Pub Date : 2018-07-01DOI: 10.1109/VSS.2018.8460228
Bhabani Shankar Dey, M. K. Bera, B. K. Roy
One of the effective ways of treating cancer patients is Chemotherapy. Chemotherapy targets to eradicate the cancer cells to most possible extent. The process of chemotherapy includes delivery of drugs into patients' body in several ways (either oral or intravenous). The interactions of the external drugs, growth of tumor volume, and their rate of killing are reflected in different cell kill hypotheses. In this work, three cell kill hypotheses are considered. These are log-kill hypothesis, Norton-Simon hypothesis, and $E_{max}$ hypothesis subject to parametric and external perturbations. As per clinical suggestions, there exists a predefined trajectory of tumor volume upon chemotherapy treatment. The paper includes the design of a Super Twisting Sliding Mode Controller in order to ensure the precise trajectory tracking for the three hypotheses despite the presence of parametric perturbations, as well as external disturbances. Simulation results verify the proposed methodology. The entire research work is carried out in a in-sillico environment.
{"title":"Super Twisting Sliding Mode Control of Cancer Chemotherapy","authors":"Bhabani Shankar Dey, M. K. Bera, B. K. Roy","doi":"10.1109/VSS.2018.8460228","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460228","url":null,"abstract":"One of the effective ways of treating cancer patients is Chemotherapy. Chemotherapy targets to eradicate the cancer cells to most possible extent. The process of chemotherapy includes delivery of drugs into patients' body in several ways (either oral or intravenous). The interactions of the external drugs, growth of tumor volume, and their rate of killing are reflected in different cell kill hypotheses. In this work, three cell kill hypotheses are considered. These are log-kill hypothesis, Norton-Simon hypothesis, and $E_{max}$ hypothesis subject to parametric and external perturbations. As per clinical suggestions, there exists a predefined trajectory of tumor volume upon chemotherapy treatment. The paper includes the design of a Super Twisting Sliding Mode Controller in order to ensure the precise trajectory tracking for the three hypotheses despite the presence of parametric perturbations, as well as external disturbances. Simulation results verify the proposed methodology. The entire research work is carried out in a in-sillico environment.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"8 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":"114916960","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.2018.8460445
Richard Seeber, M. Horn
The super-twisting algorithm is a second-order sliding mode algorithm that is commonly used for robust control and observation. Existing conditions guaranteeing its finite-time stability are either only sufficient or have to be checked by means of trajectories obtained from a numerical simulation. This contribution presents an analytic stability criterion for the super-twisting algorithm that is necessary and sufficient.
{"title":"Necessary and sufficient stability criterion for the super-twisting algorithm","authors":"Richard Seeber, M. Horn","doi":"10.1109/VSS.2018.8460445","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460445","url":null,"abstract":"The super-twisting algorithm is a second-order sliding mode algorithm that is commonly used for robust control and observation. Existing conditions guaranteeing its finite-time stability are either only sufficient or have to be checked by means of trajectories obtained from a numerical simulation. This contribution presents an analytic stability criterion for the super-twisting algorithm that is necessary and sufficient.","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":"129092471","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.2018.8460388
M. Reichhartinger, Stefan Koch, Helmut Niederwieser, S. Spurgeon
This paper presents a new release of A Robust Exact Differentiator Toolbox for Matlab®/Simulink® proposed in [1]. This release features a new discrete-time realization of the continuous-time robust exact differentiator. The implemented discretization scheme is less sensitive to gain overestimation and does not suffer from the discretization chattering effect. Hence, the single tuning parameter of the new version of the implemented differentiator is more intuitive to tune. Furthermore, it shows superior estimation performance in the case of large sampling times in comparison to the previous release. This is confirmed by the presented results obtained by numerical simulations and a real world application.
{"title":"The Robust Exact Differentiator Toolbox: Improved Discrete-Time Realization","authors":"M. Reichhartinger, Stefan Koch, Helmut Niederwieser, S. Spurgeon","doi":"10.1109/VSS.2018.8460388","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460388","url":null,"abstract":"This paper presents a new release of A Robust Exact Differentiator Toolbox for Matlab®/Simulink® proposed in [1]. This release features a new discrete-time realization of the continuous-time robust exact differentiator. The implemented discretization scheme is less sensitive to gain overestimation and does not suffer from the discretization chattering effect. Hence, the single tuning parameter of the new version of the implemented differentiator is more intuitive to tune. Furthermore, it shows superior estimation performance in the case of large sampling times in comparison to the previous release. This is confirmed by the presented results obtained by numerical simulations and a real world application.","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":"134536555","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.2018.8460258
Ayman AlZawaideh, I. Boiko
This paper provides analysis of a boost converter dynamics using the locus of a perturbed relay system (LPRS) method. This method allows one to determine the exact amplitude and frequency of the output voltage oscillations, as well as it describes the external signal propagation throughout the system. The efficiency of the proposed approach is verified experimentally and via simulations.
{"title":"LPRS analysis of sliding mode control of a boost converter","authors":"Ayman AlZawaideh, I. Boiko","doi":"10.1109/VSS.2018.8460258","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460258","url":null,"abstract":"This paper provides analysis of a boost converter dynamics using the locus of a perturbed relay system (LPRS) method. This method allows one to determine the exact amplitude and frequency of the output voltage oscillations, as well as it describes the external signal propagation throughout the system. The efficiency of the proposed approach is verified experimentally and via simulations.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"9 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":"114026289","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.2018.8460232
Xiangyu Wang, Guipu Li, Shihua Li
This paper studies the finite-time consensus problem of leader-follower second-order multi-agent systems with mismatched uncertain nonlinearities, which are assumed to satisfy Hölder condition. By integrating sliding-mode control, distributed adding a power integrator technology and feedback domination method together, a kind of nonlinear distributed control algorithms is proposed. Under the proposed distributed control algorithms, the followers states track the leader states accurately in finite time. The rigorous stability analysis of the closed-loop system is presented based on finite-time stability theory. Moreover, a simulation example is given, which shows the effectiveness of the proposed control scheme.
{"title":"Finite-time Consensus for Uncertain Nonlinear Second-order Multi-agent Systems","authors":"Xiangyu Wang, Guipu Li, Shihua Li","doi":"10.1109/VSS.2018.8460232","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460232","url":null,"abstract":"This paper studies the finite-time consensus problem of leader-follower second-order multi-agent systems with mismatched uncertain nonlinearities, which are assumed to satisfy Hölder condition. By integrating sliding-mode control, distributed adding a power integrator technology and feedback domination method together, a kind of nonlinear distributed control algorithms is proposed. Under the proposed distributed control algorithms, the followers states track the leader states accurately in finite time. The rigorous stability analysis of the closed-loop system is presented based on finite-time stability theory. Moreover, a simulation example is given, which shows the effectiveness of the proposed control scheme.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"6 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":"127046226","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.2018.8460234
Y. Wong, Z. Man, Jinchuan Zheng, Q. Han, Jiong Jin
The sliding observer, first introduced by Slotine in mid-1980s, is explored in details from the viewpoint of machine learning. A monarchacial forced learning concept that consists of a leading system and multiple followers is introduced to the named observer. In the learning process, the leader acts as a role model, which exhibits finite convergence property, for the followers to learn. By employing the weighted switching functions in each of the followers' subsystem, forced learning allows the followers to imitate the leader's convergence behaviour, thus, achieving their respective finite-time convergence. On the basis of this concept, a new design method, which greatly simplifies the process of sliding observer design, is proposed by adopting the idea of mapping functions in conjunction with Lyapunov stability theorem. Of the utmost importance, this method proves the existence of finite-time convergence property in the sliding observer as a whole. Numerical examples are presented to verify the theoretical analysis.
{"title":"A New Approach to Sliding Observer Design and Stability for Linear System","authors":"Y. Wong, Z. Man, Jinchuan Zheng, Q. Han, Jiong Jin","doi":"10.1109/VSS.2018.8460234","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460234","url":null,"abstract":"The sliding observer, first introduced by Slotine in mid-1980s, is explored in details from the viewpoint of machine learning. A monarchacial forced learning concept that consists of a leading system and multiple followers is introduced to the named observer. In the learning process, the leader acts as a role model, which exhibits finite convergence property, for the followers to learn. By employing the weighted switching functions in each of the followers' subsystem, forced learning allows the followers to imitate the leader's convergence behaviour, thus, achieving their respective finite-time convergence. On the basis of this concept, a new design method, which greatly simplifies the process of sliding observer design, is proposed by adopting the idea of mapping functions in conjunction with Lyapunov stability theorem. Of the utmost importance, this method proves the existence of finite-time convergence property in the sliding observer as a whole. Numerical examples are presented to verify the theoretical analysis.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"26 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":"117335753","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.2018.8460378
T. R. Oliveira, Victor Hugo Pereira Rodrigues, Andrei Battistel, L. Fridman
In this paper, we propose an output feedback unit vector controller to solve the longstanding problem of global exact output tracking for a class of multivariable uncertain plants with nonlinear disturbances. In order to deal with the nonuniform arbitrary relative degree, we extend our previous estimation scheme based on global differentiators using dynamic gains to a multivariable framework. A diagonally stable assumption over the system high-frequency gain (HFG) matrix must be invoked. Preserving the same guidelines and simplicity of its monovariable version, the variable gain super-twisting algorithm (STA) is employed to obtain the robust and exact multivariable differentiator. In addition, norm observers for the unmeasured state are employed to dominate the disturbances as well as to update the differentiator gains since both may be state dependent. Thus, uniform global exponential stability and ultimate exact tracking are guaranteed. A numerical example is presented to illustrate the application of the proposed multivariable approach.
{"title":"Global Multivariable HOSM Differentiator for Output-Feedback Unit Vector Control of Nonuniform Relative Degree Systems","authors":"T. R. Oliveira, Victor Hugo Pereira Rodrigues, Andrei Battistel, L. Fridman","doi":"10.1109/VSS.2018.8460378","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460378","url":null,"abstract":"In this paper, we propose an output feedback unit vector controller to solve the longstanding problem of global exact output tracking for a class of multivariable uncertain plants with nonlinear disturbances. In order to deal with the nonuniform arbitrary relative degree, we extend our previous estimation scheme based on global differentiators using dynamic gains to a multivariable framework. A diagonally stable assumption over the system high-frequency gain (HFG) matrix must be invoked. Preserving the same guidelines and simplicity of its monovariable version, the variable gain super-twisting algorithm (STA) is employed to obtain the robust and exact multivariable differentiator. In addition, norm observers for the unmeasured state are employed to dominate the disturbances as well as to update the differentiator gains since both may be state dependent. Thus, uniform global exponential stability and ultimate exact tracking are guaranteed. A numerical example is presented to illustrate the application of the proposed multivariable approach.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"72 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":"132249283","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.2018.8460379
Ryo Kikuuwe
This paper presents illustrative analytical and numerical results regarding the noise and disturbance response characteristics of a proxy-based sliding mode control (PSMC), which is a position controller for robot manipulators proposed a decade ago. The PSMC can be viewed as a simple sliding mode controller of which the set-valuedness is relaxed in a particular differential-algebraic way. This paper compares this “differential-algebraic relaxation” scheme with conventional managements of the set-valuedness, specifically, the use of boundary layers and low-pass filters. Results of frequency-domain analysis and simulations illustrate that PSMC realizes better noise rejection capability than conventional approaches and that its disturbance response characteristics are quite different from those of conventional ones.
{"title":"Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller","authors":"Ryo Kikuuwe","doi":"10.1109/VSS.2018.8460379","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460379","url":null,"abstract":"This paper presents illustrative analytical and numerical results regarding the noise and disturbance response characteristics of a proxy-based sliding mode control (PSMC), which is a position controller for robot manipulators proposed a decade ago. The PSMC can be viewed as a simple sliding mode controller of which the set-valuedness is relaxed in a particular differential-algebraic way. This paper compares this “differential-algebraic relaxation” scheme with conventional managements of the set-valuedness, specifically, the use of boundary layers and low-pass filters. Results of frequency-domain analysis and simulations illustrate that PSMC realizes better noise rejection capability than conventional approaches and that its disturbance response characteristics are quite different from those of conventional ones.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"34 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":"133067378","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.2018.8460344
Luning Ma, Dongya Zhao, S. Spurgeon
The continuous stirred tank reactor (CSTR) is a typical element of equipment frequently found in the process industry. The control of a CSTR is very challenging due to its nonlinear dynamics and the presence of external disturbances. In this paper, a novel discrete time sliding mode control method for the CSTR is presented. Then a disturbance observer is designed to eliminate the effect of external disturbances on the CSTR system. Stability analysis is presented based on the Lyapunov method. Finally, the control performance of the proposed method is validated by using MATLAB simulation experiments.
{"title":"Disturbance Observer Based Discrete Time Sliding Mode Control for a Continuous Stirred Tank Reactor","authors":"Luning Ma, Dongya Zhao, S. Spurgeon","doi":"10.1109/VSS.2018.8460344","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460344","url":null,"abstract":"The continuous stirred tank reactor (CSTR) is a typical element of equipment frequently found in the process industry. The control of a CSTR is very challenging due to its nonlinear dynamics and the presence of external disturbances. In this paper, a novel discrete time sliding mode control method for the CSTR is presented. Then a disturbance observer is designed to eliminate the effect of external disturbances on the CSTR system. Stability analysis is presented based on the Lyapunov method. Finally, the control performance of the proposed method is validated by using MATLAB simulation experiments.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"11 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":"131656209","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.2018.8460318
Yong Feng, Chen Xue, Xinghuo Yu, F. Han
This paper proposes a discrete-time sliding mode control approach for applications in discrete-time systems. The reaching phase and quasi-sliding mode are investigated in details, based on which the discrete-time sliding mode control strategies are developed. With the proposed method, the system states move towards the quasi-sliding mode band in finite steps and stay within that band thereafter. The quasi-sliding mode band is designed to be variant, which can increase the reaching speed of the system to the quasi-sliding mode band. The implementation of quasi-sliding motion of the system is proved theoretically. The proposed discrete-time sliding mode control can guarantee the robustness to both the internal parameter variations and the external disturbances. At the same time the controlled systems could achieve faster error convergence and higher steady-state accuracy. The simulation results show the effectiveness of the proposed method.
{"title":"On A Discrete-Time Quasi-Sliding Mode Control","authors":"Yong Feng, Chen Xue, Xinghuo Yu, F. Han","doi":"10.1109/VSS.2018.8460318","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460318","url":null,"abstract":"This paper proposes a discrete-time sliding mode control approach for applications in discrete-time systems. The reaching phase and quasi-sliding mode are investigated in details, based on which the discrete-time sliding mode control strategies are developed. With the proposed method, the system states move towards the quasi-sliding mode band in finite steps and stay within that band thereafter. The quasi-sliding mode band is designed to be variant, which can increase the reaching speed of the system to the quasi-sliding mode band. The implementation of quasi-sliding motion of the system is proved theoretically. The proposed discrete-time sliding mode control can guarantee the robustness to both the internal parameter variations and the external disturbances. At the same time the controlled systems could achieve faster error convergence and higher steady-state accuracy. The simulation results show the effectiveness of the proposed method.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"67 1-3 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":"116603933","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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