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}
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.2018.8460445
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.2018.8460234
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.2018.8460258
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.2018.8460344
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.2018.8460379
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.2018.8460378
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.2018.8460340
M. Alali, Y. Shtessel, J. Barbot
LCL grid connected three phases and three wires shunt active filter (SAF) is studied and controlled. It is known that SAFs generate distortive components caused by a high switching-frequency voltage source inverter (VSI). A LCL output filter is often used to prevent spreading these distorting signals to the grid side. A usually used linear controller in a LCL output filter unavoidably yields a phase shift between the reference and injected currents that severely deteriorates the filtration quality. In this work, inherently robust conventional/classical sliding mode controller (SMC) is used in the shunt active filter for reducing the phase shift effects over the broad bandwidth, while improving robustness to system's perturbations. In order to prevent inherent very high frequency switching of the SMC that can severely hurt the switching elements, two different continuous SMC are studied. In the first solution, a “sign” function used in discontinuous SMC is approximated by a continuous sigmoid function. The second proposed solution uses an artificial increase of input-output relative degree that allows designing SMC in terms of the control derivative, while the actual SMC function becomes continuous due integrating the discontinuous control derivative. The output of the continuous SMC is pulse-width modulated (PWM) in order to provide a fixed given frequency of control switching, required for the VSI safe operation. The efficacy of the considered electric power system driven by the proposed control algorithms was demonstrated via the simulations, carried out by Matlab, Simulink, and Simscap-Sim_Power_System code.
{"title":"Control of Grid-Connected Shunt Active/LCL Filter: Continuous Sliding Mode Control Approach","authors":"M. Alali, Y. Shtessel, J. Barbot","doi":"10.1109/VSS.2018.8460340","DOIUrl":"https://doi.org/10.1109/VSS.2018.8460340","url":null,"abstract":"LCL grid connected three phases and three wires shunt active filter (SAF) is studied and controlled. It is known that SAFs generate distortive components caused by a high switching-frequency voltage source inverter (VSI). A LCL output filter is often used to prevent spreading these distorting signals to the grid side. A usually used linear controller in a LCL output filter unavoidably yields a phase shift between the reference and injected currents that severely deteriorates the filtration quality. In this work, inherently robust conventional/classical sliding mode controller (SMC) is used in the shunt active filter for reducing the phase shift effects over the broad bandwidth, while improving robustness to system's perturbations. In order to prevent inherent very high frequency switching of the SMC that can severely hurt the switching elements, two different continuous SMC are studied. In the first solution, a “sign” function used in discontinuous SMC is approximated by a continuous sigmoid function. The second proposed solution uses an artificial increase of input-output relative degree that allows designing SMC in terms of the control derivative, while the actual SMC function becomes continuous due integrating the discontinuous control derivative. The output of the continuous SMC is pulse-width modulated (PWM) in order to provide a fixed given frequency of control switching, required for the VSI safe operation. The efficacy of the considered electric power system driven by the proposed control algorithms was demonstrated via the simulations, carried out by Matlab, Simulink, and Simscap-Sim_Power_System code.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"30 31","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120822833","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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