Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460247
S. Mahil, I. Boiko
A non-parametric PID tuning approach for a Magnetic Levitation System (MLS) is proposed in this paper. The proposed tuning method is non-iterative and is based on a test involving the two-relay controller (modified twisting algorithm), that provides identification at frequencies higher than the phase cross over frequency of the process. The tuning procedure has two consecutive stages. First, generating self-excited oscillations in the closed loop of the MLS using the two-relay controller test, and measuring the ultimate frequency and ultimate amplitude of the generated oscillations. Second, using the results obtained from the test and certain non-parametric tuning rules, the parameters of the PID controller are determined. The tuning rules that are produced and used guarantee the specified gain margin for the corresponding linearized system and the motion in the vicinity of the specific set point. To ensure optimal performance of the MLS, the test and tuning are repeated at other set points, and the results are incorporated through gain scheduling. We illustrate the tuning procedure of the MLS controller through simulations using Matlab/Simulink and validate the approach using the MLS experimental setup. The effectiveness of the proposed approach is demonstrated.
{"title":"Two-Relay Controller Test Approach to Non-parametric PID Tuning of a Magnetic Levitation System","authors":"S. Mahil, I. Boiko","doi":"10.1109/VSS.2018.8460247","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460247","url":null,"abstract":"A non-parametric PID tuning approach for a Magnetic Levitation System (MLS) is proposed in this paper. The proposed tuning method is non-iterative and is based on a test involving the two-relay controller (modified twisting algorithm), that provides identification at frequencies higher than the phase cross over frequency of the process. The tuning procedure has two consecutive stages. First, generating self-excited oscillations in the closed loop of the MLS using the two-relay controller test, and measuring the ultimate frequency and ultimate amplitude of the generated oscillations. Second, using the results obtained from the test and certain non-parametric tuning rules, the parameters of the PID controller are determined. The tuning rules that are produced and used guarantee the specified gain margin for the corresponding linearized system and the motion in the vicinity of the specific set point. To ensure optimal performance of the MLS, the test and tuning are repeated at other set points, and the results are incorporated through gain scheduling. We illustrate the tuning procedure of the MLS controller through simulations using Matlab/Simulink and validate the approach using the MLS experimental setup. The effectiveness of the proposed approach is demonstrated.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"51 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":"122691096","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.2018.8460225
H. Pinto, T. R. Oliveira, L. Hsu
This paper presents a sliding mode predictor observer for state estimation and fault reconstruction of linear time-invariant systems with output delays based on a novel Time-Shift Approach. Plants with arbitrary time-varying output delays are considered. The actuator fault is modeled as a weighted sum of known functions and unknown coefficients. The fault at current time is identified using continuous time Recursive Least Squares (RLS) method. Then, an open loop predictor based on variation of constants formula advances the delayed estimate of the state. Ideal sliding mode can be theoretically achieved even in the presence of delays. Numerical simulations are presented to show the effectiveness of the method.
{"title":"Time-Shift Sliding Mode Predictor for Fault Reconstruction of Time-Delay Systems Using Least Squares Identification","authors":"H. Pinto, T. R. Oliveira, L. Hsu","doi":"10.1109/VSS.2018.8460225","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460225","url":null,"abstract":"This paper presents a sliding mode predictor observer for state estimation and fault reconstruction of linear time-invariant systems with output delays based on a novel Time-Shift Approach. Plants with arbitrary time-varying output delays are considered. The actuator fault is modeled as a weighted sum of known functions and unknown coefficients. The fault at current time is identified using continuous time Recursive Least Squares (RLS) method. Then, an open loop predictor based on variation of constants formula advances the delayed estimate of the state. Ideal sliding mode can be theoretically achieved even in the presence of delays. Numerical simulations are presented to show the effectiveness of the method.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"120 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":"128967682","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.2018.8460467
L. Colombo, M. Corradini, A. Cristofaro, G. Ippoliti, Giuseppe Orlando
The paper deals with a sliding mode based sensorless control for permanent magnet synchronous motors (PMSMs), where an observer using only electrical signals, guarantees the robust asymptotical speed tracking without measuring rotor velocity and position. To compute online the motor parameters and the initial rotor angular position, a set of polynomial equations has been derived from the electrical subsystem. Performances are validated by realistic simulation results.
{"title":"A robust sensorless control for PMSM with online parameter identification","authors":"L. Colombo, M. Corradini, A. Cristofaro, G. Ippoliti, Giuseppe Orlando","doi":"10.1109/VSS.2018.8460467","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460467","url":null,"abstract":"The paper deals with a sliding mode based sensorless control for permanent magnet synchronous motors (PMSMs), where an observer using only electrical signals, guarantees the robust asymptotical speed tracking without measuring rotor velocity and position. To compute online the motor parameters and the initial rotor angular position, a set of polynomial equations has been derived from the electrical subsystem. Performances are validated by realistic simulation results.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"29 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":"128698855","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.2018.8460330
U. Perez, E. Capello, Elisabetta Punta, J. Perea, L. Fridman
This paper analyzes the problem of detection and isolation of faults in the actuators of a 3-Degree-of-Freedom (3-DOF) helicopter by a residual-based approach. A third-order sliding mode differentiator is designed for the evaluation of the residuals. Moreover, two sliding mode controllers are suitably designed to stabilize the angular positions and velocities: (i) a super twisting control system and (ii) a continuous twisting control system. The performance of the designed controllers and the effectiveness of the residual-based method are illustrated by simulations.
{"title":"Fault Detection and Isolation for a 3-DOF Helicopter with Sliding Mode Strategies","authors":"U. Perez, E. Capello, Elisabetta Punta, J. Perea, L. Fridman","doi":"10.1109/VSS.2018.8460330","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460330","url":null,"abstract":"This paper analyzes the problem of detection and isolation of faults in the actuators of a 3-Degree-of-Freedom (3-DOF) helicopter by a residual-based approach. A third-order sliding mode differentiator is designed for the evaluation of the residuals. Moreover, two sliding mode controllers are suitably designed to stabilize the angular positions and velocities: (i) a super twisting control system and (ii) a continuous twisting control system. The performance of the designed controllers and the effectiveness of the residual-based method are illustrated by simulations.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"62 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":"116669836","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.2018.8460273
Sumi Phukan, C. Mahanta
This paper proposes a low pass filter (LPF) based integral sliding mode controller for position synchronization of multiple robotic manipulator systems. The proposed controller is capable of synchronizing the movement of multiple robotic manipulators following the same desired trajectory. The integral sliding mode makes the system insensitive to lumped system uncertainties during the entire system response. Further, to reduce chattering, the switching element is smoothened by using a low pass filter. The asymptotic stability of the controlled system is proved via Lyapunov stability analysis. Simulation studies conducted on a two degrees of freedom (DoF) dual arm robotic manipulator system demonstrate the effectiveness of the proposed controller.
{"title":"Position Synchronization Control of Multiple Robotic Manipulator Systems using Low Pass Filter based Integral Sliding Mode","authors":"Sumi Phukan, C. Mahanta","doi":"10.1109/VSS.2018.8460273","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460273","url":null,"abstract":"This paper proposes a low pass filter (LPF) based integral sliding mode controller for position synchronization of multiple robotic manipulator systems. The proposed controller is capable of synchronizing the movement of multiple robotic manipulators following the same desired trajectory. The integral sliding mode makes the system insensitive to lumped system uncertainties during the entire system response. Further, to reduce chattering, the switching element is smoothened by using a low pass filter. The asymptotic stability of the controlled system is proved via Lyapunov stability analysis. Simulation studies conducted on a two degrees of freedom (DoF) dual arm robotic manipulator system demonstrate the effectiveness of the proposed controller.","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":"125227615","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.2018.8460274
F. Plestan, C. Evangelista, P. Puleston, I. Guenoune
This paper proposes a new control scheme for a non-standard wind turbines system, that comprises two identical wind turbines and has no yaw actuator to ensure the alignment face to the wind. Furthermore, the controller based on super-twisting algorithm is a sensorless one, in the sense that it does not require wind speed measurement. Such feature is attained thanks to the use of a very recent differentiation approach. The performance of the proposed controller is assessed by simulation.
{"title":"Control of a twin wind turbines system without wind velocity information","authors":"F. Plestan, C. Evangelista, P. Puleston, I. Guenoune","doi":"10.1109/VSS.2018.8460274","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460274","url":null,"abstract":"This paper proposes a new control scheme for a non-standard wind turbines system, that comprises two identical wind turbines and has no yaw actuator to ensure the alignment face to the wind. Furthermore, the controller based on super-twisting algorithm is a sensorless one, in the sense that it does not require wind speed measurement. Such feature is attained thanks to the use of a very recent differentiation approach. The performance of the proposed controller is assessed by simulation.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"68 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":"131530514","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.2018.8460452
Lei Zhang, Hussein Obeid, S. Laghrouche, M. Hamerlain
This paper presents a novel adaptive high order sliding mode method for linear induction motor (LIM) to reconstruct the states (currents and fluxes), speed and speed-depended parameter $w$, only using the measured stator voltages and stator currents. The adaptive law is designed to estimate speed and speed-depended parameter $w$, and their stability have been proved with Lyapunov's theory. Then the estimated values $hat{v},hat{w}$ are rejected into higher order sliding mode observer (HOSMO). Super twisting algorithm (STA), with its obvious advantage, is applied into HOSMO. Finally, simulation results validated the performance of the proposed adaptive HOSMO scheme.
{"title":"Adaptive High Order Sliding Mode Observer of Linear Induction Motor","authors":"Lei Zhang, Hussein Obeid, S. Laghrouche, M. Hamerlain","doi":"10.1109/VSS.2018.8460452","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460452","url":null,"abstract":"This paper presents a novel adaptive high order sliding mode method for linear induction motor (LIM) to reconstruct the states (currents and fluxes), speed and speed-depended parameter $w$, only using the measured stator voltages and stator currents. The adaptive law is designed to estimate speed and speed-depended parameter $w$, and their stability have been proved with Lyapunov's theory. Then the estimated values $hat{v},hat{w}$ are rejected into higher order sliding mode observer (HOSMO). Super twisting algorithm (STA), with its obvious advantage, is applied into HOSMO. Finally, simulation results validated the performance of the proposed adaptive HOSMO scheme.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"146 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":"131669156","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.2018.8460442
Jorge E. Ruiz-Duarte, A. Loukianov
In this paper, a novel technique to achieve robustness in sliding mode control for discrete-time systems by measuring only its output is presented. The proposed technique is based on the approximation of an arbitrary discrete-time function by using various of its previous steps. Using this approach, the system disturbance is approximated by a dynamical system and as result, the plant model is extended. Based on the extended model, a state observer is designed to estimate both the system state and the disturbance. Using the observer state, a discrete-time sliding mode controller is then designed to robustly stabilize the perturbed system. The simulation results show the effectiveness of the proposed technique.
{"title":"Output-Feedback Discrete-Time Sliding Mode Control via Disturbance Estimation","authors":"Jorge E. Ruiz-Duarte, A. Loukianov","doi":"10.1109/VSS.2018.8460442","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460442","url":null,"abstract":"In this paper, a novel technique to achieve robustness in sliding mode control for discrete-time systems by measuring only its output is presented. The proposed technique is based on the approximation of an arbitrary discrete-time function by using various of its previous steps. Using this approach, the system disturbance is approximated by a dynamical system and as result, the plant model is extended. Based on the extended model, a state observer is designed to estimate both the system state and the disturbance. Using the observer state, a discrete-time sliding mode controller is then designed to robustly stabilize the perturbed system. The simulation results show the effectiveness of the proposed technique.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"101 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":"133361613","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.2018.8460383
Massimo Zambelli, A. Ferrara
In this paper a sliding mode control approach is proposed for the regulation of nonlinear systems with an equal number of states and inputs, and state and control constraints. Under the assumptions that the input matrix is invertible and the disturbances are bounded, such regulation is performed robustly, solving only single-input sliding mode control problems and optimization tasks. Generalizing the concept, a switched policy is proposed to better exploit the available control authority. Two different algorithms (one online and one offline) are proposed, analyzing the pros and cons of each of them. The resulting scheme is suitable for applications such as those of automotive type, where nonlinearities and constraints are the major source of complexity. A simplified version of an automotive control problem is used as a case study in order to validate the approach.
{"title":"Linearization-Based Integral Sliding Mode Control for a Class of Constrained Nonlinear Systems","authors":"Massimo Zambelli, A. Ferrara","doi":"10.1109/VSS.2018.8460383","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460383","url":null,"abstract":"In this paper a sliding mode control approach is proposed for the regulation of nonlinear systems with an equal number of states and inputs, and state and control constraints. Under the assumptions that the input matrix is invertible and the disturbances are bounded, such regulation is performed robustly, solving only single-input sliding mode control problems and optimization tasks. Generalizing the concept, a switched policy is proposed to better exploit the available control authority. Two different algorithms (one online and one offline) are proposed, analyzing the pros and cons of each of them. The resulting scheme is suitable for applications such as those of automotive type, where nonlinearities and constraints are the major source of complexity. A simplified version of an automotive control problem is used as a case study in order to validate the approach.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"113 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":"129449641","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.2018.8460278
A. Gaaloul, F. Msahli
The use of standard sliding mode controller, usually, leads to the appearing of an undesirable chattering phenomenon affecting the control signal. Such problem can be overcome using a higher-order sliding mode controller (HOSMC) which preserves the main properties of the standard sliding mode and deliberately increases the control smoothness. In this paper, we propose a new HOSMC for a class of uncertain multi-input multi-output nonlinear systems. Based on high gain and integral sliding mode paradigms, the established control scheme removes theoretically the chattering phenomenon and provides the stability of the control system. Numerical simulations are developed to show the effectiveness of the proposed controller when applied to solve a control problem of two water levels into a quadruple tank process.
{"title":"A combined high gain-higher order sliding mode controller for a class of uncertain nonlinear systems","authors":"A. Gaaloul, F. Msahli","doi":"10.1109/VSS.2018.8460278","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460278","url":null,"abstract":"The use of standard sliding mode controller, usually, leads to the appearing of an undesirable chattering phenomenon affecting the control signal. Such problem can be overcome using a higher-order sliding mode controller (HOSMC) which preserves the main properties of the standard sliding mode and deliberately increases the control smoothness. In this paper, we propose a new HOSMC for a class of uncertain multi-input multi-output nonlinear systems. Based on high gain and integral sliding mode paradigms, the established control scheme removes theoretically the chattering phenomenon and provides the stability of the control system. Numerical simulations are developed to show the effectiveness of the proposed controller when applied to solve a control problem of two water levels into a quadruple tank process.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"23 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":"133140980","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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