Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460238
Lei Zhang, Hussein Obeid, S. Laghrouche
This paper presents an adaptive twisting controller scheme for linear induction motor (LIM) to deal with unknown boundary disturbance, considering the influence of the dynamic end effects. LIM's model can be divided into two subsystems: flux extended model and speed extended model. Two adaptive twisting algorithms are applied into these two subsystems to achieve speed tracking and flux tracking with finite time convergence, in the presence of the unknown bounded disturbance. Simulation results validated the performance of the proposed adaptive twisting controller scheme.
{"title":"Adaptive Twisting Controller for Linear Induction Motor Considering Dynamic End Effects","authors":"Lei Zhang, Hussein Obeid, S. Laghrouche","doi":"10.1109/VSS.2018.8460238","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460238","url":null,"abstract":"This paper presents an adaptive twisting controller scheme for linear induction motor (LIM) to deal with unknown boundary disturbance, considering the influence of the dynamic end effects. LIM's model can be divided into two subsystems: flux extended model and speed extended model. Two adaptive twisting algorithms are applied into these two subsystems to achieve speed tracking and flux tracking with finite time convergence, in the presence of the unknown bounded disturbance. Simulation results validated the performance of the proposed adaptive twisting controller scheme.","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":"130013611","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.2018.8460424
S. Huseinbegović, B. Perunicic-Drazenovic, B. Veselić, C. Milosavljevic
This paper presents a new dead-beat control design for a class of multi-input linear time-invariant continuous-time controllable systems. The system is controlled using multi-rate sampled data. First step in design is to obtain the controllability index vector. Using elements of this vector known as controllability indices, the state feedback matrix is computed applying higher order sliding mode control approach. The number of sliding variables is equal to the number of control inputs. Obtained control annihilates system state in a minimal number of sampling periods which is equal to the maximal value of controllability indices. Since, the dead-beat control has poor robustness, a disturbance compensation is designed. In this paper, the compensation control is equal to the negative value of the disturbance estimate. The estimate is obtained using the equivalent control approach, while the compensation sampling period is not the same as the deadbeat control sampling period. The control is formed as the dead-beat control term and the compensation control which suppressed disturbance effects. The sampling period of compensation control is generally smaller than the control sampling period. Properties of the proposed control system are demonstrated on a simulation example.
{"title":"Higher Order Sliding Mode Based Dead-Beat Control with Disturbance Compensation for Multi-Input LTI Systems","authors":"S. Huseinbegović, B. Perunicic-Drazenovic, B. Veselić, C. Milosavljevic","doi":"10.1109/VSS.2018.8460424","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460424","url":null,"abstract":"This paper presents a new dead-beat control design for a class of multi-input linear time-invariant continuous-time controllable systems. The system is controlled using multi-rate sampled data. First step in design is to obtain the controllability index vector. Using elements of this vector known as controllability indices, the state feedback matrix is computed applying higher order sliding mode control approach. The number of sliding variables is equal to the number of control inputs. Obtained control annihilates system state in a minimal number of sampling periods which is equal to the maximal value of controllability indices. Since, the dead-beat control has poor robustness, a disturbance compensation is designed. In this paper, the compensation control is equal to the negative value of the disturbance estimate. The estimate is obtained using the equivalent control approach, while the compensation sampling period is not the same as the deadbeat control sampling period. The control is formed as the dead-beat control term and the compensation control which suppressed disturbance effects. The sampling period of compensation control is generally smaller than the control sampling period. Properties of the proposed control system are demonstrated on a simulation example.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"28 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":"114248545","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.2018.8460356
U. Pérez-Ventura, Gerke H. Jauch, J. Moreno, L. Fridman
The Extended Super-Twisting Algorithm (ESTA) is a second order sliding mode controller generating continuous control signal. ESTA could be designed with arbitrary high homogeneity weight of output compensating theoretically exactly Lipschitz perturbations in the systems with relative degree one. In this paper to analyze fast-oscillations (chattering) caused by the presence of fast parasitic dynamics the Describing Function approach is used. The amplitude and frequency of self-excited oscillations, and the average power (power per each period) are parametrized in the terms of the actuator time-constant. Proposed analysis shows that ESTA allows to selecting desired accuracy of the output and desired power consumption by increasing homogeneity weight.
{"title":"Frequency Domain Analysis of the Extended Super-Twisting Algorithm","authors":"U. Pérez-Ventura, Gerke H. Jauch, J. Moreno, L. Fridman","doi":"10.1109/VSS.2018.8460356","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460356","url":null,"abstract":"The Extended Super-Twisting Algorithm (ESTA) is a second order sliding mode controller generating continuous control signal. ESTA could be designed with arbitrary high homogeneity weight of output compensating theoretically exactly Lipschitz perturbations in the systems with relative degree one. In this paper to analyze fast-oscillations (chattering) caused by the presence of fast parasitic dynamics the Describing Function approach is used. The amplitude and frequency of self-excited oscillations, and the average power (power per each period) are parametrized in the terms of the actuator time-constant. Proposed analysis shows that ESTA allows to selecting desired accuracy of the output and desired power consumption by increasing homogeneity weight.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"31 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":"129036973","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.2018.8460297
Gianmario Rinaldi, A. Ferrara
This paper deals with the design of a decentralized integral sliding mode approach to control the frequency in power systems partitioned into control areas. In this approach, the frequency and the total electrical active power exchanged are both locally measured in each area via Phasor Measurement Units (PMUs). A robust integral sliding mode control scheme with chattering alleviation is designed to steer to zero the frequency deviation in each control area. Furthermore, a method to locally reconstruct the unknown electrical active power demand is presented. The proposed method has the merit to be robust with respect to matched uncertainties and unmodeled dynamics in contrast to conventional control methods often based on linearized models. Numerical simulations are discussed to assess our approach.
{"title":"Decentralized Integral Sliding Mode Approach for Frequency Control and Unknown Demand Reconstruction in Power Systems","authors":"Gianmario Rinaldi, A. Ferrara","doi":"10.1109/VSS.2018.8460297","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460297","url":null,"abstract":"This paper deals with the design of a decentralized integral sliding mode approach to control the frequency in power systems partitioned into control areas. In this approach, the frequency and the total electrical active power exchanged are both locally measured in each area via Phasor Measurement Units (PMUs). A robust integral sliding mode control scheme with chattering alleviation is designed to steer to zero the frequency deviation in each control area. Furthermore, a method to locally reconstruct the unknown electrical active power demand is presented. The proposed method has the merit to be robust with respect to matched uncertainties and unmodeled dynamics in contrast to conventional control methods often based on linearized models. Numerical simulations are discussed to assess our approach.","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":"121109316","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.2018.8460358
Diego Gutiérrez‐Oribio, Ángel Mercado‐Uribe, J. Moreno, L. Fridman
In this work, the stabilization of the Reaction Wheel Pendulum using a Third Order Discontinuous Integral Sliding Mode as the control is done. The use of the discontinuous function in the integral action generates a continuous control signal and minimize the chattering effect. The states reach the origin even in presence of Lipschitz uncertain-ties/disturbances. The stability analysis is presented using a Lyapunov approach and homogeneity properties, ensuring a local finite-time convergence of the states to the origin. Simulations and experiments were made to check the performance of the presented algorithm.
{"title":"Stabilization of the Reaction Wheel Pendulum via a Third Order Discontinuous Integral Sliding Mode Algorithm","authors":"Diego Gutiérrez‐Oribio, Ángel Mercado‐Uribe, J. Moreno, L. Fridman","doi":"10.1109/VSS.2018.8460358","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460358","url":null,"abstract":"In this work, the stabilization of the Reaction Wheel Pendulum using a Third Order Discontinuous Integral Sliding Mode as the control is done. The use of the discontinuous function in the integral action generates a continuous control signal and minimize the chattering effect. The states reach the origin even in presence of Lipschitz uncertain-ties/disturbances. The stability analysis is presented using a Lyapunov approach and homogeneity properties, ensuring a local finite-time convergence of the states to the origin. Simulations and experiments were made to check the performance of the presented algorithm.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"17 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":"123109546","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.2018.8460315
A. Pilloni, M. Franceschelli, A. Pisano, E. Usai
Two novel Sigma-Delta modulator algorithms based on discretized suboptimal second order sliding mode concepts for high resolution analog-to-digital conversion purposes are proposed. Let $boldsymbol{f_{s}}$ be the finite over-sampling frequency of the modulator, novel schemes that convert to a 1-bit signal, resp., the first, or the second time-derivative of the signal to be modulated are suggested to reduce the error of the conversion process, at the demodulation side, to an $boldsymbol{mathcal{O}}(1/boldsymbol{f_{s}}^{2})$, instead of $boldsymbol{mathcal{O}}(1/boldsymbol{f_{s}}^{0.5})$ of the traditional scheme. The algorithms are discussed and analyzed in the discrete-time setting, and a comparative analysis illustrates the effectiveness of these solutions.
{"title":"High Accuracy Sigma-Delta Modulator implementations via Suboptimal Quasi-Sliding Mode Control","authors":"A. Pilloni, M. Franceschelli, A. Pisano, E. Usai","doi":"10.1109/VSS.2018.8460315","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460315","url":null,"abstract":"Two novel Sigma-Delta modulator algorithms based on discretized suboptimal second order sliding mode concepts for high resolution analog-to-digital conversion purposes are proposed. Let $boldsymbol{f_{s}}$ be the finite over-sampling frequency of the modulator, novel schemes that convert to a 1-bit signal, resp., the first, or the second time-derivative of the signal to be modulated are suggested to reduce the error of the conversion process, at the demodulation side, to an $boldsymbol{mathcal{O}}(1/boldsymbol{f_{s}}^{2})$, instead of $boldsymbol{mathcal{O}}(1/boldsymbol{f_{s}}^{0.5})$ of the traditional scheme. The algorithms are discussed and analyzed in the discrete-time setting, and a comparative analysis illustrates the effectiveness of these solutions.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"20 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":"115219432","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.2018.8460465
A. Ferrara, G. P. Incremona, B. Sangiovanni
This paper deals with the design of a switching control scheme for robot manipulators. The key elements of the proposed scheme are the inverse dynamics based centralized controller and a set of decentralized controllers. They enable to realize two possible control structures: one of centralized type, the other of decentralized type. All the controllers are based on Integral Sliding Mode (ISM), so that matched disturbances and uncertain terms, due to unmodeled dynamics or couplings effects, are suitably compensated. The idea of using ISM, apart from its feature of providing robustness in front of a wide class of uncertainties, is motivated by its capability of acting as a “perturbation estimator”, which is a clear advantage in the considered case. In fact, it allows one to define a switching rule in order to choose one of the two control structures featured in the scheme, depending on the requested performances. As a consequence, the resulting control scheme is more efficient from computational viewpoint, while maintaining the advantages in terms of stability and robustness of the conventional standalone control schemes. In addition, the scheme can accommodate a variety of velocity and acceleration requirements, in contrast with the capability of the genuine decentralized or centralized control structures. The verification and the validation of our proposal have been carried out in simulation, relying on a model of an industrial robot manipulator COMAU SMART3-S2, with injected noise to better emulate a realistic setup.
{"title":"Integral Sliding Mode Based Switched Structure Control Scheme for Robot Manipulators","authors":"A. Ferrara, G. P. Incremona, B. Sangiovanni","doi":"10.1109/VSS.2018.8460465","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460465","url":null,"abstract":"This paper deals with the design of a switching control scheme for robot manipulators. The key elements of the proposed scheme are the inverse dynamics based centralized controller and a set of decentralized controllers. They enable to realize two possible control structures: one of centralized type, the other of decentralized type. All the controllers are based on Integral Sliding Mode (ISM), so that matched disturbances and uncertain terms, due to unmodeled dynamics or couplings effects, are suitably compensated. The idea of using ISM, apart from its feature of providing robustness in front of a wide class of uncertainties, is motivated by its capability of acting as a “perturbation estimator”, which is a clear advantage in the considered case. In fact, it allows one to define a switching rule in order to choose one of the two control structures featured in the scheme, depending on the requested performances. As a consequence, the resulting control scheme is more efficient from computational viewpoint, while maintaining the advantages in terms of stability and robustness of the conventional standalone control schemes. In addition, the scheme can accommodate a variety of velocity and acceleration requirements, in contrast with the capability of the genuine decentralized or centralized control structures. The verification and the validation of our proposal have been carried out in simulation, relying on a model of an industrial robot manipulator COMAU SMART3-S2, with injected noise to better emulate a realistic setup.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"17 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":"128610381","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.2018.8460461
T. Poznyak, I. Chairez, A. Poznyak
A discontinuous learning law is implemented here to adjust an adaptive non-parametric identifier, based on the differential neural networks (DNNs) approximations. The learning law for DNN uses the vector form of an extended super-twisting algorithm as the output injection term in the DNN structure. The learning laws with discontinuous dynamics have been obtained from the application of a special class of strong lower semi-continuous Lyapunov function. The developed observer was tested on both modelled and experimental input-output information on the specific the ozonation process of a contaminated solid phase. A numerical example illustrates the observer performance when the input-output information is free of the observation noise. The observer has been evaluated using real experimental data, obtained by the direct laboratory analysis. In both cases, modelling and real experiments, the coincidence between the ozonation variables and the estimated states shows a remarkable correspondence.
{"title":"Estimation of Contaminants Decomposition in Solid Phase with Ozone by Differential Neural Networks with Discontinuous Learning Law","authors":"T. Poznyak, I. Chairez, A. Poznyak","doi":"10.1109/VSS.2018.8460461","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460461","url":null,"abstract":"A discontinuous learning law is implemented here to adjust an adaptive non-parametric identifier, based on the differential neural networks (DNNs) approximations. The learning law for DNN uses the vector form of an extended super-twisting algorithm as the output injection term in the DNN structure. The learning laws with discontinuous dynamics have been obtained from the application of a special class of strong lower semi-continuous Lyapunov function. The developed observer was tested on both modelled and experimental input-output information on the specific the ozonation process of a contaminated solid phase. A numerical example illustrates the observer performance when the input-output information is free of the observation noise. The observer has been evaluated using real experimental data, obtained by the direct laboratory analysis. In both cases, modelling and real experiments, the coincidence between the ozonation variables and the estimated states shows a remarkable correspondence.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"24 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":"131277573","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.2018.8460457
S. Nair, P. Priya, Arjun Narayanan
This paper proposes a quaternion based robust sliding mode attitude controller for a spacecraft with Single Gimbal Control Moment Gyros (SGCMGs) for rest to rest maneuvers, in presence of uncertainties. The power rate reaching law has been used to guarantee convergence in the proposed technique and stability has been analysed using Lyapunov's stability theorems. The inherent singularity problem in SGCMGs has been avoided here by making use of the robust singularity inverse steering logic. The simulation analysis shows the efficacy of the proposed controller.
{"title":"Quaternion Based Sliding Mode Attitude Controller for a Spacecraft with Control Moment Gyros","authors":"S. Nair, P. Priya, Arjun Narayanan","doi":"10.1109/VSS.2018.8460457","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460457","url":null,"abstract":"This paper proposes a quaternion based robust sliding mode attitude controller for a spacecraft with Single Gimbal Control Moment Gyros (SGCMGs) for rest to rest maneuvers, in presence of uncertainties. The power rate reaching law has been used to guarantee convergence in the proposed technique and stability has been analysed using Lyapunov's stability theorems. The inherent singularity problem in SGCMGs has been avoided here by making use of the robust singularity inverse steering logic. The simulation analysis shows the efficacy of the proposed controller.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"53 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":"115203727","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.2018.8460391
Romeo Falcón, Oscar A. Gonzalez, H. Ríos, A. Dzul
The design of robust tracking control for Quad-Rotors is an important and challenging problem nowadays. In this paper a robust tracking output-control strategy is proposed for a Quad-Rotor under the influence of external disturbances and uncertainties. Such a strategy is composed of a Finite-Time Sliding-Mode Observer (FT-SMO) which estimates the full state from the measurable output and identifies some type of disturbances; and also of a combination between PID controllers and a Continuous Sliding-Modes Controller (Continuous-SMC), that exponentially robustly track a desired time-varying trajectory and despite the influence of external disturbances and uncertainties. The closed-loop stability is provided based on Input-to-State Stability (ISS) and Finite-Time ISS (FT-ISS) properties. Finally, some experimental results in real-time show the performance of the proposed control strategy.
{"title":"Quad-Rotor Robust Tracking: A Continuous Sliding-Mode Control Strategy","authors":"Romeo Falcón, Oscar A. Gonzalez, H. Ríos, A. Dzul","doi":"10.1109/VSS.2018.8460391","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460391","url":null,"abstract":"The design of robust tracking control for Quad-Rotors is an important and challenging problem nowadays. In this paper a robust tracking output-control strategy is proposed for a Quad-Rotor under the influence of external disturbances and uncertainties. Such a strategy is composed of a Finite-Time Sliding-Mode Observer (FT-SMO) which estimates the full state from the measurable output and identifies some type of disturbances; and also of a combination between PID controllers and a Continuous Sliding-Modes Controller (Continuous-SMC), that exponentially robustly track a desired time-varying trajectory and despite the influence of external disturbances and uncertainties. The closed-loop stability is provided based on Input-to-State Stability (ISS) and Finite-Time ISS (FT-ISS) properties. Finally, some experimental results in real-time show the performance of the proposed control strategy.","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":"123225264","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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