Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460421
Daipeng Zhang, J. Reger
The super-twisting algorithm is studied for the case when a disturbance whose derivative is $mathcal{L}_{2}$-norm bounded and violates its presumed Lipschitz bound from time to time. In such interim time span the state may be driven away from the origin and converge again once the derivative of the disturbance reenters the presumed Lipschitz bound. We present an $mathcal{H}_{infty}$-norm optimal parameter range for choosing the super-twisting gains to minimize the $mathcal{L}_{2}$-gain of a matched disturbance in this worst case scenario. Simulations show that such parameter choice may provide better results, compared to other choices.
{"title":"$mathcal{H}_{infty}$ Optimal Parameters for the Super-Twisting Algorithm with Intermediate Disturbance Bound Mismatch","authors":"Daipeng Zhang, J. Reger","doi":"10.1109/VSS.2018.8460421","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460421","url":null,"abstract":"The super-twisting algorithm is studied for the case when a disturbance whose derivative is $mathcal{L}_{2}$-norm bounded and violates its presumed Lipschitz bound from time to time. In such interim time span the state may be driven away from the origin and converge again once the derivative of the disturbance reenters the presumed Lipschitz bound. We present an $mathcal{H}_{infty}$-norm optimal parameter range for choosing the super-twisting gains to minimize the $mathcal{L}_{2}$-gain of a matched disturbance in this worst case scenario. Simulations show that such parameter choice may provide better results, compared to other choices.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"142 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":"123160966","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.2018.8460434
Gianmario Rinaldi, A. Ferrara
In this paper, a novel approach to identify the relative degree of nonlinear uncertain single-input single-output systems is presented. The proposed approach can be profitably used to design sliding mode controllers even for systems with unknown relative degree. Assuming to measure only the output of the system and to apply a prescribed triangular input signal, we prove that a set of inequalities holds only for the r-th time derivative of the output, where r is the relative degree. A practical algorithm for the relative degree identification is also proposed. This makes use of the theoretical key-findings and relies on the use of successive higher order sliding mode differentiators. A numerical test case is discussed to show the effectiveness of the proposed scheme.
{"title":"Relative Degree Identification for Sliding Mode Controllers Design","authors":"Gianmario Rinaldi, A. Ferrara","doi":"10.1109/VSS.2018.8460434","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460434","url":null,"abstract":"In this paper, a novel approach to identify the relative degree of nonlinear uncertain single-input single-output systems is presented. The proposed approach can be profitably used to design sliding mode controllers even for systems with unknown relative degree. Assuming to measure only the output of the system and to apply a prescribed triangular input signal, we prove that a set of inequalities holds only for the r-th time derivative of the output, where r is the relative degree. A practical algorithm for the relative degree identification is also proposed. This makes use of the theoretical key-findings and relies on the use of successive higher order sliding mode differentiators. A numerical test case is discussed to show the effectiveness of the proposed scheme.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"152 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":"116446464","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.2018.8460313
A. Dòria-Cerezo, J. M. Olm, Ernest Benedito, D. Biel
This paper presents an Adaptive Cruise Control algorithm for vehicles based on a variable structure systems approach. The main feature of the proposed design is that the two driving modes, namely distance and speed regulation, are met enforcing sliding modes and asymptotic tracking, respectively. This is achieved using an intervehicle, distance-dependent switching surface able to induce sliding motion when the aimed cruise velocity of the target vehicle is higher than that of the preceding vehicle, and to asymptotically track such cruise velocity when it is lower or equal than the velocity of the preceding vehicle. The algorithm is validated through numerical simulations.
{"title":"A variable structure-based algorithm for adaptive cruise control","authors":"A. Dòria-Cerezo, J. M. Olm, Ernest Benedito, D. Biel","doi":"10.1109/VSS.2018.8460313","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460313","url":null,"abstract":"This paper presents an Adaptive Cruise Control algorithm for vehicles based on a variable structure systems approach. The main feature of the proposed design is that the two driving modes, namely distance and speed regulation, are met enforcing sliding modes and asymptotic tracking, respectively. This is achieved using an intervehicle, distance-dependent switching surface able to induce sliding motion when the aimed cruise velocity of the target vehicle is higher than that of the preceding vehicle, and to asymptotically track such cruise velocity when it is lower or equal than the velocity of the preceding vehicle. The algorithm is validated through numerical simulations.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"39 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":"127131783","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.2018.8460306
A. Polyakov, D. Efimov, B. Brogliato
An algorithm of implicit discretization for generalized homogeneous system having discontinuity only at the origin is developed. It is based on transformation of the original system to an equivalent standard homogeneous system which admits implicit discretization preserving finite-time convergence property. The scheme is demonstrated for a version of the so-called “quasi-continuous” high-order sliding mode algorithm.
{"title":"Consistent Discretization of Finite-time Stable Homogeneous Systems","authors":"A. Polyakov, D. Efimov, B. Brogliato","doi":"10.1109/VSS.2018.8460306","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460306","url":null,"abstract":"An algorithm of implicit discretization for generalized homogeneous system having discontinuity only at the origin is developed. It is based on transformation of the original system to an equivalent standard homogeneous system which admits implicit discretization preserving finite-time convergence property. The scheme is demonstrated for a version of the so-called “quasi-continuous” high-order sliding mode algorithm.","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":"128234674","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.2018.8460363
Spandan Roy, S. Roy, I. Kar
In this paper, a new Adaptive Sliding Mode Control (ASMC) framework is proposed for the tracking control of a class of uncertain nonlinear systems where system states are present explicitly in the upper bound of the overall (or lumped) system uncertainty. Conventional ASMC strategies presume that either the overall (or lumped) uncertainty of the system or its time derivative is norm bounded by a constant. However, such assumption restricts the evaluation of the states a priori for the class of systems that has been considered in this paper. The proposed ASMC law does not presume such constant upper bound on the system uncertainties and, rather, exploits the unique structure of the uncertainty bound to design the control law. Moreover, the adaptive law of the proposed ASMC alleviates the overestimation-underestimation problems of switching gain which is commonly observed in the existing ASMC laws. Simulation results using a two-link manipulator demonstrate improved control performance of the proposed controller in comparison to the conventional ASMC.
{"title":"A New Design Methodology of Adaptive Sliding Mode Control for a Class of Nonlinear Systems with State Dependent Uncertainty Bound","authors":"Spandan Roy, S. Roy, I. Kar","doi":"10.1109/VSS.2018.8460363","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460363","url":null,"abstract":"In this paper, a new Adaptive Sliding Mode Control (ASMC) framework is proposed for the tracking control of a class of uncertain nonlinear systems where system states are present explicitly in the upper bound of the overall (or lumped) system uncertainty. Conventional ASMC strategies presume that either the overall (or lumped) uncertainty of the system or its time derivative is norm bounded by a constant. However, such assumption restricts the evaluation of the states a priori for the class of systems that has been considered in this paper. The proposed ASMC law does not presume such constant upper bound on the system uncertainties and, rather, exploits the unique structure of the uncertainty bound to design the control law. Moreover, the adaptive law of the proposed ASMC alleviates the overestimation-underestimation problems of switching gain which is commonly observed in the existing ASMC laws. Simulation results using a two-link manipulator demonstrate improved control performance of the proposed controller in comparison to the conventional ASMC.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"67 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":"134176305","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.2018.8460264
N. Bloise, E. Capello, Hyeongjun Park, Elisabetta Punta, M. Romano
This paper presents a combination of guidance and control algorithms, for spacecraft proximity operations in presence of multiple obstacles. The guidance algorithm is based on the theory of artificial potential field (APF) and the control algorithm is based on the theory of sliding mode control (SMC). The effects of both uncertainties and external disturbances are considered in this research. The proposed strategy is validated both by simulations and by experiments on a real testbed. The proposed algorithm appears to be suitable for autonomous, real-time control of complex maneuvers with a minimum on-board computational effort. It is also able to avoid obstacles while avoiding the local minimum issues in APF algorithms.
{"title":"Artificial Potential Field and Sliding Mode Strategies for Proximity Operations with Obstacle Avoidance","authors":"N. Bloise, E. Capello, Hyeongjun Park, Elisabetta Punta, M. Romano","doi":"10.1109/VSS.2018.8460264","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460264","url":null,"abstract":"This paper presents a combination of guidance and control algorithms, for spacecraft proximity operations in presence of multiple obstacles. The guidance algorithm is based on the theory of artificial potential field (APF) and the control algorithm is based on the theory of sliding mode control (SMC). The effects of both uncertainties and external disturbances are considered in this research. The proposed strategy is validated both by simulations and by experiments on a real testbed. The proposed algorithm appears to be suitable for autonomous, real-time control of complex maneuvers with a minimum on-board computational effort. It is also able to avoid obstacles while avoiding the local minimum issues in APF algorithms.","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":"133190881","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.2018.8460210
Marco A. Meza-Aguilar, A. Loukianov, J. Rivera, Antonio Navarrete
In this work, the problem of designing a control scheme capable of controlling dynamical systems with unknown time-varying parameters and disturbances, is proposed. In contrast with other works, based on two techniques: adaptive backstepping and sliding modes, an improved method that guaranties the output asymptotic tracking of a smooth reference signal, the stability of the closed-loop system and the identification errors boundedness, is developed. By means of sliding mode observers, the adaptation errors required information is extracted and injected to adaptive laws. The behavior of the proposed control scheme is analyzed by Lyapunov method. The performance of the proposed system is verified with an academic example.
{"title":"Sliding mode identification and control for a class of nonlinear systems","authors":"Marco A. Meza-Aguilar, A. Loukianov, J. Rivera, Antonio Navarrete","doi":"10.1109/VSS.2018.8460210","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460210","url":null,"abstract":"In this work, the problem of designing a control scheme capable of controlling dynamical systems with unknown time-varying parameters and disturbances, is proposed. In contrast with other works, based on two techniques: adaptive backstepping and sliding modes, an improved method that guaranties the output asymptotic tracking of a smooth reference signal, the stability of the closed-loop system and the identification errors boundedness, is developed. By means of sliding mode observers, the adaptation errors required information is extracted and injected to adaptive laws. The behavior of the proposed control scheme is analyzed by Lyapunov method. The performance of the proposed system is verified with an academic example.","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":"123812234","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.2018.8460439
Gianmario Rinaldi, P. Menon, A. Ferrara, C. Edwards
This paper deals with data-based assessment of a recently proposed super-twisting-like sliding mode observer for frequency estimation and reconstruction in power systems, and the earlier observer further develops in this paper. We make use of both the historical measurement data of frequency and information about faults which have taken place in the last few years in the Nordic Power System. We compare the real frequency measured values with the ones estimated by using the proposed super-twisting-like sliding mode observer. The comparison shows the high accuracy of the estimation scheme, especially during the first seconds immediately after the faults. This analysis confirms the validity of the proposed observer.
{"title":"A Super-Twisting-Like Sliding Mode Observer for Frequency Reconstruction in Power Systems: Discussion and Real Data Based Assessment","authors":"Gianmario Rinaldi, P. Menon, A. Ferrara, C. Edwards","doi":"10.1109/VSS.2018.8460439","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460439","url":null,"abstract":"This paper deals with data-based assessment of a recently proposed super-twisting-like sliding mode observer for frequency estimation and reconstruction in power systems, and the earlier observer further develops in this paper. We make use of both the historical measurement data of frequency and information about faults which have taken place in the last few years in the Nordic Power System. We compare the real frequency measured values with the ones estimated by using the proposed super-twisting-like sliding mode observer. The comparison shows the high accuracy of the estimation scheme, especially during the first seconds immediately after the faults. This analysis confirms the validity of the proposed observer.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"33 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":"122867701","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.2018.8460411
Raul Gil Bayardo, A. Loukianov
This paper proposes a robust speed tracking controller design for Brush-less DC Motor (BLDC) under parametric uncertainness based on the combination of a sliding modes (SM) observer and adaptive back-stepping control techniques. The adaptive controller developed in this work in combination with the SM observer allows also a reduction on the torque rippling since electrical torque is controlled in an indirect way based on the obtained estimates of the back EMFs. The effectiveness of the proposed controller is demonstrated by simulations with MATLAB/SIMULINK.
{"title":"Adaptive back-stepping speed Tracking controller for a Brush-less DC motor with a SM observer for back EMFs","authors":"Raul Gil Bayardo, A. Loukianov","doi":"10.1109/VSS.2018.8460411","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460411","url":null,"abstract":"This paper proposes a robust speed tracking controller design for Brush-less DC Motor (BLDC) under parametric uncertainness based on the combination of a sliding modes (SM) observer and adaptive back-stepping control techniques. The adaptive controller developed in this work in combination with the SM observer allows also a reduction on the torque rippling since electrical torque is controlled in an indirect way based on the obtained estimates of the back EMFs. The effectiveness of the proposed controller is demonstrated by simulations with MATLAB/SIMULINK.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"291 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":"123747912","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.2018.8460451
Yousif Eldigair, C. Kunusch, C. Ocampo‐Martinez, P. Camocardi
In this paper, the control of the mass flow-rate for a centrifugal compressor is discussed. The compressor is driven by a rate-limited actuating motor. To avoid integral windup, a sliding mode control (SMC) based anti-windup strategy is proposed. The developed scheme essentially avoids the integral windup of PI controllers by adapting the controller gain such that output of controller is not influenced by the rate limiter. Furthermore, a relay-based optimal tuning methodology for PI controllers in rate-limited systems is presented and discussed. Optimal tuning of the PI controller is done at different operating conditions of the compressor and used to create a gain schedule that provides a more robust control structure compared to standard manually tuned PI controllers.
{"title":"Sliding Mode Anti-windup Strategy for Mass Flow-Rate Regulation of Compressors with Rate-Limited Motors","authors":"Yousif Eldigair, C. Kunusch, C. Ocampo‐Martinez, P. Camocardi","doi":"10.1109/VSS.2018.8460451","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460451","url":null,"abstract":"In this paper, the control of the mass flow-rate for a centrifugal compressor is discussed. The compressor is driven by a rate-limited actuating motor. To avoid integral windup, a sliding mode control (SMC) based anti-windup strategy is proposed. The developed scheme essentially avoids the integral windup of PI controllers by adapting the controller gain such that output of controller is not influenced by the rate limiter. Furthermore, a relay-based optimal tuning methodology for PI controllers in rate-limited systems is presented and discussed. Optimal tuning of the PI controller is done at different operating conditions of the compressor and used to create a gain schedule that provides a more robust control structure compared to standard manually tuned PI controllers.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"41 7 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":"126182223","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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