Finally, the validation of proposed strategy is tested on a magnetic-levitation system.
{"title":"Stabilization of Uncertain Nonlinear Systems via Immersion and Invariance based Sliding Mode Control","authors":"Ankit Sachan, S. Kamal, Devender Singh","doi":"10.1109/VSS.2018.8460341","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460341","url":null,"abstract":"This paper introduces a new methodology for stabilization of uncertain nonlinear system using immersion and invariance (I&I) based sliding mode control. The attractivity of the manifold ensures the reflection of the desired system behavior by I&I principle for the nominal system. Higher-order sliding mode of an arbitrary $r^{th}$ order is invoked to replace the stabilizing control law of an output regulator theory to derive the off-the-manifold with completely controlling the disturbance/uncertainties in finite-time. This makes the system more systematic to achieve the equilibrium point asymptotically. Finally, the validation of proposed strategy is tested on a magnetic-levitation system.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"1 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":"129986232","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.2018.8460269
Ulises Ramirez-Carmona, J. Moreno, A. Vargas
A novel extremum seeking technique to maximize biogas production in a second order bioreactor model is proposed. The strategy is a switched control, with only two input values, which drives system trajectories to the optimal operating point by using only the measurement of the biogas production rate. For tuning the control law the knowledge of neither the reaction rate nor the system parameters is needed, and only an upper bound estimate of the reaction rate is required. In contrast to the classical Extremum-Seeking strategies, the control strategy proposed here does not assume a quasi-stationary behavior of the plant, and is therefore able to attain the optimal operating point very fast.
{"title":"Fast Extremum Seeking for Bioreactors using a Variable Structure Control Approach","authors":"Ulises Ramirez-Carmona, J. Moreno, A. Vargas","doi":"10.1109/VSS.2018.8460269","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460269","url":null,"abstract":"A novel extremum seeking technique to maximize biogas production in a second order bioreactor model is proposed. The strategy is a switched control, with only two input values, which drives system trajectories to the optimal operating point by using only the measurement of the biogas production rate. For tuning the control law the knowledge of neither the reaction rate nor the system parameters is needed, and only an upper bound estimate of the reaction rate is required. In contrast to the classical Extremum-Seeking strategies, the control strategy proposed here does not assume a quasi-stationary behavior of the plant, and is therefore able to attain the optimal operating point very fast.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"4 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":"130077484","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.2018.8460343
T. R. Oliveira, L. Hsu
In this paper we revisit the earlier smooth sliding control (SSC) by presenting the design and an alternative approach to analyze its robustness with respect to unmodeled dynamics. The control approach relies on some appropriate prediction error and a filtered control signal to obtain a smooth output-feedback based on first-order sliding mode control law for chattering avoidance. Global exponentially stability with respect to a small compact residual set, practical trajectory tracking and ideal sliding modes are guaranteed by means of a small-gain analysis, even in the presence of adverse parasitic dynamics. Comparison results discuss to what extent the modified SSC architecture may serve as an alternative to classical first-order sliding modes (FOSM) and super-twisting algorithm (STA). In fact, simulations show that SSC outperforms FOSM and STA for the same numerical examples recently used in the lively debate between continuous and discontinuous sliding mode control options for chattering alleviation. The main purpose here is to stir new research about robustness improvements in both classical and on higher-order sliding mode algorithms.
{"title":"Robustness of Smooth Sliding Control to Unmodeled Dynamics: Overcoming First-Order SMC and Super-Twisting Algorithm","authors":"T. R. Oliveira, L. Hsu","doi":"10.1109/VSS.2018.8460343","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460343","url":null,"abstract":"In this paper we revisit the earlier smooth sliding control (SSC) by presenting the design and an alternative approach to analyze its robustness with respect to unmodeled dynamics. The control approach relies on some appropriate prediction error and a filtered control signal to obtain a smooth output-feedback based on first-order sliding mode control law for chattering avoidance. Global exponentially stability with respect to a small compact residual set, practical trajectory tracking and ideal sliding modes are guaranteed by means of a small-gain analysis, even in the presence of adverse parasitic dynamics. Comparison results discuss to what extent the modified SSC architecture may serve as an alternative to classical first-order sliding modes (FOSM) and super-twisting algorithm (STA). In fact, simulations show that SSC outperforms FOSM and STA for the same numerical examples recently used in the lively debate between continuous and discontinuous sliding mode control options for chattering alleviation. The main purpose here is to stir new research about robustness improvements in both classical and on higher-order sliding mode algorithms.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"32 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":"130951739","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.2018.8460353
Sandy Rahme, N. Meskin, J. Mohammadpour
This paper presents an adaptive sliding mode observer for actuator fault diagnosis of linear parameter-varying (LPV) systems with imperfectly measured scheduling variables due to noisy or faulty measurements. The developed adaptive observer is able to cope with bounded uncertainties and faults without a priori knowledge of their bounds. Moreover, the actuator fault can be estimated from the principle of equivalent control after minimizing the effect of the scheduling variable uncertainties. The performance of the proposed design approach is validated using simulation studies.
{"title":"Adaptive Sliding Mode Fault Diagnosis for LPV Systems with Uncertain Scheduling Variables","authors":"Sandy Rahme, N. Meskin, J. Mohammadpour","doi":"10.1109/VSS.2018.8460353","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460353","url":null,"abstract":"This paper presents an adaptive sliding mode observer for actuator fault diagnosis of linear parameter-varying (LPV) systems with imperfectly measured scheduling variables due to noisy or faulty measurements. The developed adaptive observer is able to cope with bounded uncertainties and faults without a priori knowledge of their bounds. Moreover, the actuator fault can be estimated from the principle of equivalent control after minimizing the effect of the scheduling variable uncertainties. The performance of the proposed design approach is validated using simulation studies.","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":"126771734","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.2018.8460257
J. Samantaray, S. Chakrabarty
In this paper, a benchmark system of a dc-dc buck converter is studied using conventional continuous time sliding mode control and advanced discrete time designs, with an objective to show that the latter design gives a better performance of the system since both control design and simulation are done in discrete time. This is verified both in simulation as well as in a practical experimental setup with dc-dc buck converter. The classical sliding mode control is designed with the continuous time model and for the discrete time model, relative degree one (RD13) sliding surface and the more recent relative degree two (RD2) sliding surface designs are compared. It is shown that the performance of the system is best for the last case, thus establishing the idea that advanced discrete time sliding mode control designs lead to performance improvement in a practical system.
{"title":"Digital Implementation of Sliding Mode Controllers with DC-DC Buck Converter System","authors":"J. Samantaray, S. Chakrabarty","doi":"10.1109/VSS.2018.8460257","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460257","url":null,"abstract":"In this paper, a benchmark system of a dc-dc buck converter is studied using conventional continuous time sliding mode control and advanced discrete time designs, with an objective to show that the latter design gives a better performance of the system since both control design and simulation are done in discrete time. This is verified both in simulation as well as in a practical experimental setup with dc-dc buck converter. The classical sliding mode control is designed with the continuous time model and for the discrete time model, relative degree one (RD13) sliding surface and the more recent relative degree two (RD2) sliding surface designs are compared. It is shown that the performance of the system is best for the last case, thus establishing the idea that advanced discrete time sliding mode control designs lead to performance improvement in a practical system.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"12 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":"121607792","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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