Pub Date : 2015-07-13DOI: 10.1109/RASM.2015.7154649
A. Sofyali, E. M. Jafarov, R. Wisniewski
In this work, the problem of rigid body attitude control by magnetic torqueing is considered. The aim of the work is to derive an asymptotically stable solution to this problem, which is known to have two challenging properties: instantaneous underactuation due to the structure of the magnetic torque production law; time-variance due to the dependence of that law on the time-varying local geomagnetic field vector. To ensure an asymptotically stable motion towards the reference state in inertial space, a time-varying sliding manifold is proposed in this paper. The manifold has two parts. The first part is a linear function of states and is well-known in literature to be specific to the problem of rigid body attitude control by momentum exchange- or reaction-based torqueing. The second part consists of two integral terms with respect to time, whose integrands are respectively the angular orientation of the body in inertial space and the component of the control vector along the local geomagnetic field. These designed time-integral terms enable the application of the equivalent control method to the considered problem and make the state vector converge to the reference state in sliding mode. With their inclusion in the sliding vector, there exists a time-varying sliding mode in nonlinear rigid body motion controlled by magnetic torque, which is proven by the satisfaction of the reaching condition for the general reaching law. The presented exemplary results of simulation studies, which are carried out under both ideality assumption and non-ideal conditions that are modelled with high-fidelity, verify the mathematical results.
{"title":"Time-varying sliding mode in rigid body motion controlled by magnetic torque","authors":"A. Sofyali, E. M. Jafarov, R. Wisniewski","doi":"10.1109/RASM.2015.7154649","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154649","url":null,"abstract":"In this work, the problem of rigid body attitude control by magnetic torqueing is considered. The aim of the work is to derive an asymptotically stable solution to this problem, which is known to have two challenging properties: instantaneous underactuation due to the structure of the magnetic torque production law; time-variance due to the dependence of that law on the time-varying local geomagnetic field vector. To ensure an asymptotically stable motion towards the reference state in inertial space, a time-varying sliding manifold is proposed in this paper. The manifold has two parts. The first part is a linear function of states and is well-known in literature to be specific to the problem of rigid body attitude control by momentum exchange- or reaction-based torqueing. The second part consists of two integral terms with respect to time, whose integrands are respectively the angular orientation of the body in inertial space and the component of the control vector along the local geomagnetic field. These designed time-integral terms enable the application of the equivalent control method to the considered problem and make the state vector converge to the reference state in sliding mode. With their inclusion in the sliding vector, there exists a time-varying sliding mode in nonlinear rigid body motion controlled by magnetic torque, which is proven by the satisfaction of the reaching condition for the general reaching law. The presented exemplary results of simulation studies, which are carried out under both ideality assumption and non-ideal conditions that are modelled with high-fidelity, verify the mathematical results.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"337 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133848385","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154588
M. Basin, P. Rodriguez-Ramirez
This paper presents super-twisting-like smooth observer design for systems of dimension more than one. The major advantage of the proposed observers is finite-time convergence of the estimation error to zero and smoothness of the observer trajectory. The paper concludes with numerical simulations illustrating performance of the designed algorithms.
{"title":"Super-twisting observer design for systems of dimension more than one","authors":"M. Basin, P. Rodriguez-Ramirez","doi":"10.1109/RASM.2015.7154588","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154588","url":null,"abstract":"This paper presents super-twisting-like smooth observer design for systems of dimension more than one. The major advantage of the proposed observers is finite-time convergence of the estimation error to zero and smoothness of the observer trajectory. The paper concludes with numerical simulations illustrating performance of the designed algorithms.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125075049","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154657
V. C. Ilioudis
The paper proposes a new Sliding Mode Observer (SMO) applied in sensorless control of Permanent Magnet Synchronous Machine (PMSM) considering model imprecision. In this implementation the PMSM model and proposed SMO are both expressed in the γδ estimated reference frame. Operating in sliding mode an extended state observer uses the provided equivalent control input to estimate the modified back EMF (MBEMF) and its disturbance. The state tracking is additionally strengthened by the equivalent control leading to sufficient chattering reduction. Simulation results demonstrate the effectiveness of the developed observer scheme considering uncertainty conditions.
{"title":"PMSM sensorless control based on Sliding Mode Observers methodology for nonlinear systems with model imprecision","authors":"V. C. Ilioudis","doi":"10.1109/RASM.2015.7154657","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154657","url":null,"abstract":"The paper proposes a new Sliding Mode Observer (SMO) applied in sensorless control of Permanent Magnet Synchronous Machine (PMSM) considering model imprecision. In this implementation the PMSM model and proposed SMO are both expressed in the γδ estimated reference frame. Operating in sliding mode an extended state observer uses the provided equivalent control input to estimate the modified back EMF (MBEMF) and its disturbance. The state tracking is additionally strengthened by the equivalent control leading to sufficient chattering reduction. Simulation results demonstrate the effectiveness of the developed observer scheme considering uncertainty conditions.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126605778","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154656
Yan Yan, Xinghuo Yu, Changyin Sun
In this paper, we study the Euler's discretization effect on the super-twisting algorithm based sliding mode control system. We start from the continuous time system and then extend to the Euler discretized super-twisting system. The stability and boundedness of the closed system are provided. Furthermore, the periodicity of the discrete orbit is shown. Simulations are presented to verify the theoretical results.
{"title":"Discretization behaviors of a super-twisting algorithm based sliding mode control system","authors":"Yan Yan, Xinghuo Yu, Changyin Sun","doi":"10.1109/RASM.2015.7154656","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154656","url":null,"abstract":"In this paper, we study the Euler's discretization effect on the super-twisting algorithm based sliding mode control system. We start from the continuous time system and then extend to the Euler discretized super-twisting system. The stability and boundedness of the closed system are provided. Furthermore, the periodicity of the discrete orbit is shown. Simulations are presented to verify the theoretical results.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114248466","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154634
Qingsong Xu
This paper reported on the design process of a novel discrete-time integral terminal sliding mode control (DITSMC) scheme and its implementation on a precision micro-motion system, which is driven by piezoelectric actuators. By considering the piezoelectric nonlinearities in terms of hysteresis and drift effects as a lumped disturbance, a robust DITSMC scheme is devised and its stability is proved. The proposed digital control strategy is developed based on the system's output feedback alone, whereas the knowledge on system states is not needed. Hence, it is easy to realize for rapid prototyping application. Comparative experimental investigations show that the designed DITSMC controller is superior to conventional PID controller in motion tracking task. Moreover, the presented control can be easily extended to other precision motion systems as well.
{"title":"Discrete-time integral terminal sliding mode control of a precision micro-motion system","authors":"Qingsong Xu","doi":"10.1109/RASM.2015.7154634","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154634","url":null,"abstract":"This paper reported on the design process of a novel discrete-time integral terminal sliding mode control (DITSMC) scheme and its implementation on a precision micro-motion system, which is driven by piezoelectric actuators. By considering the piezoelectric nonlinearities in terms of hysteresis and drift effects as a lumped disturbance, a robust DITSMC scheme is devised and its stability is proved. The proposed digital control strategy is developed based on the system's output feedback alone, whereas the knowledge on system states is not needed. Hence, it is easy to realize for rapid prototyping application. Comparative experimental investigations show that the designed DITSMC controller is superior to conventional PID controller in motion tracking task. Moreover, the presented control can be easily extended to other precision motion systems as well.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122119677","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154641
Mohammad Luai Hammadih, K. Al Hosani, I. Boiko
An Artificial gas lift system is an existing technology in the oil sector; which utilizes the fact that a pressure differential exists in the reservoir's tubing leading to enhanced oil recovery from the reservoir. Studies were conducted to control this process as it improves the stability and performance of gas lift. The current industrial practice depends on flow measurement as a process variable, yet, it does not depend on the measurements which would be obtained several kilometers below the ground that are technically difficult to approach due to several limitations such as huge pressures. Proper knowledge of the states would leads to a better controller design for this system. In this paper, a methodology towards the design of a sliding mode observer is investigated. The purpose of the observer is to acquire the states of a nonlinear system representing the physical system of a gas lift process in oil wells. The proposed design of an observer is based only on measurements taken above the surface.
{"title":"Design of a gain matrix for a sliding mode observer for an artificial gas lift system","authors":"Mohammad Luai Hammadih, K. Al Hosani, I. Boiko","doi":"10.1109/RASM.2015.7154641","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154641","url":null,"abstract":"An Artificial gas lift system is an existing technology in the oil sector; which utilizes the fact that a pressure differential exists in the reservoir's tubing leading to enhanced oil recovery from the reservoir. Studies were conducted to control this process as it improves the stability and performance of gas lift. The current industrial practice depends on flow measurement as a process variable, yet, it does not depend on the measurements which would be obtained several kilometers below the ground that are technically difficult to approach due to several limitations such as huge pressures. Proper knowledge of the states would leads to a better controller design for this system. In this paper, a methodology towards the design of a sliding mode observer is investigated. The purpose of the observer is to acquire the states of a nonlinear system representing the physical system of a gas lift process in oil wells. The proposed design of an observer is based only on measurements taken above the surface.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132487368","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154584
N. Ramos-Pedroza, W. MacKunis, M. Reyhanoglu
A sliding mode control (SMC) method is presented in this paper, which is proven to achieve asymptotic SJA-based LCO suppression without the use of adaptive laws or function approximators. In addition, the SMC-based control strategy presented here is shown to achieve suppression of both pitching and plunging displacements for a class of so-called dual-parallel underactuated systems, where a single scalar control signal simultaneously affects both states. The dual-parallel underactuated system cannot be expressed in a cascade or normal form, and hence, standard backstepping-based control approaches cannot be applied. In this paper, this difficulty is mitigated through novel algebraic manipulation in the error system development, along with innovative design of the sliding surface. A detailed model of the UAV dynamics is utilized along with a rigorous analysis to prove asymptotic regulation of the plunging displacement, and numerical simulation results are provided to demonstrate asymptotic suppression of the pitching and plunging displacements.
{"title":"Sliding mode control-based limit cycle oscillation suppression for UAVs using synthetic jet actuators","authors":"N. Ramos-Pedroza, W. MacKunis, M. Reyhanoglu","doi":"10.1109/RASM.2015.7154584","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154584","url":null,"abstract":"A sliding mode control (SMC) method is presented in this paper, which is proven to achieve asymptotic SJA-based LCO suppression without the use of adaptive laws or function approximators. In addition, the SMC-based control strategy presented here is shown to achieve suppression of both pitching and plunging displacements for a class of so-called dual-parallel underactuated systems, where a single scalar control signal simultaneously affects both states. The dual-parallel underactuated system cannot be expressed in a cascade or normal form, and hence, standard backstepping-based control approaches cannot be applied. In this paper, this difficulty is mitigated through novel algebraic manipulation in the error system development, along with innovative design of the sliding surface. A detailed model of the UAV dynamics is utilized along with a rigorous analysis to prove asymptotic regulation of the plunging displacement, and numerical simulation results are provided to demonstrate asymptotic suppression of the pitching and plunging displacements.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116132705","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154582
M. Efe
This paper considers an augmentation of PID controller. The typical design approach for feedback control is to consider the nominal plant model and implement a PID controller. Yet the model mismatch is a significant issue that requires further tuning of PID parameters. This paper augments the PID controller with a fourth term to alleviate the difficulties caused by plant model mismatch. Using the proposed approach, practitioners follow the standard procedure for nominal plant and augment the control input with the proposed term with the real system. The tracking performances are discussed comparatively and results are found promising.
{"title":"An augmented PID control scheme for robust control","authors":"M. Efe","doi":"10.1109/RASM.2015.7154582","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154582","url":null,"abstract":"This paper considers an augmentation of PID controller. The typical design approach for feedback control is to consider the nominal plant model and implement a PID controller. Yet the model mismatch is a significant issue that requires further tuning of PID parameters. This paper augments the PID controller with a fourth term to alleviate the difficulties caused by plant model mismatch. Using the proposed approach, practitioners follow the standard procedure for nominal plant and augment the control input with the proposed term with the real system. The tracking performances are discussed comparatively and results are found promising.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116596524","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154642
V. Utkin, S. Krasnova, S. Kochetkov, A. Utkin
The paper deals with the problem of ensuring of an invariance of the output variable of linear SISO system to external unmatched disturbances under restrictions on the state variables and control. External disturbances are assumed as unknown bounded in modulus functions of time. A mathematical model of control plant is represented in the canonical form of input-output. Smoothness requirements of external disturbances and the first derivative of given signal are absent. All state variables are measured. Under these assumptions the problem of state feedback design stabilizing tracking error with a given accuracy is solved within the block approach, the sliding mode theory and method of states space extension.
{"title":"Ensuring of invariance of the output variables of linear systems to external unmatched disturbances under restrictions on the state variables and controls","authors":"V. Utkin, S. Krasnova, S. Kochetkov, A. Utkin","doi":"10.1109/RASM.2015.7154642","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154642","url":null,"abstract":"The paper deals with the problem of ensuring of an invariance of the output variable of linear SISO system to external unmatched disturbances under restrictions on the state variables and control. External disturbances are assumed as unknown bounded in modulus functions of time. A mathematical model of control plant is represented in the canonical form of input-output. Smoothness requirements of external disturbances and the first derivative of given signal are absent. All state variables are measured. Under these assumptions the problem of state feedback design stabilizing tracking error with a given accuracy is solved within the block approach, the sliding mode theory and method of states space extension.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"196 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132051181","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 : 2015-04-09DOI: 10.1109/RASM.2015.7154633
M. Basin, Linlin Li, M. Krueger, S. Ding
This paper presents a fault-tolerant continuous super-twisting control algorithm for systems of dimension more than one, subject to Lipshitzian and non-Lipshitzian bounded disturbances. The conditions of finite-time convergence of the entire system state to the origin are obtained. An experimental verification of the designed fault-tolerant algorithm is conducted for a DTS200 three-tank system through varying fault sources, disturbances, input conditions, and inter-tank connections.
{"title":"A finite-time-convergent fault-tolerant control and its experimental verification for DTS200 three-tank system","authors":"M. Basin, Linlin Li, M. Krueger, S. Ding","doi":"10.1109/RASM.2015.7154633","DOIUrl":"https://doi.org/10.1109/RASM.2015.7154633","url":null,"abstract":"This paper presents a fault-tolerant continuous super-twisting control algorithm for systems of dimension more than one, subject to Lipshitzian and non-Lipshitzian bounded disturbances. The conditions of finite-time convergence of the entire system state to the origin are obtained. An experimental verification of the designed fault-tolerant algorithm is conducted for a DTS200 three-tank system through varying fault sources, disturbances, input conditions, and inter-tank connections.","PeriodicalId":297041,"journal":{"name":"2015 International Workshop on Recent Advances in Sliding Modes (RASM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132185927","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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